+ python -m lidar_slam --no-model /working/e36e6bab-e09d-499a-ac98-32247f293872 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/e36e6bab-e09d-499a-ac98-32247f293872 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 end_distance from 9.223372036854776e+18 to 371.350302058 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.0 meters 0.26567543293003676 Centerline is valid? [0, False] SLAMing on 0.06 meters 0.21366999287614846 Centerline is valid? [False, False] Translation: X:0.01, Y:0.08, Z:0.00 [[ 0.99886957 0.04516585 -0.01482019 0.00603862] [-0.04511112 0.99897394 0.00400652 0.08370855] [ 0.01498594 -0.00333344 0.99988215 0.00353609] [ 0. 0. 0. 1. ]] SLAMing on 0.12 meters 0.19962356890637584 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.12, Z:0.03 [[ 0.999826 0.01254214 0.0138081 -0.01711726] [-0.01261973 0.99990498 0.00554674 0.11622944] [-0.01373722 -0.00572003 0.99988928 0.0258534 ] [ 0. 0. 0. 1. ]] SLAMing on 0.18 meters 0.19664890116350706 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.11, Z:0.03 [[ 0.99986644 0.00384872 0.01588364 -0.02562857] [-0.00380647 0.99998914 -0.00268954 0.11411544] [-0.01589382 0.00262872 0.99987023 0.03485597] [ 0. 0. 0. 1. ]] SLAMing on 0.24 meters 0.20674033423822308 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:0.04 [[ 0.99988488 -0.00496288 0.01433869 -0.02546611] [ 0.00500261 0.99998374 -0.0027367 0.1041659 ] [-0.01432488 0.00280812 0.99989345 0.04360774] [ 0. 0. 0. 1. ]] SLAMing on 0.3 meters 0.21447991411665435 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.10, Z:0.04 [[ 0.99980998 -0.01244615 0.01500319 -0.02678834] [ 0.0125711 0.99988684 -0.00826312 0.09716247] [-0.01489865 0.00845016 0.9998533 0.04440131] [ 0. 0. 0. 1. ]] SLAMing on 0.36 meters 0.22866256292433085 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.08, Z:0.03 [[ 9.99852541e-01 -1.71713984e-02 -1.98113766e-04 -5.08767966e-03] [ 1.71716096e-02 9.99851931e-01 1.11865112e-03 7.60449045e-02] [ 1.78875628e-04 -1.12188810e-03 9.99999355e-01 2.99824426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42 meters 0.23351578838364384 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.06, Z:0.02 [[ 0.99988514 -0.01149687 -0.00987597 -0.0057734 ] [ 0.01154593 0.99992122 0.00492481 0.06481519] [ 0.00981857 -0.00503828 0.9999391 0.02038439] [ 0. 0. 0. 1. ]] SLAMing on 0.48 meters 0.23204863987613905 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.06, Z:0.01 [[ 0.99999505 0.0027523 0.00152279 -0.01101038] [-0.00274993 0.99999501 -0.00155611 0.05648367] [-0.00152706 0.00155192 0.99999763 0.00890639] [ 0. 0. 0. 1. ]] SLAMing on 0.54 meters 0.23260156366048876 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:-0.01 [[ 0.99993204 0.00706048 -0.00927737 0.00893077] [-0.00696931 0.99992747 0.00982241 0.03941975] [ 0.00934605 -0.00975709 0.99990872 -0.01061087] [ 0. 0. 0. 1. ]] SLAMing on 0.6 meters 0.22290792147078117 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.02 [[ 0.9997728 0.01641077 -0.01360278 0.01500014] [-0.01628037 0.99982097 0.00964223 0.03573616] [ 0.01375858 -0.00941858 0.99986099 -0.02464353] [ 0. 0. 0. 1. ]] SLAMing on 0.6599999999999999 meters 0.21839241223895065 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.02 [[ 0.99972944 0.01897422 -0.01345472 0.01175824] [-0.01880777 0.99974633 0.01239096 0.033711 ] [ 0.01368641 -0.01213456 0.9998327 -0.02032931] [ 0. 0. 0. 1. ]] SLAMing on 0.72 meters 0.21047287929287128 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.02 [[ 0.99920367 0.03903085 -0.00828402 0.01843118] [-0.03886793 0.99906385 0.01899211 0.04187879] [ 0.00901755 -0.01865501 0.99978531 -0.0184094 ] [ 0. 0. 0. 1. ]] SLAMing on 0.78 meters 0.20093204760766048 Centerline is valid? [False, False] Translation: X:0.02, Y:0.05, Z:-0.02 [[ 0.99863475 0.05159294 -0.00817394 0.01906712] [-0.05134365 0.99828197 0.02823018 0.05082283] [ 0.00961637 -0.02777196 0.99956803 -0.01817676] [ 0. 0. 0. 1. ]] SLAMing on 0.84 meters 0.18622653173002893 Centerline is valid? [False, False] Translation: X:0.02, Y:0.09, Z:-0.02 [[ 0.99584936 0.09049266 -0.00975387 0.01947825] [-0.09043188 0.99588141 0.00650285 0.08851589] [ 0.01030216 -0.00559379 0.99993129 -0.01964479] [ 0. 0. 0. 1. ]] SLAMing on 0.8999999999999999 meters 0.17621741869742996 Centerline is valid? [False, False] Translation: X:0.02, Y:0.11, Z:-0.02 [[ 9.94944649e-01 1.00129961e-01 -7.68998968e-03 1.68135328e-02] [-1.00121027e-01 9.94974076e-01 1.53902691e-03 1.14731679e-01] [ 7.80544308e-03 -7.61316924e-04 9.99969247e-01 -1.87756093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.96 meters 0.174552885243185 Centerline is valid? [False, False] Translation: X:0.03, Y:0.13, Z:-0.02 [[ 0.99498582 0.09924614 -0.01238648 0.03015483] [-0.09922039 0.99506188 0.00267789 0.13193206] [ 0.01259109 -0.00143547 0.9999197 -0.01853199] [ 0. 0. 0. 1. ]] SLAMing on 1.02 meters 0.17069290414497107 Centerline is valid? [False, False] Translation: X:0.04, Y:0.14, Z:-0.02 [[ 0.99658711 0.0810771 -0.01551265 0.03933902] [-0.0809481 0.99667972 0.00877137 0.1369023 ] [ 0.01617231 -0.00748572 0.9998412 -0.01567095] [ 0. 0. 0. 1. ]] SLAMing on 1.08 meters 0.16260114890374558 Centerline is valid? [False, False] Translation: X:0.04, Y:0.14, Z:-0.01 [[ 0.99816003 0.06035645 -0.00580081 0.03871322] [-0.06024093 0.99801487 0.01836729 0.1431624 ] [ 0.00689788 -0.01798405 0.99981448 -0.01417194] [ 0. 0. 0. 1. ]] SLAMing on 1.14 meters 0.1564125663389425 Centerline is valid? [False, False] Translation: X:0.05, Y:0.16, Z:-0.01 [[ 0.99878728 0.04813979 -0.01032173 0.04949975] [-0.04804646 0.99880358 0.00910716 0.15778145] [ 0.0107478 -0.0086002 0.99990526 -0.01418833] [ 0. 0. 0. 1. ]] SLAMing on 1.2 meters 0.15067006793012433 Centerline is valid? [False, False] Translation: X:0.06, Y:0.15, Z:-0.02 [[ 0.99961916 0.02757064 -0.00117969 0.06019993] [-0.02754898 0.99949939 0.01555684 0.15441246] [ 0.00160801 -0.01551841 0.99987829 -0.01667824] [ 0. 0. 0. 1. ]] SLAMing on 1.26 meters 0.14640397603747674 Centerline is valid? [False, False] Translation: X:0.06, Y:0.15, Z:-0.02 [[ 0.9999919 0.00318132 0.00246449 0.06111554] [-0.00320975 0.99992734 0.01161929 0.14618202] [-0.00242734 -0.0116271 0.99992946 -0.01919757] [ 0. 0. 0. 1. ]] SLAMing on 1.3199999999999998 meters 0.14153082746327766 Centerline is valid? [False, False] Translation: X:0.07, Y:0.14, Z:-0.02 [[ 0.99996319 -0.00848917 0.00124381 0.06506471] [ 0.00848756 0.99996315 0.00128869 0.14203269] [-0.00125471 -0.00127809 0.9999984 -0.02279588] [ 0. 0. 0. 1. ]] SLAMing on 1.38 meters 0.139746346992611 Centerline is valid? [False, False] Translation: X:0.07, Y:0.14, Z:-0.03 [[ 9.99981695e-01 -6.05059424e-03 3.07115268e-06 6.93684355e-02] [ 6.05055070e-03 9.99976184e-01 3.31997405e-03 1.44354561e-01] [-2.31588954e-05 -3.31989469e-03 9.99994489e-01 -2.66021086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.44 meters 0.1289425546444811 Centerline is valid? [False, False] Translation: X:0.06, Y:0.15, Z:-0.03 [[ 9.99984042e-01 5.63028055e-03 4.63526956e-04 6.21880646e-02] [-5.63136702e-03 9.99981319e-01 2.37696812e-03 1.50418390e-01] [-4.50135300e-04 -2.37954048e-03 9.99997068e-01 -3.04177571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5 meters 0.12449093785419188 Centerline is valid? [False, False] Translation: X:0.06, Y:0.16, Z:-0.03 [[ 9.99956570e-01 9.31668454e-03 -2.38842174e-04 6.38035951e-02] [-9.31577668e-03 9.99950285e-01 3.55575349e-03 1.58502090e-01] [ 2.71958134e-04 -3.55337406e-03 9.99993650e-01 -3.14401319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.56 meters 0.11774093194153913 Centerline is valid? [False, False] Translation: X:0.07, Y:0.17, Z:-0.03 [[ 0.99991859 0.01266079 -0.00158714 0.06723108] [-0.0126537 0.99991025 0.00440091 0.16651661] [ 0.00164271 -0.00438047 0.99998906 -0.03395116] [ 0. 0. 0. 1. ]] SLAMing on 1.6199999999999999 meters 0.11410404530501077 Centerline is valid? [False, False] Translation: X:0.07, Y:0.17, Z:-0.03 [[ 0.99991502 0.01286588 -0.00210295 0.06808079] [-0.01285917 0.99991228 0.00317241 0.17071281] [ 0.00214358 -0.0031451 0.99999276 -0.0340079 ] [ 0. 0. 0. 1. ]] SLAMing on 1.68 meters 0.10871846153785757 Centerline is valid? [False, False] Translation: X:0.07, Y:0.18, Z:-0.03 [[ 9.99927917e-01 1.18976621e-02 -1.61430193e-03 6.54160261e-02] [-1.18964249e-02 9.99928936e-01 7.73888795e-04 1.75614206e-01] [ 1.62339468e-03 -7.54628589e-04 9.99998398e-01 -3.05759028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.74 meters 0.09983082017961466 Centerline is valid? [False, True] Translation: X:0.06, Y:0.18, Z:-0.02 [[ 9.99925460e-01 1.21714990e-02 -9.63473188e-04 6.02726132e-02] [-1.21706200e-02 9.99925518e-01 9.13008123e-04 1.75991309e-01] [ 9.74514105e-04 -9.01214001e-04 9.99999119e-01 -2.41826697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7999999999999998 meters 0.09013936278914658 Centerline is valid? [True, True] Translation: X:0.12, Y:0.16, Z:-0.02 [[ 9.99991078e-01 3.87132832e-03 1.69022187e-03 1.21333291e-01] [-3.87140476e-03 9.99992505e-01 4.19511761e-05 1.61862901e-01] [-1.69004680e-03 -4.84943348e-05 9.99998571e-01 -2.25149532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8599999999999999 meters 0.09062716939552877 Centerline is valid? [True, True] Translation: X:0.18, Y:0.15, Z:-0.02 [[ 9.99989269e-01 -3.10008896e-03 3.44248091e-03 1.82954700e-01] [ 3.09981229e-03 9.99995192e-01 8.57024900e-05 1.50926030e-01] [-3.44273004e-03 -7.50305258e-05 9.99994071e-01 -2.25049691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.92 meters 0.08671578010585415 Centerline is valid? [True, True] Translation: X:0.24, Y:0.13, Z:-0.02 [[ 9.99796992e-01 -2.00727026e-02 1.74952207e-03 2.43147653e-01] [ 2.00726573e-02 9.99798523e-01 4.34340336e-05 1.25368973e-01] [-1.75004142e-03 -8.30765916e-06 9.99998469e-01 -2.42708947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.98 meters 0.07769946421936871 Centerline is valid? [True, True] Translation: X:0.30, Y:0.10, Z:-0.04 [[ 9.99054652e-01 -4.10182392e-02 -1.43981629e-02 3.02902887e-01] [ 4.10173526e-02 9.99158370e-01 -3.56996868e-04 1.00813391e-01] [ 1.44006884e-02 -2.33915145e-04 9.99896277e-01 -3.74705636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.04 meters 0.06931050374051895 Centerline is valid? [True, True] Translation: X:0.36, Y:0.08, Z:-0.04 [[ 9.98575255e-01 -5.03631487e-02 -1.76355853e-02 3.62404905e-01] [ 5.03632842e-02 9.98730869e-01 -4.36726903e-04 8.17649596e-02] [ 1.76351984e-02 -4.52081318e-04 9.99844386e-01 -3.77903704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1 meters 0.06702591937413557 Centerline is valid? [True, True] Translation: X:0.42, Y:0.06, Z:-0.02 [[ 9.98342648e-01 -5.70824154e-02 -7.31815781e-03 4.21236383e-01] [ 5.70826082e-02 9.98369442e-01 -1.82687904e-04 6.30855508e-02] [ 7.31665339e-03 -2.35354409e-04 9.99973205e-01 -2.30835208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.16 meters 0.05766365570772541 Centerline is valid? [True, True] Translation: X:0.48, Y:0.06, Z:-0.02 [[ 9.98229135e-01 -5.90867868e-02 -6.88087042e-03 4.80534222e-01] [ 5.90869788e-02 9.98252823e-01 -1.75567237e-04 5.80096901e-02] [ 6.87922203e-03 -2.31313513e-04 9.99976311e-01 -1.93541693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2199999999999998 meters 0.05880646226595585 Centerline is valid? [True, True] Translation: X:0.54, Y:0.06, Z:-0.03 [[ 9.98302345e-01 -5.73549786e-02 -1.01407602e-02 5.39122494e-01] [ 5.73553002e-02 9.98353796e-01 -2.59348423e-04 6.08204529e-02] [ 1.01389413e-02 -3.22718205e-04 9.99948548e-01 -2.53773998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.28 meters 0.05675411490032176 Centerline is valid? [True, True] Translation: X:0.60, Y:0.06, Z:-0.03 [[ 9.98400338e-01 -5.46837437e-02 -1.43684836e-02 5.96492866e-01] [ 5.46841462e-02 9.98503636e-01 -3.65167822e-04 6.25621774e-02] [ 1.43669519e-02 -4.21144584e-04 9.99896701e-01 -3.26660290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.34 meters 0.048478202640126984 Centerline is valid? [True, True] Translation: X:0.66, Y:0.06, Z:-0.03 [[ 9.98776477e-01 -4.83189132e-02 -1.05276492e-02 6.55668145e-01] [ 4.83187796e-02 9.98831930e-01 -2.67188199e-04 6.27325483e-02] [ 1.05282624e-02 -2.41821872e-04 9.99944547e-01 -2.83528666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4 meters 0.021469475174131697 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.36, Z:0.00 [[ 9.99529990e-01 -2.24215824e-02 2.09062575e-02 7.26943543e-01] [ 2.24153984e-02 9.99748603e-01 5.30116331e-04 -3.59662018e-01] [-2.09128878e-02 -6.12450796e-05 9.99781300e-01 3.86929914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.46 meters 0.022617331452923863 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.39, Z:0.01 [[ 9.98434859e-01 -5.13018394e-02 2.22700262e-02 7.87976926e-01] [ 5.13019927e-02 9.98683026e-01 5.64808957e-04 -3.85021770e-01] [-2.22696729e-02 5.78571773e-04 9.99751833e-01 5.02128354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52 meters 0.021471430526598057 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.36, Z:-0.00 [[ 9.99251976e-01 -3.40603583e-02 1.83134029e-02 8.48120980e-01] [ 3.40575646e-02 9.99419765e-01 4.64497220e-04 -3.63804578e-01] [-1.83185977e-02 1.59560137e-04 9.99832188e-01 -1.15880124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.58 meters 0.024142718685061175 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.36, Z:-0.00 [[ 9.99281166e-01 -3.42349551e-02 1.62824611e-02 9.06695159e-01] [ 3.42327616e-02 9.99413802e-01 4.13496375e-04 -3.62784544e-01] [-1.62870724e-02 1.44194469e-04 9.99867346e-01 -2.30641930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6399999999999997 meters 0.021890560776303077 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.35, Z:-0.00 [[ 9.99581165e-01 -2.21154440e-02 1.86655248e-02 9.65409088e-01] [ 2.21103444e-02 9.99755421e-01 4.79557231e-04 -3.52187565e-01] [-1.86715652e-02 -6.66551930e-05 9.99825669e-01 -5.75348575e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6999999999999997 meters 0.023675686580150474 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.35, Z:-0.00 [[ 9.99752679e-01 -1.24152675e-02 1.84510673e-02 1.02495254e+00] [ 1.24085655e-02 9.99922897e-01 4.77674843e-04 -3.46700398e-01] [-1.84555751e-02 -2.48605427e-04 9.99829650e-01 -4.54803049e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76 meters 0.022888504787080828 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.35, Z:-0.01 [[ 9.99774338e-01 -1.48201257e-02 1.52196422e-02 1.08640366e+00] [ 1.48158382e-02 9.99890162e-01 3.94426304e-04 -3.50185726e-01] [-1.52238159e-02 -1.68845541e-04 9.99884097e-01 -5.21641258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.82 meters 0.02164013275369083 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.37, Z:-0.01 [[ 9.99409060e-01 -3.13386229e-02 1.41216454e-02 1.14547963e+00] [ 3.13365876e-02 9.99508822e-01 3.65428074e-04 -3.65522261e-01] [-1.41261612e-02 7.73120500e-05 9.99900218e-01 -8.77640919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.88 meters 0.020728054927000385 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.37, Z:-0.00 [[ 9.98967026e-01 -4.12142994e-02 1.91380102e-02 1.20471335e+00] [ 4.12123481e-02 9.99150287e-01 4.96512561e-04 -3.69905748e-01] [-1.91422118e-02 2.92722661e-04 9.99816728e-01 -4.09101833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.94 meters 0.025316801115531824 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.37, Z:-0.01 [[ 9.98551729e-01 -4.95500412e-02 2.09580186e-02 1.26525064e+00] [ 4.95495178e-02 9.98771520e-01 5.44578244e-04 -3.72639366e-01] [-2.09592560e-02 4.94670169e-04 9.99780208e-01 -5.05619653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0 meters 0.02398718133581084 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.36, Z:-0.01 [[ 9.98701291e-01 -4.78091439e-02 1.76072834e-02 1.32345679e+00] [ 4.78084926e-02 9.98856415e-01 4.58152928e-04 -3.61654415e-01] [-1.76090519e-02 3.84219757e-04 9.99844875e-01 -9.76787459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.06 meters 0.024179013374538632 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.35, Z:-0.01 [[ 9.98938178e-01 -4.24401239e-02 1.79263241e-02 1.38218397e+00] [ 4.24385114e-02 9.99098970e-01 4.70524430e-04 -3.49239001e-01] [-1.79301410e-02 2.90741692e-04 9.99839200e-01 -1.03089773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.12 meters 0.022765017402419107 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.33, Z:-0.01 [[ 9.99266382e-01 -3.35374952e-02 1.84914543e-02 1.44132421e+00] [ 3.35342199e-02 9.99437451e-01 4.87260288e-04 -3.33704996e-01] [-1.84973934e-02 1.33193667e-04 9.99828900e-01 -1.16495222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1799999999999997 meters 0.02150779257583571 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.32, Z:-0.01 [[ 9.99630634e-01 -2.10415588e-02 1.72002523e-02 1.49879731e+00] [ 2.10368154e-02 9.99778597e-01 4.56680098e-04 -3.15542985e-01] [-1.72060534e-02 -9.46728821e-05 9.99851960e-01 -1.29805446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2399999999999998 meters 0.020725329394255886 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.31, Z:-0.02 [[ 9.99715717e-01 -1.81277314e-02 1.54877373e-02 1.55720056e+00] [ 1.81235158e-02 9.99835671e-01 4.12509173e-04 -3.07656520e-01] [-1.54926701e-02 -1.31699651e-04 9.99879973e-01 -1.53229430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3 meters 0.019355181709818856 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.30, Z:-0.02 [[ 9.99749593e-01 -1.69934116e-02 1.45593882e-02 1.61623198e+00] [ 1.69895175e-02 9.99855591e-01 3.91118209e-04 -3.04181066e-01] [-1.45639321e-02 -1.43663290e-04 9.99893930e-01 -1.61594985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.36 meters 0.019766986900272995 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.31, Z:-0.02 [[ 9.99545799e-01 -2.66918008e-02 1.39908352e-02 1.67538595e+00] [ 2.66891052e-02 9.99643710e-01 3.79380447e-04 -3.12816875e-01] [-1.39959767e-02 -5.80526069e-06 9.99902052e-01 -1.80352577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.42 meters 0.018281109758814713 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.33, Z:-0.02 [[ 9.98880819e-01 -4.41001026e-02 1.70964969e-02 1.73582721e+00] [ 4.40986014e-02 9.99027075e-01 4.64974680e-04 -3.29224922e-01] [-1.71003688e-02 2.89477314e-04 9.99853736e-01 -1.55477088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.48 meters 0.019865607889831702 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.34, Z:-0.02 [[ 9.98195767e-01 -5.74406565e-02 1.74866380e-02 1.79650010e+00] [ 5.74411207e-02 9.98348782e-01 4.76131726e-04 -3.44546378e-01] [-1.74851131e-02 5.29179409e-04 9.99846984e-01 -1.52678048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.54 meters 0.020552343037926343 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.34, Z:-0.02 [[ 9.98463550e-01 -5.16294027e-02 2.01232469e-02 1.85659695e+00] [ 5.16288363e-02 9.98666192e-01 5.48016151e-04 -3.42614326e-01] [-2.01247001e-02 4.91765667e-04 9.99797357e-01 -1.61907138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5999999999999996 meters 0.019379021975152826 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.33, Z:-0.01 [[ 9.98956015e-01 -3.91665794e-02 2.35129756e-02 1.91535999e+00] [ 3.91623398e-02 9.99232656e-01 6.40932531e-04 -3.33546072e-01] [-2.35200362e-02 2.80559734e-04 9.99723326e-01 -1.37250348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6599999999999997 meters 0.017971392089907983 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.32, Z:-0.02 [[ 9.99494798e-01 -2.39098110e-02 2.09396481e-02 1.97361022e+00] [ 2.39030811e-02 9.99714117e-01 5.71662155e-04 -3.17459977e-01] [-2.09473301e-02 -7.08512438e-05 9.99780578e-01 -1.72257019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7199999999999998 meters 0.018289776870206515 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.31, Z:-0.03 [[ 9.99683499e-01 -1.96849614e-02 1.56653627e-02 2.03239673e+00] [ 1.96806616e-02 9.99806225e-01 4.28606716e-04 -3.11497049e-01] [-1.56707642e-02 -1.20166360e-04 9.99877199e-01 -2.51914363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.78 meters 0.015279389931093353 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.32, Z:-0.03 [[ 9.99538165e-01 -2.66184244e-02 1.46600272e-02 2.09089263e+00] [ 2.66153533e-02 9.99645667e-01 4.04585005e-04 -3.20359766e-01] [-1.46656020e-02 -1.42163507e-05 9.99892454e-01 -2.57230588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.84 meters 0.016710249926952442 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.33, Z:-0.03 [[ 9.99356891e-01 -3.22445012e-02 1.56874428e-02 2.15055709e+00] [ 3.22416528e-02 9.99480008e-01 4.34511971e-04 -3.30017506e-01] [-1.56932961e-02 7.15565517e-05 9.99876850e-01 -2.66245379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9 meters 0.016064435109645395 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.33, Z:-0.02 [[ 9.99425266e-01 -2.97234906e-02 1.62988550e-02 2.20851966e+00] [ 2.97200108e-02 9.99558159e-01 4.55729159e-04 -3.30239164e-01] [-1.63051994e-02 2.89349111e-05 9.99867061e-01 -2.49400208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.96 meters 0.015866971715461253 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.32, Z:-0.03 [[ 9.99498477e-01 -2.81970060e-02 1.44126300e-02 2.26638735e+00] [ 2.81940740e-02 9.99602385e-01 4.06620926e-04 -3.19281975e-01] [-1.44183648e-02 -6.62403021e-08 9.99896050e-01 -2.92765269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.02 meters 0.014102429950278507 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.32, Z:-0.03 [[ 9.99438849e-01 -3.03898389e-02 1.40870684e-02 2.32381807e+00] [ 3.03871997e-02 9.99538122e-01 4.01399166e-04 -3.17682363e-01] [-1.40927603e-02 2.68926399e-05 9.99900692e-01 -2.78942353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.08 meters 0.013729022580866524 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.32, Z:-0.03 [[ 9.99443590e-01 -3.10990485e-02 1.20565219e-02 2.38159661e+00] [ 3.10971469e-02 9.99516307e-01 3.45211346e-04 -3.15338535e-01] [-1.20614260e-02 2.99041643e-05 9.99927258e-01 -3.00996886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.14 meters 0.016862537480039866 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.31, Z:-0.04 [[ 9.99386835e-01 -3.33627292e-02 1.06246309e-02 2.43989521e+00] [ 3.33613465e-02 9.99443308e-01 3.07387656e-04 -3.13940484e-01] [-1.06289716e-02 4.72528179e-05 9.99943510e-01 -3.58170452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2 meters 0.016114171292559144 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.32, Z:-0.03 [[ 9.99040694e-01 -4.22265498e-02 1.16021849e-02 2.49869737e+00] [ 4.22254851e-02 9.99108050e-01 3.36823896e-04 -3.21168134e-01] [-1.16060592e-02 1.53407105e-04 9.99932636e-01 -3.20322415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.26 meters 0.018739683534826555 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.33, Z:-0.03 [[ 9.98579330e-01 -5.12235494e-02 1.46788699e-02 2.55801204e+00] [ 5.12227920e-02 9.98687160e-01 4.27809308e-04 -3.25924869e-01] [-1.46815128e-02 3.24691169e-04 9.99892168e-01 -3.17544223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.32 meters 0.01719888978624424 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.33, Z:-0.03 [[ 9.98371827e-01 -5.43176072e-02 1.74153129e-02 2.61733221e+00] [ 5.43169777e-02 9.98523613e-01 5.09504212e-04 -3.26357523e-01] [-1.74172762e-02 4.37272512e-04 9.99848212e-01 -2.56225738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.38 meters 0.018563230002407248 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.32, Z:-0.03 [[ 9.98748294e-01 -4.67189681e-02 1.78657082e-02 2.67688827e+00] [ 4.67170217e-02 9.98908025e-01 5.26506224e-04 -3.15462098e-01] [-1.78707971e-02 3.08785485e-04 9.99840257e-01 -2.95812029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4399999999999995 meters 0.015898269141101803 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.30, Z:-0.03 [[ 9.99259664e-01 -3.45595288e-02 1.69045287e-02 2.73634872e+00] [ 3.45560405e-02 9.99402637e-01 4.98497626e-04 -3.00823201e-01] [-1.69116584e-02 8.60250082e-05 9.99856984e-01 -3.08111757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5 meters 0.014202799970815949 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.28, Z:-0.03 [[ 9.99680216e-01 -2.02550292e-02 1.51393607e-02 2.79351088e+00] [ 2.02505831e-02 9.99794836e-01 4.46935265e-04 -2.84565920e-01] [-1.51453074e-02 -1.40211460e-04 9.99885293e-01 -3.00599285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.56 meters 0.015438082290856593 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.27, Z:-0.04 [[ 9.99873076e-01 -1.15919427e-02 1.09297250e-02 2.85285431e+00] [ 1.15890933e-02 9.99932792e-01 3.24005673e-04 -2.71953971e-01] [-1.09327463e-02 -1.97298946e-04 9.99940216e-01 -3.63443286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.62 meters 0.015048440105950744 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.27, Z:-0.04 [[ 9.99863803e-01 -1.39614147e-02 8.80076733e-03 2.91214224e+00] [ 1.39596571e-02 9.99902525e-01 2.61105220e-04 -2.71745435e-01] [-8.80355488e-03 -1.38213964e-04 9.99961238e-01 -3.94346475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.68 meters 0.017421229230907918 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.28, Z:-0.04 [[ 9.99701520e-01 -2.27595361e-02 8.88109007e-03 2.97119126e+00] [ 2.27580924e-02 9.99740966e-01 2.63595485e-04 -2.77764637e-01] [-8.88478888e-03 -6.14001383e-05 9.99960528e-01 -4.27417731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.74 meters 0.013455665803365841 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.29, Z:-0.04 [[ 9.99511728e-01 -2.98097015e-02 9.36417855e-03 3.03019680e+00] [ 2.98083992e-02 9.99555592e-01 2.78639746e-04 -2.86371762e-01] [-9.36832320e-03 6.27478569e-07 9.99956116e-01 -3.90705100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8 meters 0.01360567516682838 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.29, Z:-0.04 [[ 9.99376355e-01 -3.39661292e-02 9.65416089e-03 3.08827903e+00] [ 3.39649430e-02 9.99422984e-01 2.86846827e-04 -2.91633300e-01] [-9.65833336e-03 4.12350874e-05 9.99953356e-01 -4.03443802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.859999999999999 meters 0.013662507428899746 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.29, Z:-0.04 [[ 9.99400226e-01 -3.32851994e-02 9.55428712e-03 3.14547816e+00] [ 3.32839724e-02 9.99445894e-01 2.87452237e-04 -2.92802131e-01] [-9.55856093e-03 3.07247973e-05 9.99954315e-01 -4.01658895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.92 meters 0.015096679684524479 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.29, Z:-0.04 [[ 9.99352843e-01 -3.46421034e-02 9.68603291e-03 3.20351055e+00] [ 3.46409029e-02 9.99399781e-01 2.91733114e-04 -2.92949159e-01] [-9.69032542e-03 4.39886087e-05 9.99953047e-01 -4.01737368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9799999999999995 meters 0.0161784807158438 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.29, Z:-0.04 [[ 9.99132897e-01 -3.96812294e-02 1.26037535e-02 3.26222755e+00] [ 3.96795339e-02 9.99212383e-01 3.84656916e-04 -2.93741738e-01] [-1.26090902e-02 1.15787687e-04 9.99920496e-01 -3.94031785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.04 meters 0.01582235677325003 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.30, Z:-0.04 [[ 9.98655541e-01 -4.93805031e-02 1.57694760e-02 3.32184746e+00] [ 4.93789824e-02 9.98779996e-01 4.86023673e-04 -2.97460791e-01] [-1.57742373e-02 2.93310442e-04 9.99875536e-01 -3.69953744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1 meters 0.01884391736271739 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.30, Z:-0.04 [[ 9.98330442e-01 -5.59838264e-02 1.42176021e-02 3.37984974e+00] [ 5.59832500e-02 9.98431612e-01 4.38843164e-04 -2.97243459e-01] [-1.42198715e-02 3.57837083e-04 9.99898828e-01 -4.00190236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.16 meters 0.01588985790746633 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.29, Z:-0.04 [[ 9.98583918e-01 -5.15031713e-02 1.33259795e-02 3.43862382e+00] [ 5.15022522e-02 9.98672793e-01 4.12364255e-04 -2.85930892e-01] [-1.33295312e-02 2.74537643e-04 9.99911120e-01 -4.12784336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.22 meters 0.016849865289925825 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.27, Z:-0.05 [[ 9.99076768e-01 -4.16209787e-02 1.06444821e-02 3.49723672e+00] [ 4.16198239e-02 9.99133465e-01 3.30080942e-04 -2.72048140e-01] [-1.06489965e-02 1.13245268e-04 9.99943291e-01 -4.61053176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.279999999999999 meters 0.014410597501959952 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.25, Z:-0.05 [[ 9.99575596e-01 -2.71715698e-02 1.05040216e-02 3.55589437e+00] [ 2.71696534e-02 9.99630784e-01 3.25121159e-04 -2.52115163e-01] [-1.05089774e-02 -3.95925508e-05 9.99944778e-01 -4.67406490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.34 meters 0.016789729668000644 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.24, Z:-0.05 [[ 9.99766718e-01 -1.94680863e-02 9.35432192e-03 3.61372140e+00] [ 1.94662055e-02 9.99810473e-01 2.92073227e-04 -2.40866939e-01] [-9.35823512e-03 -1.09911939e-04 9.99956205e-01 -4.92607103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3999999999999995 meters 0.016112641709284933 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.24, Z:-0.05 [[ 9.99775914e-01 -1.85057283e-02 1.02791186e-02 3.67199581e+00] [ 1.85033882e-02 9.99828746e-01 3.22722352e-04 -2.37088901e-01] [-1.02833305e-02 -1.32451512e-04 9.99947116e-01 -5.05675118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.46 meters 0.0167273499303066 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.24, Z:-0.05 [[ 9.99738854e-01 -2.10916622e-02 8.79571470e-03 3.73064612e+00] [ 2.10900525e-02 9.99777542e-01 2.75739529e-04 -2.37288261e-01] [-8.79957383e-03 -9.01654363e-05 9.99961279e-01 -5.37860001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.52 meters 0.014129340821933168 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.24, Z:-0.05 [[ 9.99684269e-01 -2.38697841e-02 7.84832188e-03 3.78976368e+00] [ 2.38685759e-02 9.99715074e-01 2.47578133e-04 -2.40214039e-01] [-7.85199533e-03 -6.01716981e-05 9.99969171e-01 -5.42364675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.58 meters 0.016828552154946844 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.24, Z:-0.06 [[ 9.99645076e-01 -2.56624325e-02 7.15269673e-03 3.84821154e+00] [ 2.56614665e-02 9.99670665e-01 2.26805029e-04 -2.41060309e-01] [-7.15616146e-03 -4.31758427e-05 9.99974393e-01 -5.71031007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.64 meters 0.014170410051940282 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.24, Z:-0.06 [[ 9.99673142e-01 -2.38910081e-02 9.10103473e-03 3.90608353e+00] [ 2.38893373e-02 9.99714566e-01 2.92256593e-04 -2.40350068e-01] [-9.10541929e-03 -7.47433779e-05 9.99958542e-01 -5.52385492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7 meters 0.017550425024669178 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.24, Z:-0.06 [[ 9.99662586e-01 -2.40867435e-02 9.72327594e-03 3.96377534e+00] [ 2.40848166e-02 9.99709869e-01 3.15234778e-04 -2.39583857e-01] [-9.72804790e-03 -8.09450953e-05 9.99952678e-01 -5.62644552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.76 meters 0.01628946336797867 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.24, Z:-0.05 [[ 9.99570931e-01 -2.64869794e-02 1.25057842e-02 4.02145095e+00] [ 2.64839130e-02 9.99649155e-01 4.10769968e-04 -2.39083275e-01] [-1.25122767e-02 -7.93916167e-05 9.99921715e-01 -5.44075427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.819999999999999 meters 0.01497766650937655 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.24, Z:-0.06 [[ 9.99445810e-01 -3.08383908e-02 1.25326528e-02 4.07917735e+00] [ 3.08356394e-02 9.99524383e-01 4.12765455e-04 -2.40679421e-01] [-1.25394211e-02 -2.60843433e-05 9.99921378e-01 -5.52870298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.88 meters 0.016760685494822066 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.24, Z:-0.06 [[ 9.99116504e-01 -4.05092275e-02 1.11899082e-02 4.13846184e+00] [ 4.05076380e-02 9.99179161e-01 3.68745825e-04 -2.44899898e-01] [-1.11956606e-02 8.48567100e-05 9.99937323e-01 -5.90569193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9399999999999995 meters 0.016871153706852625 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.25, Z:-0.06 [[ 9.98798386e-01 -4.76146778e-02 1.16028828e-02 4.19686976e+00] [ 4.76134077e-02 9.98865764e-01 3.85828853e-04 -2.49192026e-01] [-1.16080935e-02 1.67087553e-04 9.99932610e-01 -5.94695975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0 meters 0.01791134399591675 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.25, Z:-0.06 [[ 9.98620908e-01 -5.14627764e-02 1.03857975e-02 4.25568456e+00] [ 5.14619663e-02 9.98674895e-01 3.45403643e-04 -2.48728182e-01] [-1.03898106e-02 1.89546259e-04 9.99946006e-01 -6.22743799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.06 meters 0.017624320906133015 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.25, Z:-0.06 [[ 9.98559839e-01 -5.26983906e-02 1.00562035e-02 4.31462716e+00] [ 5.26976711e-02 9.98610456e-01 3.36689006e-04 -2.47382110e-01] [-1.00599729e-02 1.93734384e-04 9.99949378e-01 -6.31753173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.12 meters 0.017749592301886517 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.24, Z:-0.06 [[ 9.98608166e-01 -5.17514494e-02 1.01744019e-02 4.37304595e+00] [ 5.17506403e-02 9.98659979e-01 3.42954436e-04 -2.41518380e-01] [-1.01785164e-02 1.84054714e-04 9.99948181e-01 -6.27136103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.18 meters 0.015636695028975977 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.23, Z:-0.06 [[ 9.98743394e-01 -4.87453844e-02 1.16413580e-02 4.43207031e+00] [ 4.87440812e-02 9.98811222e-01 3.95823615e-04 -2.34705083e-01] [-1.16468136e-02 1.72121079e-04 9.99932159e-01 -6.30724714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.24 meters 0.014198515504016906 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.23, Z:-0.06 [[ 9.98943172e-01 -4.39778157e-02 1.33600161e-02 4.49063755e+00] [ 4.39756217e-02 9.99032499e-01 4.58088559e-04 -2.26706043e-01] [-1.33672360e-02 1.29910574e-04 9.99910646e-01 -6.34419315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3 meters 0.015669822294722264 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.22, Z:-0.07 [[ 9.99172888e-01 -3.92336630e-02 1.06891960e-02 4.54918370e+00] [ 3.92319669e-02 9.99230062e-01 3.68398639e-04 -2.19755802e-01] [-1.06954196e-02 5.12642493e-05 9.99942801e-01 -6.67138113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.359999999999999 meters 0.01663855459940465 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.21, Z:-0.07 [[ 9.99292647e-01 -3.63215199e-02 9.74440139e-03 4.60619653e+00] [ 3.63199450e-02 9.99340156e-01 3.38587687e-04 -2.14725081e-01] [-9.75026962e-03 1.55679372e-05 9.99952465e-01 -6.98646880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.42 meters 0.014905900875704958 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.21, Z:-0.07 [[ 9.99309029e-01 -3.60427617e-02 9.07658492e-03 4.66453930e+00] [ 3.60413730e-02 9.99350249e-01 3.16581292e-04 -2.13263618e-01] [-9.08209786e-03 1.07700389e-05 9.99958757e-01 -7.11764971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4799999999999995 meters 0.017053888381412027 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.22, Z:-0.07 [[ 9.99247694e-01 -3.77415502e-02 8.92313523e-03 4.72240210e+00] [ 3.77402795e-02 9.99287534e-01 3.10804485e-04 -2.15231349e-01] [-8.92850804e-03 2.61909529e-05 9.99960140e-01 -7.09295458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.54 meters 0.014619940273292638 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.21, Z:-0.07 [[ 9.99279751e-01 -3.67938204e-02 9.28404061e-03 4.77923535e+00] [ 3.67923701e-02 9.99322878e-01 3.27016279e-04 -2.13640126e-01] [-9.28978636e-03 1.48011121e-05 9.99956849e-01 -7.06809066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6 meters 0.014230655995286879 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.21, Z:-0.07 [[ 9.99319773e-01 -3.58373874e-02 8.69904932e-03 4.83702916e+00] [ 3.58360789e-02 9.99357635e-01 3.06290575e-04 -2.13084510e-01] [-8.70443800e-03 5.65758993e-06 9.99962116e-01 -7.05576040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.66 meters 0.01705863355476087 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.21, Z:-0.07 [[ 9.99275174e-01 -3.73475909e-02 7.36775907e-03 4.89616305e+00] [ 3.73466806e-02 9.99302335e-01 2.61147292e-04 -2.14151716e-01] [-7.37237207e-03 1.42033391e-05 9.99972824e-01 -7.36189857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.72 meters 0.01711107704495607 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.21, Z:-0.07 [[ 9.99283715e-01 -3.69687639e-02 8.08498159e-03 4.95426412e+00] [ 3.69676384e-02 9.99316422e-01 2.88666769e-04 -2.13469238e-01] [-8.09012652e-03 1.04226737e-05 9.99967274e-01 -7.43721001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.779999999999999 meters 0.015668945665371827 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.21, Z:-0.07 [[ 9.99315893e-01 -3.60656441e-02 8.18628718e-03 5.01241202e+00] [ 3.60644411e-02 9.99349423e-01 2.94572024e-04 -2.14667845e-01] [-8.19158530e-03 8.63367321e-07 9.99966448e-01 -7.37708539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.84 meters 0.015480354374145001 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.21, Z:-0.07 [[ 9.99372619e-01 -3.39426582e-02 1.01125907e-02 5.07103945e+00] [ 3.39406758e-02 9.99423782e-01 3.67635525e-04 -2.14778370e-01] [-1.01192422e-02 -2.41767148e-05 9.99948799e-01 -7.22280593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8999999999999995 meters 0.018301101519127245 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.21, Z:-0.08 [[ 9.99484684e-01 -3.07084416e-02 9.34656289e-03 5.12912433e+00] [ 3.07065746e-02 9.99528383e-01 3.43230074e-04 -2.12048706e-01] [-9.35269495e-03 -5.60522718e-05 9.99956261e-01 -7.58745018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96 meters 0.015895548217269292 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.21, Z:-0.08 [[ 9.99640131e-01 -2.54831140e-02 8.37965486e-03 5.18804794e+00] [ 2.54814333e-02 9.99675248e-01 3.07294969e-04 -2.08891481e-01] [-8.38476439e-03 -9.36587665e-05 9.99964843e-01 -7.69669955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.02 meters 0.016563625977005676 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.21, Z:-0.08 [[ 9.99668920e-01 -2.46495260e-02 7.37910458e-03 5.24683188e+00] [ 2.46481900e-02 9.99696150e-01 2.71948219e-04 -2.10111510e-01] [-7.38356584e-03 -8.99766099e-05 9.99972737e-01 -7.84936819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.08 meters 0.01688789211820768 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.21, Z:-0.08 [[ 9.99682225e-01 -2.44034885e-02 6.31820344e-03 5.30565669e+00] [ 2.44024984e-02 9.99702187e-01 2.33764738e-04 -2.08741529e-01] [-6.32202648e-03 -7.95105037e-05 9.99980013e-01 -8.18480289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.14 meters 0.017292282300674783 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.20, Z:-0.08 [[ 9.99695159e-01 -2.36267722e-02 7.16693658e-03 5.36335636e+00] [ 2.36254527e-02 9.99720844e-01 2.68727404e-04 -2.03284578e-01] [-7.17128505e-03 -9.93233637e-05 9.99974281e-01 -8.22944155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.199999999999999 meters 0.01617277623576766 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.20, Z:-0.08 [[ 9.99735212e-01 -2.16532336e-02 7.78734654e-03 5.42160326e+00] [ 2.16516098e-02 9.99765534e-01 2.92776173e-04 -1.98872047e-01] [-7.79186022e-03 -1.24090061e-04 9.99969635e-01 -8.06916348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.26 meters 0.017480757971563596 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.20, Z:-0.09 [[ 9.99690435e-01 -2.39802228e-02 6.63197976e-03 5.48037175e+00] [ 2.39791027e-02 9.99712429e-01 2.48364197e-04 -1.98200927e-01] [-6.63602843e-03 -8.92583887e-05 9.99977977e-01 -8.53117665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.319999999999999 meters 0.01784038278341195 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.20, Z:-0.09 [[ 9.99606327e-01 -2.75136760e-02 5.49435031e-03 5.53893964e+00] [ 2.75129564e-02 9.99621426e-01 2.06526496e-04 -1.98848217e-01] [-5.49795259e-03 -5.52793714e-05 9.99984885e-01 -8.78833569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.38 meters 0.01724780927244951 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.20, Z:-0.09 [[ 9.99432598e-01 -3.33274486e-02 4.87473580e-03 5.59671613e+00] [ 3.33269396e-02 9.99444486e-01 1.85649822e-04 -2.01039626e-01] [-4.87821506e-03 -2.30844585e-05 9.99988101e-01 -9.01669183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4399999999999995 meters 0.017066787604279317 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.21, Z:-0.09 [[ 9.99131700e-01 -4.11950583e-02 6.22998294e-03 5.65608528e+00] [ 4.11943824e-02 9.99151123e-01 2.36820824e-04 -2.05643596e-01] [-6.23445030e-03 2.00251077e-05 9.99980565e-01 -8.87782210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5 meters 0.01784366467891024 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.21, Z:-0.09 [[ 9.98777312e-01 -4.87623695e-02 8.13095686e-03 5.71472100e+00] [ 4.87614356e-02 9.98810405e-01 3.13181501e-04 -2.10156063e-01] [-8.13655578e-03 8.36785518e-05 9.99966894e-01 -8.72801725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.56 meters 0.019568176966539022 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.21, Z:-0.09 [[ 9.98184521e-01 -5.94741778e-02 9.51233615e-03 5.77496039e+00] [ 5.94733722e-02 9.98229825e-01 3.67782339e-04 -2.14158804e-01] [-9.51737120e-03 1.98616071e-04 9.99954689e-01 -8.62917730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.62 meters 0.021426759254285298 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.22, Z:-0.09 [[ 9.97556316e-01 -6.90567552e-02 1.06094864e-02 5.83586103e+00] [ 6.90562911e-02 9.97612680e-01 4.10519516e-04 -2.16739546e-01] [-1.06125073e-02 3.23135443e-04 9.99943634e-01 -8.51548569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.68 meters 0.025789385593576727 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.22, Z:-0.08 [[ 9.96381471e-01 -8.38524243e-02 1.38828941e-02 5.89650771e+00] [ 8.38530640e-02 9.96477985e-01 5.37033847e-04 -2.19748180e-01] [-1.38790299e-02 6.29032633e-04 9.99903484e-01 -8.41852121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.739999999999999 meters 0.02831845506494585 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.22, Z:-0.09 [[ 9.95416235e-01 -9.46231481e-02 1.38916930e-02 5.95650515e+00] [ 9.46248320e-02 9.95512859e-01 5.37497214e-04 -2.17434353e-01] [-1.38802187e-02 7.79465658e-04 9.99903361e-01 -8.51107678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8 meters 0.0316446472409934 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.21, Z:-0.09 [[ 9.94934613e-01 -9.96863273e-02 1.29519475e-02 6.01583975e+00] [ 9.96882178e-02 9.95018597e-01 5.01174658e-04 -2.14163182e-01] [-1.29373889e-02 7.92520549e-04 9.99915994e-01 -8.73383074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.859999999999999 meters 0.028278596351754077 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.20, Z:-0.09 [[ 9.95008851e-01 -9.92630711e-02 1.02092411e-02 6.07455681e+00] [ 9.92642322e-02 9.95061032e-01 3.94179092e-04 -1.96856833e-01] [-1.01979454e-02 6.21200795e-04 9.99947807e-01 -9.05238090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.92 meters 0.024415295115440473 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.17, Z:-0.09 [[ 9.96295069e-01 -8.52849111e-02 1.10733991e-02 6.13379424e+00] [ 8.52853738e-02 9.96356472e-01 4.31280536e-04 -1.74123073e-01] [-1.10698345e-02 5.14716308e-04 9.99938595e-01 -8.95173157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9799999999999995 meters 0.0222056117461446 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.16, Z:-0.09 [[ 9.96910595e-01 -7.74440651e-02 1.31027964e-02 6.19306622e+00] [ 7.74440354e-02 9.96996570e-01 5.10423104e-04 -1.58199648e-01] [-1.31029723e-02 5.05887230e-04 9.99914024e-01 -8.91765521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.04 meters 0.020925569518895647 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.13, Z:-0.09 [[ 9.97853943e-01 -6.40080436e-02 1.38013844e-02 6.25168563e+00] [ 6.40067216e-02 9.97949322e-01 5.37935934e-04 -1.30862858e-01] [-1.38075144e-02 3.46599872e-04 9.99904612e-01 -9.01253009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.1 meters 0.015584859085659042 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.11, Z:-0.09 [[ 9.98307505e-01 -5.64368050e-02 1.40361322e-02 6.31058757e+00] [ 5.64346832e-02 9.98406143e-01 5.47521721e-04 -1.10363856e-01] [-1.40446610e-02 2.45529632e-04 9.99901339e-01 -8.92442669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16 meters 0.016504301817848607 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.09, Z:-0.09 [[ 9.98623328e-01 -5.05804381e-02 1.38948896e-02 6.36833741e+00] [ 5.05777856e-02 9.98719977e-01 5.42456660e-04 -9.03594992e-02] [-1.39045416e-02 1.61062873e-04 9.99903314e-01 -9.12228645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.219999999999999 meters 0.01688771102270642 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.07, Z:-0.10 [[ 9.98979867e-01 -4.37364841e-02 1.12403753e-02 6.42652646e+00] [ 4.37343159e-02 9.99043101e-01 4.38743342e-04 -7.14262946e-02] [-1.12488085e-02 5.32943575e-05 9.99936729e-01 -9.57345299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28 meters 0.017396573619312673 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.06, Z:-0.10 [[ 9.99206409e-01 -3.83621837e-02 1.07189020e-02 6.48459252e+00] [ 3.83598777e-02 9.99263900e-01 4.20715384e-04 -6.01446192e-02] [-1.07271514e-02 -9.20573784e-06 9.99942462e-01 -9.80756240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34 meters 0.01718515200030723 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.05, Z:-0.10 [[ 9.99384744e-01 -3.33771642e-02 1.07748844e-02 6.54321735e+00] [ 3.33745103e-02 9.99442825e-01 4.26066849e-04 -5.23990280e-02] [-1.07831018e-02 -6.61982196e-05 9.99941858e-01 -9.79357671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.4 meters 0.01783799739680877 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.05, Z:-0.10 [[ 9.99340390e-01 -3.40233616e-02 1.26963111e-02 6.60134580e+00] [ 3.40196808e-02 9.99421035e-01 5.05832169e-04 -5.27206378e-02] [-1.27061705e-02 -7.35740664e-05 9.99919271e-01 -9.56718892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.459999999999999 meters 0.018525930609444564 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.05, Z:-0.10 [[ 9.99221722e-01 -3.76201241e-02 1.18606852e-02 6.66046979e+00] [ 3.76171265e-02 9.99292112e-01 4.75805374e-04 -5.49582196e-02] [-1.18701890e-02 -2.92701697e-05 9.99929546e-01 -9.70110396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52 meters 0.01779866979089701 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.06, Z:-0.10 [[ 9.99036997e-01 -4.24539385e-02 1.10789267e-02 6.71915043e+00] [ 4.24515936e-02 9.99098425e-01 4.46840000e-04 -5.99449532e-02] [-1.10879084e-02 2.39084038e-05 9.99938527e-01 -9.88154278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58 meters 0.015726071878933708 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.06, Z:-0.10 [[ 9.98929325e-01 -4.49922984e-02 1.07655178e-02 6.77795626e+00] [ 4.49902005e-02 9.98987333e-01 4.37095197e-04 -6.48280312e-02] [-1.07742818e-02 4.77155936e-05 9.99941955e-01 -9.73526345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64 meters 0.01698389281418544 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.07, Z:-0.10 [[ 9.98735320e-01 -4.89024037e-02 1.16754253e-02 6.83683134e+00] [ 4.89001590e-02 9.98803557e-01 4.77828587e-04 -7.17102072e-02] [-1.16848233e-02 9.37058679e-05 9.99931726e-01 -9.86511050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.7 meters 0.01690396463613449 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.08, Z:-0.10 [[ 9.98464606e-01 -5.40649896e-02 1.20585245e-02 6.89609761e+00] [ 5.40629337e-02 9.98537407e-01 4.96636789e-04 -7.98825244e-02] [-1.20677385e-02 1.56044955e-04 9.99927170e-01 -9.91997102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.76 meters 0.01816617459890573 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.09, Z:-0.10 [[ 9.97928930e-01 -6.30766809e-02 1.26167865e-02 6.95599398e+00] [ 6.30751023e-02 9.98008646e-01 5.23399002e-04 -8.83426478e-02] [-1.26246763e-02 2.73490092e-04 9.99920268e-01 -1.00135071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.82 meters 0.02404941315809477 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.10, Z:-0.10 [[ 9.96881505e-01 -7.74706833e-02 1.50185811e-02 7.01619430e+00] [ 7.74700624e-02 9.96994483e-01 6.23985359e-04 -1.04808253e-01] [-1.50217831e-02 5.41450950e-04 9.99887020e-01 -9.94472723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.879999999999999 meters 0.02160513119753222 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.10, Z:-0.10 [[ 9.96748415e-01 -7.92130830e-02 1.47608866e-02 7.07544095e+00] [ 7.92126718e-02 9.96857551e-01 6.13437968e-04 -1.04711129e-01] [-1.47630936e-02 5.57805946e-04 9.99890864e-01 -9.93440430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.94 meters 0.02162558288841137 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.10, Z:-0.10 [[ 9.97306025e-01 -7.21461632e-02 1.32523056e-02 7.13514377e+00] [ 7.21451645e-02 9.97393988e-01 5.54038342e-04 -9.87791661e-02] [-1.32577417e-02 4.03543989e-04 9.99912031e-01 -1.03542874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.0 meters 0.015782052906885634 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.09, Z:-0.10 [[ 9.98302235e-01 -5.73515007e-02 1.01712313e-02 7.19458656e+00] [ 5.73501429e-02 9.98354035e-01 4.25352156e-04 -8.70222479e-02] [-1.01788844e-02 1.58691562e-04 9.99948181e-01 -1.04929576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06 meters 0.01570839684076435 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.08, Z:-0.11 [[ 9.99028541e-01 -4.33243220e-02 8.06089849e-03 7.25303961e+00] [ 4.33230149e-02 9.99061061e-01 3.36785956e-04 -7.66627299e-02] [-8.06792082e-03 1.27636434e-05 9.99967454e-01 -1.08904689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.12 meters 0.016986389986081173 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.07, Z:-0.11 [[ 9.99293638e-01 -3.63428430e-02 9.56154744e-03 7.31119389e+00] [ 3.63406871e-02 9.99339379e-01 3.99173760e-04 -7.33186007e-02] [-9.56973799e-03 -5.14185950e-05 9.99954208e-01 -1.08358476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.18 meters 0.016665803257804698 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.07, Z:-0.11 [[ 9.99294447e-01 -3.54821618e-02 1.23136260e-02 7.36963795e+00] [ 3.54784628e-02 9.99370307e-01 5.18782743e-04 -7.40208319e-02] [-1.23242797e-02 -8.15481931e-05 9.99924050e-01 -1.06940544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24 meters 0.016951579155191195 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.08, Z:-0.11 [[ 9.99244669e-01 -3.61115982e-02 1.43542109e-02 7.42777804e+00] [ 3.61065688e-02 9.99347759e-01 6.09457838e-04 -7.93420185e-02] [-1.43668570e-02 -9.07161900e-05 9.99896787e-01 -1.06515699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.299999999999999 meters 0.01764355962655201 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.08, Z:-0.11 [[ 9.99266193e-01 -3.63940025e-02 1.19394865e-02 7.48653419e+00] [ 3.63905111e-02 9.99337516e-01 5.09616958e-04 -8.46971453e-02] [-1.19501238e-02 -7.47589806e-05 9.99928592e-01 -1.09679133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36 meters 0.013522721410444511 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.09, Z:-0.11 [[ 9.99369663e-01 -3.45594654e-02 8.11906641e-03 7.54442981e+00] [ 3.45577715e-02 9.99402641e-01 3.48868712e-04 -8.74612984e-02] [-8.12627313e-03 -6.80719653e-05 9.99966979e-01 -1.09745488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42 meters 0.016338695638977958 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.10, Z:-0.12 [[ 9.99175067e-01 -4.03413956e-02 4.66455623e-03 7.60259175e+00] [ 4.03409096e-02 9.99185955e-01 1.98285314e-04 -9.71913415e-02] [-4.66875818e-03 -9.94930039e-06 9.99989101e-01 -1.17176383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48 meters 0.014249191968625606 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.12, Z:-0.11 [[ 9.98412376e-01 -5.55804831e-02 9.13992414e-03 7.66258579e+00] [ 5.55791926e-02 9.98454204e-01 3.95337202e-04 -1.16906450e-01] [-9.14776871e-03 1.13280049e-04 9.99958152e-01 -1.09396417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.54 meters 0.020164523705488834 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.13, Z:-0.11 [[ 9.97273921e-01 -7.23737777e-02 1.43792278e-02 7.72345806e+00] [ 7.23722431e-02 9.97377493e-01 6.27736600e-04 -1.31598071e-01] [-1.43869498e-02 4.14631629e-04 9.99896417e-01 -1.07856867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.6 meters 0.021972411574543712 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.14, Z:-0.11 [[ 9.96374654e-01 -8.32108258e-02 1.77061419e-02 7.78482066e+00] [ 8.32102067e-02 9.96531718e-01 7.72967284e-04 -1.40980775e-01] [-1.77090513e-02 7.03166721e-04 9.99842935e-01 -1.05320814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66 meters 0.019380988159852026 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.13, Z:-0.11 [[ 9.97298647e-01 -7.22860632e-02 1.30434949e-02 7.84357525e+00] [ 7.22847939e-02 9.97383870e-01 5.69346159e-04 -1.30687346e-01] [-1.30505272e-02 3.75038186e-04 9.99914768e-01 -1.09140678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.719999999999999 meters 0.01665708096810543 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.11, Z:-0.11 [[ 9.98382517e-01 -5.59223025e-02 1.02491988e-02 7.90262479e+00] [ 5.59206533e-02 9.98435116e-01 4.47643574e-04 -1.12305505e-01] [-1.02581933e-02 1.26222375e-04 9.99947375e-01 -1.13605761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78 meters 0.01604378868237093 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.10, Z:-0.12 [[ 9.98989271e-01 -4.35162763e-02 1.12592606e-02 7.95971483e+00] [ 4.35135002e-02 9.99052718e-01 4.91533082e-04 -9.68664845e-02] [-1.12699846e-02 -1.10643693e-06 9.99936492e-01 -1.15166845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.84 meters 0.016718270052204904 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.09, Z:-0.12 [[ 9.99267870e-01 -3.62895865e-02 1.21156748e-02 8.01822721e+00] [ 3.62858259e-02 9.99341312e-01 5.30142757e-04 -8.81143226e-02] [-1.21269330e-02 -9.01273592e-05 9.99926462e-01 -1.15786267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.9 meters 0.01743640950652971 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.08, Z:-0.11 [[ 9.99582226e-01 -2.52323574e-02 1.40961814e-02 8.07738041e+00] [ 2.52261076e-02 9.99681578e-01 6.21026305e-04 -7.65582735e-02] [-1.41073628e-02 -2.65175068e-04 9.99900451e-01 -1.13394940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.959999999999999 meters 0.020216929954174602 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.07, Z:-0.12 [[ 9.99671881e-01 -2.20251142e-02 1.30776489e-02 8.13648827e+00] [ 2.20194605e-02 9.99757376e-01 5.76160727e-04 -7.23899643e-02] [-1.30871659e-02 -2.88008905e-04 9.99914318e-01 -1.16408660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.02 meters 0.019144503410408967 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.07, Z:-0.12 [[ 9.99702197e-01 -2.20762972e-02 1.03997126e-02 8.19533317e+00] [ 2.20727068e-02 9.99756262e-01 4.59899056e-04 -7.26278107e-02] [-1.04073307e-02 -2.30212288e-04 9.99945816e-01 -1.20173739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08 meters 0.018795681661871143 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.08, Z:-0.12 [[ 9.99671575e-01 -2.41484595e-02 8.57867924e-03 8.25394635e+00] [ 2.41460804e-02 9.99708368e-01 3.80797511e-04 -7.50924861e-02] [-8.58537310e-03 -1.73530969e-04 9.99963130e-01 -1.23237282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.139999999999999 meters 0.015141992480362614 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.08, Z:-0.12 [[ 9.99525865e-01 -2.94092510e-02 9.11820675e-03 8.31200818e+00] [ 2.94067519e-02 9.99567445e-01 4.08055556e-04 -7.99779529e-02] [-9.12626322e-03 -1.39725239e-04 9.99958345e-01 -1.20130890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.2 meters 0.016645023661956974 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.08, Z:-0.12 [[ 9.99321861e-01 -3.58602045e-02 8.35849002e-03 8.37109729e+00] [ 3.58583295e-02 9.99356813e-01 3.74122477e-04 -8.43321096e-02] [-8.36653006e-03 -7.41472804e-05 9.99964997e-01 -1.23472625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.26 meters 0.015112764270789277 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.09, Z:-0.12 [[ 9.98954334e-01 -4.50391409e-02 7.85583466e-03 8.42921680e+00] [ 4.50377479e-02 9.98985223e-01 3.54235143e-04 -8.86960545e-02] [-7.86381719e-03 -5.56300977e-08 9.99969080e-01 -1.23918685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.32 meters 0.014092456332904861 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.09, Z:-0.12 [[ 9.98535078e-01 -5.35260912e-02 7.91548583e-03 8.48879554e+00] [ 5.35249419e-02 9.98566449e-01 3.57118539e-04 -9.09536231e-02] [-7.92325373e-03 6.70805313e-05 9.99968608e-01 -1.22006254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.379999999999999 meters 0.015933057650122096 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.09, Z:-0.12 [[ 9.97809239e-01 -6.55178211e-02 9.17261754e-03 8.54855651e+00] [ 6.55167461e-02 9.97851382e-01 4.17951574e-04 -9.29173815e-02] [-9.18029237e-03 1.83924113e-04 9.99957843e-01 -1.21299693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.44 meters 0.01890558270452879 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.09, Z:-0.12 [[ 9.97425952e-01 -7.07414013e-02 1.17099909e-02 8.60800862e+00] [ 7.07400026e-02 9.97494645e-01 5.34117797e-04 -9.04129511e-02] [-1.17184374e-02 2.95621832e-04 9.99931293e-01 -1.22861647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.5 meters 0.01882135047264304 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.08, Z:-0.12 [[ 9.97681220e-01 -6.65341262e-02 1.43315312e-02 8.66667548e+00] [ 6.65315887e-02 9.97784105e-01 6.54289969e-04 -7.99821754e-02] [-1.43433067e-02 3.00726726e-04 9.99897084e-01 -1.21958638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.559999999999999 meters 0.01445550142155954 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.07, Z:-0.12 [[ 9.98234680e-01 -5.71334075e-02 1.62264261e-02 8.72541888e+00] [ 5.71288923e-02 9.98366535e-01 7.42033165e-04 -6.64338588e-02] [-1.62423157e-02 1.86274512e-04 9.99868068e-01 -1.19908244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.62 meters 0.01330361788128106 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.05, Z:-0.13 [[ 9.98820857e-01 -4.64828901e-02 1.40084213e-02 8.78373075e+00] [ 4.64784744e-02 9.98919086e-01 6.40790041e-04 -4.91381288e-02] [-1.40230652e-02 1.10555945e-05 9.99901672e-01 -1.25038235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.68 meters 0.01650337935186315 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.03, Z:-0.13 [[ 9.99291426e-01 -3.66340575e-02 8.63669382e-03 8.84056592e+00] [ 3.66319958e-02 9.99328744e-01 3.96832482e-04 -3.34486498e-02] [-8.64543398e-03 -8.01719645e-05 9.99962624e-01 -1.33546644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.74 meters 0.01724715585240415 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.02, Z:-0.13 [[ 9.99453123e-01 -3.22294691e-02 7.39699014e-03 8.89893785e+00] [ 3.22278417e-02 9.99480491e-01 3.39134358e-04 -2.42190654e-02] [-7.40407746e-03 -1.00559866e-04 9.99972584e-01 -1.34793452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.799999999999999 meters 0.018639496072635417 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.02, Z:-0.14 [[ 9.99428371e-01 -3.27141141e-02 8.52746991e-03 8.95761245e+00] [ 3.27119465e-02 9.99464744e-01 3.93591591e-04 -1.89113539e-02] [-8.53578152e-03 -1.14416464e-04 9.99963563e-01 -1.36761168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.86 meters 0.01823180187067462 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.02, Z:-0.14 [[ 9.99313133e-01 -3.57450254e-02 9.77522754e-03 9.01673322e+00] [ 3.57422928e-02 9.99360937e-01 4.54153191e-04 -1.81736624e-02] [-9.78521427e-03 -1.04452203e-04 9.99952118e-01 -1.36250840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.92 meters 0.01632653269066636 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.02, Z:-0.14 [[ 9.99330222e-01 -3.59099198e-02 7.04166102e-03 9.07567174e+00] [ 3.59085008e-02 9.99355028e-01 3.27885433e-04 -1.72325085e-02] [-7.04889369e-03 -7.48103325e-05 9.99975153e-01 -1.38326328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98 meters 0.017869824118882976 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.01, Z:-0.14 [[ 9.99455543e-01 -3.26353412e-02 4.85313330e-03 9.13396474e+00] [ 3.26346208e-02 9.99467323e-01 2.27587396e-04 -1.36917231e-02] [-4.85797554e-03 -6.90833195e-05 9.99988198e-01 -1.40835107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.04 meters 0.018458524857908314 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.01, Z:-0.14 [[ 9.99508604e-01 -3.05247463e-02 7.12672327e-03 9.19134573e+00] [ 3.05231300e-02 9.99534004e-01 3.35484036e-04 -1.07737115e-02] [-7.13364281e-03 -1.17789280e-04 9.99974548e-01 -1.40133372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.1 meters 0.018196746076344587 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.01, Z:-0.14 [[ 9.99481058e-01 -3.01686746e-02 1.12900923e-02 9.25083736e+00] [ 3.01645819e-02 9.99544804e-01 5.32657362e-04 -1.08249049e-02] [-1.13010226e-02 -1.91820031e-04 9.99936123e-01 -1.36155303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16 meters 0.018988924093883326 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.01, Z:-0.14 [[ 9.99457420e-01 -3.06027149e-02 1.21794576e-02 9.30842312e+00] [ 3.05979456e-02 9.99531606e-01 5.77773911e-04 -8.51997302e-03] [-1.21914343e-02 -2.04794042e-04 9.99925661e-01 -1.37348296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.219999999999999 meters 0.017897844286930004 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.01, Z:-0.14 [[ 9.99436309e-01 -3.15134586e-02 1.15743922e-02 9.36665384e+00] [ 3.15091783e-02 9.99503310e-01 5.52016065e-04 -9.92853730e-03] [-1.15860392e-02 -1.87005310e-04 9.99932862e-01 -1.38234737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.28 meters 0.018441057233022123 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.01, Z:-0.14 [[ 9.99385078e-01 -3.33616686e-02 1.07918543e-02 9.42601811e+00] [ 3.33580234e-02 9.99443332e-01 5.17650608e-04 -9.62086827e-03] [-1.08031166e-02 -1.57337364e-04 9.99941632e-01 -1.40672840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.34 meters 0.01644742106475584 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.01, Z:-0.14 [[ 9.99233869e-01 -3.77542538e-02 1.03097476e-02 9.48541987e+00] [ 3.77511360e-02 9.99287048e-01 4.96926656e-04 -1.11198520e-02] [-1.03211584e-02 -1.07341260e-04 9.99946730e-01 -1.42414784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.4 meters 0.015623696142716678 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.02, Z:-0.14 [[ 9.98703937e-01 -4.99264183e-02 9.88935242e-03 9.54384300e+00] [ 4.99241148e-02 9.98752899e-01 4.79811925e-04 -2.15627849e-02] [-9.90097469e-03 1.45271074e-05 9.99950984e-01 -1.43441060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.459999999999999 meters 0.01621736039219805 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.03, Z:-0.14 [[ 9.97992599e-01 -6.22135181e-02 1.18427524e-02 9.60288513e+00] [ 6.22110637e-02 9.98062850e-01 5.75884206e-04 -2.99763856e-02] [-1.18556390e-02 1.62022049e-04 9.99929706e-01 -1.42078736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.52 meters 0.018648837022275037 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.04, Z:-0.14 [[ 9.97306942e-01 -7.19940691e-02 1.39899386e-02 9.66322459e+00] [ 7.19915835e-02 9.97405006e-01 6.81849217e-04 -3.54127576e-02] [-1.40027239e-02 3.27144875e-04 9.99901904e-01 -1.41169769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58 meters 0.019515423338266034 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.04, Z:-0.14 [[ 9.97008688e-01 -7.58434010e-02 1.48813718e-02 9.72311274e+00] [ 7.58410127e-02 9.97119659e-01 7.25577722e-04 -3.61155917e-02] [-1.48935387e-02 4.05211014e-04 9.99889003e-01 -1.41886351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.639999999999999 meters 0.017029074177234833 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.03, Z:-0.14 [[ 9.97311588e-01 -7.20999182e-02 1.30842474e-02 9.78143590e+00] [ 7.20977455e-02 9.97397367e-01 6.38283458e-04 -2.93816169e-02] [-1.30962141e-02 3.06777253e-04 9.99914194e-01 -1.43259063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.7 meters 0.015962244204610322 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.02, Z:-0.15 [[ 9.97945046e-01 -6.33806041e-02 9.41194749e-03 9.84110907e+00] [ 6.33790857e-02 9.97989419e-01 4.59813084e-04 -1.98063179e-02] [-9.42216723e-03 1.37652437e-04 9.99955601e-01 -1.48371860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.76 meters 0.01688941887993029 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.01, Z:-0.15 [[ 9.98329058e-01 -5.72413823e-02 7.90670194e-03 9.89943686e+00] [ 5.72401302e-02 9.98360366e-01 3.84743312e-04 -1.16764580e-02] [-7.91576108e-03 6.84802209e-05 9.99968668e-01 -1.51746295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82 meters 0.014502956373212066 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.00, Z:-0.15 [[ 9.98716194e-01 -5.00193969e-02 8.00146746e-03 9.95736571e+00] [ 5.00178600e-02 9.98748246e-01 3.92194454e-04 -2.46238369e-03] [-8.01106893e-03 8.52532676e-06 9.99967911e-01 -1.51303377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.879999999999999 meters 0.01546935115441113 Centerline is valid? [True, True] Translation: X:10.02, Y:0.00, Z:-0.15 [[ 9.98868728e-01 -4.67186856e-02 8.86722923e-03 1.00155724e+01] [ 4.67166648e-02 9.98908086e-01 4.34994883e-04 2.67937456e-03] [-8.87786937e-03 -2.02554098e-05 9.99960591e-01 -1.51753902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94 meters 0.015301023191181998 Centerline is valid? [True, True] Translation: X:10.07, Y:0.01, Z:-0.15 [[ 9.98957114e-01 -4.44448884e-02 1.04563764e-02 1.00728179e+01] [ 4.44419066e-02 9.99011836e-01 5.17469247e-04 7.42678483e-03] [-1.04690427e-02 -5.22282825e-05 9.99945197e-01 -1.51786822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.0 meters 0.018360312909989712 Centerline is valid? [True, True] Translation: X:10.13, Y:0.01, Z:-0.16 [[ 9.99056405e-01 -4.24348721e-02 9.25101971e-03 1.01313173e+01] [ 4.24324501e-02 9.99099233e-01 4.58012243e-04 1.06778859e-02] [-9.26212239e-03 -6.50366322e-05 9.99957104e-01 -1.55584844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.059999999999999 meters 0.015321049726859229 Centerline is valid? [True, True] Translation: X:10.19, Y:0.01, Z:-0.15 [[ 9.99101678e-01 -4.12954808e-02 9.51417412e-03 1.01900064e+01] [ 4.12928437e-02 9.99146975e-01 4.73528734e-04 1.25674169e-02] [-9.52561288e-03 -8.02360482e-05 9.99954627e-01 -1.54596970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.12 meters 0.01726654806465083 Centerline is valid? [True, True] Translation: X:10.25, Y:0.02, Z:-0.16 [[ 9.99258057e-01 -3.80589642e-02 5.90343026e-03 1.02487058e+01] [ 3.80578922e-02 9.99275493e-01 2.93858115e-04 1.75363319e-02] [-5.91033711e-03 -6.89679764e-05 9.99982531e-01 -1.59112158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.18 meters 0.017908063822528943 Centerline is valid? [True, True] Translation: X:10.31, Y:0.02, Z:-0.16 [[ 9.99322320e-01 -3.66658799e-02 3.24243012e-03 1.03070325e+01] [ 3.66655460e-02 9.99327580e-01 1.62384528e-04 2.06878739e-02] [-3.24620381e-03 -4.33890126e-05 9.99994730e-01 -1.61734969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24 meters 0.01768892130067086 Centerline is valid? [True, True] Translation: X:10.36, Y:0.02, Z:-0.16 [[ 9.99215223e-01 -3.93176681e-02 4.80189287e-03 1.03649538e+01] [ 3.93169611e-02 9.99226760e-01 2.41582828e-04 2.15630801e-02] [-4.80767833e-03 -5.25974040e-05 9.99988442e-01 -1.60953885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.299999999999999 meters 0.01546506580259896 Centerline is valid? [True, True] Translation: X:10.42, Y:0.02, Z:-0.16 [[ 9.99031632e-01 -4.34038017e-02 7.20467394e-03 1.04244317e+01] [ 4.34023161e-02 9.99057610e-01 3.62492564e-04 2.03378725e-02] [-7.21361788e-03 -4.94420021e-05 9.99973980e-01 -1.57182188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.36 meters 0.015070180585835934 Centerline is valid? [True, True] Translation: X:10.48, Y:0.02, Z:-0.16 [[ 9.98906791e-01 -4.60546393e-02 8.01209564e-03 1.04826219e+01] [ 4.60528585e-02 9.98938921e-01 4.06705634e-04 2.16507748e-02] [-8.02232486e-03 -3.72811125e-05 9.99967820e-01 -1.56763872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.42 meters 0.017677275445393215 Centerline is valid? [True, True] Translation: X:10.54, Y:0.03, Z:-0.16 [[ 9.98856585e-01 -4.74598670e-02 5.75179426e-03 1.05408551e+01] [ 4.74589741e-02 9.98873145e-01 2.91710802e-04 2.50770821e-02] [-5.75915738e-03 -1.84030014e-05 9.99983416e-01 -1.60278560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48 meters 0.014121875096703745 Centerline is valid? [True, True] Translation: X:10.60, Y:0.03, Z:-0.16 [[ 9.98855100e-01 -4.74768887e-02 5.86799568e-03 1.05990942e+01] [ 4.74759635e-02 9.98872337e-01 2.96951572e-04 2.93012684e-02] [-5.87547689e-03 -1.80228441e-05 9.99982739e-01 -1.58133327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.54 meters 0.01605677281929903 Centerline is valid? [True, True] Translation: X:10.66, Y:0.03, Z:-0.16 [[ 9.98628170e-01 -5.18909804e-02 7.00738753e-03 1.06572917e+01] [ 5.18897381e-02 9.98652756e-01 3.59094426e-04 3.13795750e-02] [-7.01658063e-03 5.00969372e-06 9.99975383e-01 -1.59047274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.6 meters 0.014700830693812504 Centerline is valid? [True, True] Translation: X:10.72, Y:0.03, Z:-0.16 [[ 9.98467360e-01 -5.46909907e-02 8.47509159e-03 1.07150295e+01] [ 5.46892766e-02 9.98503327e-01 4.34049159e-04 3.31838188e-02] [-8.48614573e-03 3.01127108e-05 9.99963992e-01 -1.57948519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66 meters 0.015987575057093594 Centerline is valid? [True, True] Translation: X:10.77, Y:0.03, Z:-0.16 [[ 9.98268812e-01 -5.81161740e-02 9.04927537e-03 1.07734821e+01] [ 5.81143262e-02 9.98309825e-01 4.67236020e-04 3.31668797e-02] [-9.06113448e-03 5.94653942e-05 9.99958945e-01 -1.59694026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.719999999999999 meters 0.018380303777864492 Centerline is valid? [True, True] Translation: X:10.83, Y:0.03, Z:-0.16 [[ 9.98070877e-01 -6.13179822e-02 9.72773427e-03 1.08320611e+01] [ 6.13159907e-02 9.98118278e-01 5.03112510e-04 3.29764369e-02] [-9.74027922e-03 9.43237195e-05 9.99952558e-01 -1.60999255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.78 meters 0.01801212573560533 Centerline is valid? [True, True] Translation: X:10.89, Y:0.04, Z:-0.16 [[ 9.98087890e-01 -6.09254201e-02 1.04238495e-02 1.08896570e+01] [ 6.09230846e-02 9.98142317e-01 5.41741238e-04 3.77448656e-02] [-1.04374911e-02 9.43476944e-05 9.99945523e-01 -1.62386336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.84 meters 0.01654872554552281 Centerline is valid? [True, True] Translation: X:10.95, Y:0.04, Z:-0.16 [[ 9.98315508e-01 -5.71500087e-02 1.00011627e-02 1.09487720e+01] [ 5.71476393e-02 9.98365601e-01 5.22772744e-04 4.48446489e-02] [-1.00146933e-02 4.96507029e-05 9.99949850e-01 -1.64121285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.9 meters 0.01709642930910506 Centerline is valid? [True, True] Translation: X:11.01, Y:0.05, Z:-0.17 [[ 9.98757002e-01 -4.91572437e-02 8.24718643e-03 1.10066799e+01] [ 4.91553410e-02 9.98791052e-01 4.33378103e-04 5.44217319e-02] [-8.25851968e-03 -2.74461536e-05 9.99965897e-01 -1.67283216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.959999999999999 meters 0.01770784697332272 Centerline is valid? [True, True] Translation: X:11.06, Y:0.06, Z:-0.17 [[ 9.99048667e-01 -4.26827766e-02 8.94100139e-03 1.10637634e+01] [ 4.26802727e-02 9.99088671e-01 4.70757430e-04 6.49982844e-02] [-8.95294643e-03 -8.87052061e-05 9.99959918e-01 -1.69250490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.02 meters 0.016916479142665388 Centerline is valid? [True, True] Translation: X:11.12, Y:0.07, Z:-0.17 [[ 9.99260608e-01 -3.74237643e-02 8.81475403e-03 1.11217333e+01] [ 3.74211192e-02 9.99299476e-01 4.64869564e-04 7.34774759e-02] [-8.82597626e-03 -1.34667881e-04 9.99961041e-01 -1.70243245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.08 meters 0.019601853250073645 Centerline is valid? [True, True] Translation: X:11.18, Y:0.08, Z:-0.17 [[ 9.99322438e-01 -3.58815144e-02 8.19648043e-03 1.11804585e+01] [ 3.58791793e-02 9.99356042e-01 4.31797061e-04 7.81549290e-02] [-8.20669577e-03 -1.37421500e-04 9.99966315e-01 -1.72834771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.139999999999999 meters 0.019130015442355066 Centerline is valid? [True, True] Translation: X:11.24, Y:0.08, Z:-0.17 [[ 9.99331208e-01 -3.57670756e-02 7.60608128e-03 1.12393802e+01] [ 3.57650493e-02 9.99360145e-01 4.02303072e-04 8.08632702e-02] [-7.61560369e-03 -1.30002143e-04 9.99970992e-01 -1.73877648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.2 meters 0.01892212362036043 Centerline is valid? [True, True] Translation: X:11.30, Y:0.08, Z:-0.18 [[ 9.99204746e-01 -3.92157431e-02 7.21111151e-03 1.12989076e+01] [ 3.92139989e-02 9.99230762e-01 3.83155603e-04 8.13657074e-02] [-7.22059018e-03 -1.00074378e-04 9.99973926e-01 -1.75974037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.26 meters 0.01730389840589989 Centerline is valid? [True, True] Translation: X:11.36, Y:0.08, Z:-0.17 [[ 9.98825665e-01 -4.74660837e-02 9.70884326e-03 1.13578202e+01] [ 4.74632692e-02 9.98872848e-01 5.20234649e-04 7.62816933e-02] [-9.72259343e-03 -5.88102785e-05 9.99952733e-01 -1.73178568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.32 meters 0.01701048167986711 Centerline is valid? [True, True] Translation: X:11.42, Y:0.07, Z:-0.17 [[ 9.98242318e-01 -5.76174494e-02 1.38745737e-02 1.14168382e+01] [ 5.76126641e-02 9.98338733e-01 7.44681587e-04 7.02369553e-02] [-1.38944310e-02 5.59784803e-05 9.99903466e-01 -1.70278224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.379999999999999 meters 0.01663940690733604 Centerline is valid? [True, True] Translation: X:11.48, Y:0.07, Z:-0.17 [[ 9.97851668e-01 -6.34762855e-02 1.62113876e-02 1.14761070e+01] [ 6.34704500e-02 9.97983335e-01 8.74733146e-04 6.87325885e-02] [-1.62342195e-02 1.56090136e-04 9.99868204e-01 -1.70326719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.44 meters 0.01689889195874736 Centerline is valid? [True, True] Translation: X:11.53, Y:0.07, Z:-0.17 [[ 9.97715682e-01 -6.58656670e-02 1.50043936e-02 1.15348318e+01] [ 6.58608865e-02 9.97828484e-01 8.13051504e-04 6.90683944e-02] [-1.50253635e-02 1.77008425e-04 9.99887097e-01 -1.72375245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.5 meters 0.01814985323375966 Centerline is valid? [True, True] Translation: X:11.59, Y:0.07, Z:-0.18 [[ 9.97811492e-01 -6.49978901e-02 1.21449496e-02 1.15930958e+01] [ 6.49946670e-02 9.97885393e-01 6.60305562e-04 7.28935586e-02] [-1.21621863e-02 1.30496477e-04 9.99926029e-01 -1.77003870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.559999999999999 meters 0.014009878564409611 Centerline is valid? [True, True] Translation: X:11.65, Y:0.08, Z:-0.18 [[ 9.98223815e-01 -5.87618814e-02 9.81103625e-03 1.16522979e+01] [ 5.87594543e-02 9.98272027e-01 5.35704189e-04 7.86148021e-02] [-9.82556203e-03 4.17384564e-05 9.99951727e-01 -1.76905798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.62 meters 0.01412037931854372 Centerline is valid? [True, True] Translation: X:11.71, Y:0.09, Z:-0.18 [[ 9.98808106e-01 -4.78381041e-02 9.68937548e-03 1.17101376e+01] [ 4.78351937e-02 9.98855100e-01 5.32026884e-04 8.87126478e-02] [-9.70373327e-03 -6.78996115e-05 9.99952915e-01 -1.78181507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68 meters 0.016180769008190623 Centerline is valid? [True, True] Translation: X:11.77, Y:0.09, Z:-0.18 [[ 9.98879196e-01 -4.60038584e-02 1.11353426e-02 1.17689936e+01] [ 4.59998944e-02 9.98941257e-01 6.11981823e-04 9.32154861e-02] [-1.11517066e-02 -9.90713287e-05 9.99937813e-01 -1.79755721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74 meters 0.016573909335359203 Centerline is valid? [True, True] Translation: X:11.83, Y:0.10, Z:-0.18 [[ 9.98876548e-01 -4.56968071e-02 1.25476384e-02 1.18269866e+01] [ 4.56917066e-02 9.98955348e-01 6.93015237e-04 9.77260434e-02] [-1.25661991e-02 -1.18913655e-04 9.99921035e-01 -1.79688762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.799999999999999 meters 0.017077254195453678 Centerline is valid? [True, True] Translation: X:11.88, Y:0.11, Z:-0.18 [[ 9.98806899e-01 -4.73688170e-02 1.18731977e-02 1.18847240e+01] [ 4.73643306e-02 9.98877463e-01 6.58929752e-04 1.08294599e-01] [-1.18910823e-02 -9.57775240e-05 9.99929294e-01 -1.84328452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.86 meters 0.017777533758641936 Centerline is valid? [True, True] Translation: X:11.94, Y:0.12, Z:-0.19 [[ 9.98859174e-01 -4.63923927e-02 1.13179515e-02 1.19434667e+01] [ 4.63882180e-02 9.98923288e-01 6.31242652e-04 1.19021509e-01] [-1.13350502e-02 -1.05502914e-04 9.99935751e-01 -1.87245977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.92 meters 0.014395187634412753 Centerline is valid? [True, True] Translation: X:12.00, Y:0.12, Z:-0.18 [[ 9.98871770e-01 -4.59638998e-02 1.19376588e-02 1.20010841e+01] [ 4.59591888e-02 9.98943094e-01 6.68816572e-04 1.24336468e-01] [-1.19557832e-02 -1.19416880e-04 9.99928520e-01 -1.82782554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.979999999999999 meters 0.01630686117970981 Centerline is valid? [True, True] Translation: X:12.06, Y:0.13, Z:-0.19 [[ 9.98809474e-01 -4.78136588e-02 9.66898870e-03 1.20589066e+01] [ 4.78106364e-02 9.98856270e-01 5.43628748e-04 1.34480334e-01] [-9.68392287e-03 -8.07010409e-05 9.99953106e-01 -1.88992534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.04 meters 0.01741525199994403 Centerline is valid? [True, True] Translation: X:12.12, Y:0.14, Z:-0.19 [[ 9.98898641e-01 -4.61034535e-02 8.71641352e-03 1.21175330e+01] [ 4.61009125e-02 9.98936666e-01 4.92323140e-04 1.37991839e-01] [-8.72984286e-03 -8.99462990e-05 9.99961890e-01 -1.90032373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.1 meters 0.017531205461162606 Centerline is valid? [True, True] Translation: X:12.18, Y:0.14, Z:-0.19 [[ 9.98933568e-01 -4.52660568e-02 9.09453183e-03 1.21764816e+01] [ 4.52632350e-02 9.98974961e-01 5.15968883e-04 1.42131886e-01] [-9.10856546e-03 -1.03770706e-04 9.99958511e-01 -1.91415282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.16 meters 0.016790141637267778 Centerline is valid? [True, True] Translation: X:12.23, Y:0.15, Z:-0.19 [[ 9.99018164e-01 -4.30874607e-02 1.03043160e-02 1.22335315e+01] [ 4.30836857e-02 9.99071294e-01 5.88152856e-04 1.49463694e-01] [-1.03200883e-02 -1.43627475e-04 9.99946736e-01 -1.90858754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.219999999999999 meters 0.020475858645587857 Centerline is valid? [True, True] Translation: X:12.29, Y:0.15, Z:-0.19 [[ 9.99187289e-01 -3.89213920e-02 1.04826721e-02 1.22920807e+01] [ 3.89172430e-02 9.99242257e-01 5.99560599e-04 1.52234281e-01] [-1.04980647e-02 -1.91116631e-04 9.99944876e-01 -1.89829283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.28 meters 0.018784102067370734 Centerline is valid? [True, True] Translation: X:12.35, Y:0.16, Z:-0.19 [[ 9.99290807e-01 -3.63696511e-02 9.75357679e-03 1.23509569e+01] [ 3.63659165e-02 9.99338384e-01 5.60034385e-04 1.58019366e-01] [-9.76749193e-03 -2.04939453e-04 9.99952276e-01 -1.89967462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.34 meters 0.01953640100846107 Centerline is valid? [True, True] Translation: X:12.41, Y:0.16, Z:-0.19 [[ 9.99377305e-01 -3.40451430e-02 9.26985699e-03 1.24090299e+01] [ 3.40416412e-02 9.99420272e-01 5.35323820e-04 1.64199133e-01] [-9.28270817e-03 -2.19429331e-04 9.99956891e-01 -1.91692635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.399999999999999 meters 0.017988990706640656 Centerline is valid? [True, True] Translation: X:12.47, Y:0.16, Z:-0.19 [[ 9.99240485e-01 -3.76460100e-02 1.00613569e-02 1.24685431e+01] [ 3.76420562e-02 9.99291117e-01 5.82124672e-04 1.60343882e-01] [-1.00761393e-02 -2.02952378e-04 9.99949214e-01 -1.89669844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.459999999999999 meters 0.018588959766266466 Centerline is valid? [True, True] Translation: X:12.53, Y:0.16, Z:-0.19 [[ 9.99069788e-01 -4.16764678e-02 1.10738694e-02 1.25270714e+01] [ 4.16719231e-02 9.99131143e-01 6.40927067e-04 1.60141362e-01] [-1.10909594e-02 -1.78861434e-04 9.99938477e-01 -1.90573306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.52 meters 0.017766908464857283 Centerline is valid? [True, True] Translation: X:12.59, Y:0.16, Z:-0.19 [[ 9.98678883e-01 -4.90197373e-02 1.54127722e-02 1.25868406e+01] [ 4.90117269e-02 9.98797800e-01 8.97245818e-04 1.55261695e-01] [-1.54382257e-02 -1.40653869e-04 9.99880814e-01 -1.89140033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.58 meters 0.01686173331495745 Centerline is valid? [True, True] Translation: X:12.65, Y:0.15, Z:-0.19 [[ 9.98511768e-01 -5.24276954e-02 1.50195188e-02 1.26459175e+01] [ 5.24204482e-02 9.98624719e-01 8.76071544e-04 1.53856301e-01] [-1.50447932e-02 -8.74378376e-05 9.99886817e-01 -1.89884681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.639999999999999 meters 0.013671840134223054 Centerline is valid? [True, True] Translation: X:12.70, Y:0.15, Z:-0.19 [[ 9.98464728e-01 -5.36056671e-02 1.39505807e-02 1.27036739e+01] [ 5.35994860e-02 9.98562180e-01 8.16853191e-04 1.53627575e-01] [-1.39743102e-02 -6.78551456e-05 9.99902352e-01 -1.90579316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.7 meters 0.017544935123082462 Centerline is valid? [True, True] Translation: X:12.76, Y:0.16, Z:-0.20 [[ 9.98544232e-01 -5.22097185e-02 1.35484792e-02 1.27620606e+01] [ 5.22037087e-02 9.98636139e-01 7.97098613e-04 1.57552588e-01] [-1.35716172e-02 -8.86573618e-05 9.99907897e-01 -1.95829855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.76 meters 0.016477851230710366 Centerline is valid? [True, True] Translation: X:12.82, Y:0.16, Z:-0.19 [[ 9.98665178e-01 -4.93196093e-02 1.53439924e-02 1.28204661e+01] [ 4.93114939e-02 9.98783036e-01 9.07016319e-04 1.62422363e-01] [-1.53700530e-02 -1.49170424e-04 9.99881863e-01 -1.94613511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.82 meters 0.0154836560663083 Centerline is valid? [True, True] Translation: X:12.88, Y:0.17, Z:-0.20 [[ 9.98785189e-01 -4.67931138e-02 1.54450783e-02 1.28778335e+01] [ 4.67845302e-02 9.98904584e-01 9.16795103e-04 1.68025025e-01] [-1.54710592e-02 -1.93090639e-04 9.99880297e-01 -1.95177479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.879999999999999 meters 0.01704892295892699 Centerline is valid? [True, True] Translation: X:12.94, Y:0.17, Z:-0.20 [[ 9.98709445e-01 -4.93961822e-02 1.18093695e-02 1.29369124e+01] [ 4.93913439e-02 9.98779257e-01 7.01177092e-04 1.71812238e-01] [-1.18295888e-02 -1.16991553e-04 9.99930021e-01 -2.03043339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.94 meters 0.013943346411805209 Centerline is valid? [True, True] Translation: X:12.99, Y:0.17, Z:-0.20 [[ 9.98626290e-01 -5.10411669e-02 1.18461498e-02 1.29947193e+01] [ 5.10363724e-02 9.98696545e-01 7.06881989e-04 1.72703775e-01] [-1.18667890e-02 -1.01326424e-04 9.99929582e-01 -2.01106293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.0 meters 0.015208163389877133 Centerline is valid? [True, True] Translation: X:13.05, Y:0.17, Z:-0.20 [[ 9.98448207e-01 -5.42473977e-02 1.25856369e-02 1.30535951e+01] [ 5.42422303e-02 9.98527524e-01 7.51811667e-04 1.72910348e-01] [-1.26078887e-02 -6.79719945e-05 9.99920515e-01 -2.02405823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.059999999999999 meters 0.014574800951823034 Centerline is valid? [True, True] Translation: X:13.11, Y:0.17, Z:-0.20 [[ 9.98305424e-01 -5.66977254e-02 1.31014631e-02 1.31112524e+01] [ 5.66922882e-02 9.98391389e-01 7.86329990e-04 1.74948073e-01] [-1.31249711e-02 -4.22455719e-05 9.99913863e-01 -2.02800805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.12 meters 0.014691435652721577 Centerline is valid? [True, True] Translation: X:13.17, Y:0.18, Z:-0.21 [[ 9.98337871e-01 -5.62777941e-02 1.24219966e-02 1.31692844e+01] [ 5.62728675e-02 9.98415148e-01 7.46045372e-04 1.80354562e-01] [-1.24442954e-02 -4.57839779e-05 9.99922566e-01 -2.05882913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.18 meters 0.013560863590488232 Centerline is valid? [True, True] Translation: X:13.23, Y:0.18, Z:-0.21 [[ 9.98311897e-01 -5.69323121e-02 1.14920873e-02 1.32267141e+01] [ 5.69281014e-02 9.98378040e-01 6.93459215e-04 1.82942104e-01] [-1.15129278e-02 -3.80658738e-05 9.99933723e-01 -2.06521109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.24 meters 0.01759193317625007 Centerline is valid? [True, True] Translation: X:13.28, Y:0.19, Z:-0.21 [[ 9.98263289e-01 -5.79544587e-02 1.05682030e-02 1.32845357e+01] [ 5.79509409e-02 9.98319228e-01 6.39048179e-04 1.85666308e-01] [-1.05874759e-02 -2.55010311e-05 9.99943951e-01 -2.10388331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.299999999999999 meters 0.01818636698722596 Centerline is valid? [True, True] Translation: X:13.34, Y:0.19, Z:-0.21 [[ 9.98424211e-01 -5.53865701e-02 9.02341468e-03 1.33431560e+01] [ 5.53838806e-02 9.98464985e-01 5.47850747e-04 1.93363426e-01] [-9.03990718e-03 -4.72357284e-05 9.99959138e-01 -2.13399694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.36 meters 0.017854870373190033 Centerline is valid? [True, True] Translation: X:13.40, Y:0.20, Z:-0.21 [[ 9.98542923e-01 -5.33870331e-02 7.86488735e-03 1.34020662e+01] [ 5.33849163e-02 9.98573894e-01 4.78994288e-04 1.99680791e-01] [-7.87924327e-03 -5.84300036e-05 9.99968957e-01 -2.14080382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.42 meters 0.015992975480090016 Centerline is valid? [True, True] Translation: X:13.46, Y:0.21, Z:-0.21 [[ 9.98729973e-01 -4.97441890e-02 7.99734574e-03 1.34604989e+01] [ 4.97418670e-02 9.98761987e-01 4.89115928e-04 2.07617376e-01] [-8.01177560e-03 -9.06918299e-05 9.99967901e-01 -2.13172933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.479999999999999 meters 0.018389206893668953 Centerline is valid? [True, True] Translation: X:13.52, Y:0.21, Z:-0.22 [[ 9.98848050e-01 -4.72689664e-02 8.25935254e-03 1.35193253e+01] [ 4.72663871e-02 9.98882191e-01 5.07318421e-04 2.14944576e-01] [-8.27410058e-03 -1.16344261e-04 9.99965762e-01 -2.15034586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.54 meters 0.018074423494786804 Centerline is valid? [True, True] Translation: X:13.58, Y:0.22, Z:-0.21 [[ 9.98850689e-01 -4.69010036e-02 9.87909455e-03 1.35770958e+01] [ 4.68972651e-02 9.98899532e-01 6.09879377e-04 2.19868882e-01] [-9.89682688e-03 -1.45875920e-04 9.99951015e-01 -2.14542864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.6 meters 0.015734212420410152 Centerline is valid? [True, True] Translation: X:13.64, Y:0.22, Z:-0.21 [[ 9.98824720e-01 -4.72134608e-02 1.09575222e-02 1.36352977e+01] [ 4.72088408e-02 9.98884810e-01 6.80040841e-04 2.23517250e-01] [-1.09774095e-02 -1.61949682e-04 9.99939733e-01 -2.12671340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.66 meters 0.01857245428674356 Centerline is valid? [True, True] Translation: X:13.69, Y:0.22, Z:-0.21 [[ 9.98683273e-01 -4.97178015e-02 1.26436152e-02 1.36939704e+01] [ 4.97117959e-02 9.98763293e-01 7.89022755e-04 2.24985312e-01] [-1.26672072e-02 -1.59447011e-04 9.99919755e-01 -2.13765078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.719999999999999 meters 0.01774258523570577 Centerline is valid? [True, True] Translation: X:13.75, Y:0.23, Z:-0.21 [[ 9.98614322e-01 -5.09558433e-02 1.31505937e-02 1.37517223e+01] [ 5.09494042e-02 9.98700895e-01 8.24416296e-04 2.28133288e-01] [-1.31755185e-02 -1.53259006e-04 9.99913187e-01 -2.13585012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.78 meters 0.018285553107269002 Centerline is valid? [True, True] Translation: X:13.81, Y:0.23, Z:-0.22 [[ 9.98556573e-01 -5.24076834e-02 1.17560626e-02 1.38095595e+01] [ 5.24026351e-02 9.98625766e-01 7.37261075e-04 2.31026144e-01] [-1.17785452e-02 -1.20148235e-04 9.99930623e-01 -2.17078223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.84 meters 0.016941772059341106 Centerline is valid? [True, True] Translation: X:13.87, Y:0.23, Z:-0.22 [[ 9.98502545e-01 -5.35070050e-02 1.13871518e-02 1.38678485e+01] [ 5.35022973e-02 9.98567468e-01 7.17868675e-04 2.33567492e-01] [-1.14092503e-02 -1.07554921e-04 9.99934907e-01 -2.17314212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.899999999999999 meters 0.016991522325146016 Centerline is valid? [True, True] Translation: X:13.93, Y:0.24, Z:-0.22 [[ 9.98464449e-01 -5.45208725e-02 9.80911598e-03 1.39263221e+01] [ 5.45174312e-02 9.98512628e-01 6.18067615e-04 2.35249756e-01] [-9.82822375e-03 -8.23507345e-05 9.99951698e-01 -2.19405845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.959999999999999 meters 0.013964630172298527 Centerline is valid? [True, True] Translation: X:13.98, Y:0.24, Z:-0.22 [[ 9.98473148e-01 -5.43103758e-02 1.00873769e-02 1.39843077e+01] [ 5.43066975e-02 9.98524098e-01 6.38401158e-04 2.36249489e-01] [-1.01071608e-02 -8.96142859e-05 9.99948917e-01 -2.17396109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02 meters 0.014245441508107427 Centerline is valid? [True, True] Translation: X:14.04, Y:0.24, Z:-0.22 [[ 9.98522875e-01 -5.33561647e-02 1.02561297e-02 1.40428615e+01] [ 5.33522791e-02 9.98575540e-01 6.52279965e-04 2.39321998e-01] [-1.02763234e-02 -1.04128574e-04 9.99947192e-01 -2.17899994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.08 meters 0.01742694058894839 Centerline is valid? [True, True] Translation: X:14.10, Y:0.25, Z:-0.22 [[ 9.98659398e-01 -5.08418005e-02 9.72208648e-03 1.41009730e+01] [ 5.08381601e-02 9.98706711e-01 6.21377598e-04 2.45501363e-01] [-9.74110498e-03 -1.26291589e-04 9.99952546e-01 -2.21829947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14 meters 0.018122076179726495 Centerline is valid? [True, True] Translation: X:14.16, Y:0.25, Z:-0.22 [[ 9.98840564e-01 -4.74446435e-02 8.15685241e-03 1.41593579e+01] [ 4.74419728e-02 9.98873860e-01 5.20707378e-04 2.50891305e-01] [-8.17237143e-03 -1.33126480e-04 9.99966597e-01 -2.24450884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.2 meters 0.018768233984309206 Centerline is valid? [True, True] Translation: X:14.22, Y:0.25, Z:-0.23 [[ 9.98856438e-01 -4.70905728e-02 8.26402609e-03 1.42175832e+01] [ 4.70877925e-02 9.98890614e-01 5.30782810e-04 2.54845021e-01] [-8.27985296e-03 -1.41041082e-04 9.99965711e-01 -2.25951150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.259999999999998 meters 0.0191092557016723 Centerline is valid? [True, True] Translation: X:14.28, Y:0.26, Z:-0.23 [[ 9.98759925e-01 -4.91701558e-02 7.80430493e-03 1.42763937e+01] [ 4.91677437e-02 9.98790410e-01 5.00743844e-04 2.57153662e-01] [-7.81948657e-03 -1.16402820e-04 9.99969421e-01 -2.27666551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32 meters 0.017992928006824484 Centerline is valid? [True, True] Translation: X:14.33, Y:0.26, Z:-0.23 [[ 9.98594654e-01 -5.27227211e-02 5.38802044e-03 1.43342575e+01] [ 5.27216138e-02 9.98609188e-01 3.47426561e-04 2.56542085e-01] [-5.39884399e-03 -6.28731735e-05 9.99985424e-01 -2.28852579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38 meters 0.018132612602953995 Centerline is valid? [True, True] Translation: X:14.39, Y:0.26, Z:-0.23 [[ 9.98438046e-01 -5.56698911e-02 4.72559707e-03 1.43933142e+01] [ 5.56690791e-02 9.98449228e-01 3.03298539e-04 2.55670807e-01] [-4.73515335e-03 -3.97551631e-05 9.99988788e-01 -2.28672287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.439999999999998 meters 0.014917993031426857 Centerline is valid? [True, True] Translation: X:14.45, Y:0.26, Z:-0.22 [[ 9.98218374e-01 -5.92151277e-02 7.32435165e-03 1.44525763e+01] [ 5.92132438e-02 9.98245244e-01 4.73986298e-04 2.56339112e-01] [-7.33956636e-03 -3.94432124e-05 9.99973064e-01 -2.24852914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.5 meters 0.015833035787508675 Centerline is valid? [True, True] Translation: X:14.51, Y:0.26, Z:-0.22 [[ 9.97927276e-01 -6.38094780e-02 8.33674823e-03 1.45106994e+01] [ 6.38071699e-02 9.97962099e-01 5.42821891e-04 2.57330259e-01] [-8.35439594e-03 -9.75246061e-06 9.99965101e-01 -2.24627679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56 meters 0.01612568346324659 Centerline is valid? [True, True] Translation: X:14.57, Y:0.26, Z:-0.22 [[ 9.97697618e-01 -6.72392698e-02 8.85116488e-03 1.45693579e+01] [ 6.72367988e-02 9.97736879e-01 5.76788827e-04 2.58466130e-01] [-8.86991649e-03 1.96631532e-05 9.99960661e-01 -2.24411163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62 meters 0.016555431809602922 Centerline is valid? [True, True] Translation: X:14.63, Y:0.26, Z:-0.23 [[ 9.97637130e-01 -6.82460867e-02 7.91381810e-03 1.46285081e+01] [ 6.82441292e-02 9.97668518e-01 5.17445498e-04 2.61835933e-01] [-7.93068080e-03 2.38487826e-05 9.99968551e-01 -2.27304821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68 meters 0.016940241633101257 Centerline is valid? [True, True] Translation: X:14.69, Y:0.27, Z:-0.23 [[ 9.97595134e-01 -6.90101640e-02 6.44554991e-03 1.46868059e+01] [ 6.90088767e-02 9.97615957e-01 4.22168390e-04 2.66449594e-01] [-6.45931735e-03 2.36470280e-05 9.99979138e-01 -2.29580053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.74 meters 0.01611657044680113 Centerline is valid? [True, True] Translation: X:14.74, Y:0.27, Z:-0.23 [[ 9.97629502e-01 -6.84499960e-02 7.06930830e-03 1.47446875e+01] [ 6.84484206e-02 9.97654548e-01 4.64845438e-04 2.71606215e-01] [-7.08454625e-03 2.01394647e-05 9.99974904e-01 -2.29821614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.8 meters 0.014737105080677364 Centerline is valid? [True, True] Translation: X:14.80, Y:0.28, Z:-0.23 [[ 9.97708880e-01 -6.71433784e-02 8.29197929e-03 1.48036692e+01] [ 6.71411386e-02 9.97743337e-01 5.48509187e-04 2.77363964e-01] [-8.31009584e-03 9.48044335e-06 9.99965471e-01 -2.28032685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.86 meters 0.015776698161435013 Centerline is valid? [True, True] Translation: X:14.86, Y:0.28, Z:-0.23 [[ 9.97636789e-01 -6.82094648e-02 8.26470703e-03 1.48609081e+01] [ 6.82072514e-02 9.97671022e-01 5.49702386e-04 2.80604757e-01] [-8.28295362e-03 1.53096265e-05 9.99965696e-01 -2.30061292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.919999999999998 meters 0.014922412180141457 Centerline is valid? [True, True] Translation: X:14.92, Y:0.29, Z:-0.23 [[ 9.97648586e-01 -6.81281475e-02 7.47360945e-03 1.49183661e+01] [ 6.81263388e-02 9.97676579e-01 4.96620656e-04 2.85166199e-01] [-7.49007895e-03 1.36967547e-05 9.99971949e-01 -2.31880640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98 meters 0.017896246005585814 Centerline is valid? [True, True] Translation: X:14.98, Y:0.29, Z:-0.23 [[ 9.97537336e-01 -6.97674638e-02 7.19478862e-03 1.49761909e+01] [ 6.97658163e-02 9.97563281e-01 4.80021960e-04 2.88226910e-01] [-7.21074686e-03 2.31104736e-05 9.99974002e-01 -2.34222232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04 meters 0.015181870371312422 Centerline is valid? [True, True] Translation: X:15.03, Y:0.29, Z:-0.23 [[ 9.97416702e-01 -7.13163771e-02 8.59635406e-03 1.50327679e+01] [ 7.13140490e-02 9.97453745e-01 5.77428914e-04 2.91271375e-01] [-8.61564569e-03 3.71035723e-05 9.99962884e-01 -2.33140060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.099999999999998 meters 0.01526737239786027 Centerline is valid? [True, True] Translation: X:15.09, Y:0.30, Z:-0.23 [[ 9.97335757e-01 -7.23944823e-02 8.96810469e-03 1.50903893e+01] [ 7.23919804e-02 9.97376076e-01 6.03704565e-04 2.96116522e-01] [-8.98827794e-03 4.71227096e-05 9.99959604e-01 -2.33889507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16 meters 0.016367116458065042 Centerline is valid? [True, True] Translation: X:15.15, Y:0.30, Z:-0.24 [[ 9.97200024e-01 -7.43678286e-02 7.84457637e-03 1.51488111e+01] [ 7.43659606e-02 9.97230878e-01 5.29951867e-04 3.01218630e-01] [-7.86226515e-03 5.49014431e-05 9.99969090e-01 -2.36287529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22 meters 0.01802845621727788 Centerline is valid? [True, True] Translation: X:15.21, Y:0.30, Z:-0.24 [[ 9.97047592e-01 -7.64563662e-02 7.10802025e-03 1.52065500e+01] [ 7.64548660e-02 9.97072926e-01 4.82942987e-04 3.03074446e-01] [-7.12413861e-03 6.19255941e-05 9.99974621e-01 -2.38440610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.28 meters 0.017468698595728947 Centerline is valid? [True, True] Translation: X:15.27, Y:0.31, Z:-0.24 [[ 9.96737177e-01 -8.01684489e-02 9.38191941e-03 1.52658388e+01] [ 8.01659963e-02 9.96781323e-01 6.37793785e-04 3.05815430e-01] [-9.40285299e-03 1.16398141e-04 9.99955785e-01 -2.35271303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34 meters 0.0184709616937767 Centerline is valid? [True, True] Translation: X:15.32, Y:0.31, Z:-0.24 [[ 9.96439387e-01 -8.35292264e-02 1.14637064e-02 1.53246856e+01] [ 8.35257442e-02 9.96505312e-01 7.83034656e-04 3.08962497e-01] [-1.14890506e-02 1.77268033e-04 9.99933983e-01 -2.35199632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.4 meters 0.016173223700299066 Centerline is valid? [True, True] Translation: X:15.38, Y:0.31, Z:-0.24 [[ 9.96350444e-01 -8.44869103e-02 1.21554630e-02 1.53823139e+01] [ 8.44830213e-02 9.96424570e-01 8.33992089e-04 3.12498610e-01] [-1.21824634e-02 1.95981847e-04 9.99925772e-01 -2.35690969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46 meters 0.019809529349439574 Centerline is valid? [True, True] Translation: X:15.44, Y:0.32, Z:-0.24 [[ 9.96246452e-01 -8.60375914e-02 9.51526194e-03 1.54410317e+01] [ 8.60352819e-02 9.96291877e-01 6.52543417e-04 3.15686094e-01] [-9.53612144e-03 1.68554180e-04 9.99954516e-01 -2.39230528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.52 meters 0.01744709614272841 Centerline is valid? [True, True] Translation: X:15.50, Y:0.32, Z:-0.24 [[ 9.96224770e-01 -8.64082636e-02 8.35582713e-03 1.54995396e+01] [ 8.64064829e-02 9.96259800e-01 5.74552005e-04 3.21178199e-01] [-8.37422071e-03 1.49614695e-04 9.99964924e-01 -2.40312789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.58 meters 0.01779161285515045 Centerline is valid? [True, True] Translation: X:15.56, Y:0.33, Z:-0.24 [[ 9.96252825e-01 -8.61709570e-02 7.40782216e-03 1.55577899e+01] [ 8.61695428e-02 9.96280357e-01 5.10457297e-04 3.27049061e-01] [-7.42425429e-03 1.29784124e-04 9.99972431e-01 -2.42044656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64 meters 0.01699620032087576 Centerline is valid? [True, True] Translation: X:15.62, Y:0.33, Z:-0.24 [[ 9.96583909e-01 -8.23083787e-02 6.77076307e-03 1.56168245e+01] [ 8.23070885e-02 9.96606905e-01 4.69446240e-04 3.33591945e-01] [-6.78642858e-03 8.94392265e-05 9.99976968e-01 -2.43448584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.7 meters 0.01653863910784128 Centerline is valid? [True, True] Translation: X:15.68, Y:0.34, Z:-0.24 [[ 9.96925731e-01 -7.80998362e-02 6.28506533e-03 1.56756086e+01] [ 7.80986433e-02 9.96945541e-01 4.35374178e-04 3.40287111e-01] [-6.29987051e-03 5.68193554e-05 9.99980154e-01 -2.44380038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.759999999999998 meters 0.013696684326835101 Centerline is valid? [True, True] Translation: X:15.73, Y:0.35, Z:-0.24 [[ 9.97164325e-01 -7.48961201e-02 7.34027644e-03 1.57338121e+01] [ 7.48943877e-02 9.97191341e-01 5.10993483e-04 3.46591504e-01] [-7.35793153e-03 4.02010374e-05 9.99972929e-01 -2.43860548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82 meters 0.015802344635318676 Centerline is valid? [True, True] Translation: X:15.79, Y:0.35, Z:-0.25 [[ 9.97570764e-01 -6.92807863e-02 7.26246247e-03 1.57918100e+01] [ 6.92789284e-02 9.97597200e-01 5.07378055e-04 3.54726775e-01] [-7.28016377e-03 -3.00989662e-06 9.99973499e-01 -2.45860225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88 meters 0.018266074316898858 Centerline is valid? [True, True] Translation: X:15.85, Y:0.36, Z:-0.25 [[ 9.97680362e-01 -6.77634879e-02 6.48119281e-03 1.58505313e+01] [ 6.77619683e-02 9.97701413e-01 4.54017862e-04 3.60667221e-01] [-6.49706106e-03 -1.37863231e-05 9.99978894e-01 -2.49031322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.939999999999998 meters 0.016492104845295615 Centerline is valid? [True, True] Translation: X:15.91, Y:0.36, Z:-0.25 [[ 9.97742717e-01 -6.67237807e-02 7.57673073e-03 1.59082371e+01] [ 6.67216576e-02 9.97771485e-01 5.32913753e-04 3.64588238e-01] [-7.59540389e-03 -2.61787822e-05 9.99971154e-01 -2.48231391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.0 meters 0.016371756607660746 Centerline is valid? [True, True] Translation: X:15.97, Y:0.37, Z:-0.25 [[ 9.97656587e-01 -6.78759581e-02 8.61323380e-03 1.59667116e+01] [ 6.78732305e-02 9.97693768e-01 6.08923171e-04 3.66139538e-01] [-8.63470092e-03 -2.28882090e-05 9.99962720e-01 -2.48345114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06 meters 0.013828120115491947 Centerline is valid? [True, True] Translation: X:16.02, Y:0.37, Z:-0.25 [[ 9.97524629e-01 -6.96328483e-02 9.79192828e-03 1.60249485e+01] [ 6.96293745e-02 9.97572687e-01 6.95644023e-04 3.66256428e-01] [-9.81659988e-03 -1.21162045e-05 9.99951816e-01 -2.46888324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12 meters 0.01649146683199503 Centerline is valid? [True, True] Translation: X:16.08, Y:0.37, Z:-0.25 [[ 9.97331685e-01 -7.24648743e-02 8.85169400e-03 1.60829856e+01] [ 7.24621282e-02 9.97370965e-01 6.30982006e-04 3.67806644e-01] [-8.87414662e-03 1.21142385e-05 9.99960624e-01 -2.50470733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18 meters 0.01603008641970079 Centerline is valid? [True, True] Translation: X:16.14, Y:0.37, Z:-0.25 [[ 9.97135124e-01 -7.51834105e-02 8.30662088e-03 1.61417139e+01] [ 7.51810670e-02 9.97169722e-01 5.94458928e-04 3.69985180e-01] [-8.32780428e-03 3.17447443e-05 9.99965323e-01 -2.52570696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.24 meters 0.015862396491442436 Centerline is valid? [True, True] Translation: X:16.20, Y:0.37, Z:-0.25 [[ 9.96926805e-01 -7.78840818e-02 8.42709477e-03 1.61999671e+01] [ 7.78817421e-02 9.96962420e-01 6.05950622e-04 3.72993444e-01] [-8.44869070e-03 5.22284040e-05 9.99964308e-01 -2.52885244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.3 meters 0.017107912780389728 Centerline is valid? [True, True] Translation: X:16.26, Y:0.38, Z:-0.25 [[ 9.96649679e-01 -8.13220900e-02 8.72552130e-03 1.62586880e+01] [ 8.13197096e-02 9.96687870e-01 6.27838748e-04 3.76613039e-01] [-8.74767840e-03 8.38215711e-05 9.99961735e-01 -2.52218901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.36 meters 0.01676004850129801 Centerline is valid? [True, True] Translation: X:16.32, Y:0.38, Z:-0.25 [[ 9.96507366e-01 -8.29781919e-02 9.36426962e-03 1.63168297e+01] [ 8.29754903e-02 9.96551358e-01 6.77319549e-04 3.80549334e-01] [-9.38817836e-03 1.02050944e-04 9.99955925e-01 -2.52996270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.419999999999998 meters 0.016615197208052122 Centerline is valid? [True, True] Translation: X:16.38, Y:0.39, Z:-0.25 [[ 9.96274827e-01 -8.57653494e-02 8.98743178e-03 1.63753977e+01] [ 8.57629767e-02 9.96315357e-01 6.49787004e-04 3.88189862e-01] [-9.01004551e-03 1.23422468e-04 9.99959401e-01 -2.54287577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48 meters 0.015997460366254726 Centerline is valid? [True, True] Translation: X:16.43, Y:0.39, Z:-0.26 [[ 9.95985359e-01 -8.91186649e-02 8.42777241e-03 1.64329369e+01] [ 8.91166732e-02 9.96021006e-01 6.12307968e-04 3.92652811e-01] [-8.44880642e-03 1.41205268e-04 9.99964298e-01 -2.55561285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.54 meters 0.01779523512904292 Centerline is valid? [True, True] Translation: X:16.49, Y:0.40, Z:-0.26 [[ 9.95749231e-01 -9.17262254e-02 8.35279327e-03 1.64920677e+01] [ 9.17243636e-02 9.95784250e-01 6.06525415e-04 3.97346935e-01] [-8.37321427e-03 1.62207431e-04 9.99964931e-01 -2.57314099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.599999999999998 meters 0.018123469267339643 Centerline is valid? [True, True] Translation: X:16.55, Y:0.40, Z:-0.26 [[ 9.95688254e-01 -9.24486133e-02 7.62598077e-03 1.65497256e+01] [ 9.24470639e-02 9.95717445e-01 5.56188369e-04 4.01717590e-01] [-7.64474093e-03 1.51209305e-04 9.99970767e-01 -2.58283982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66 meters 0.018534514414638374 Centerline is valid? [True, True] Translation: X:16.61, Y:0.41, Z:-0.26 [[ 9.95815293e-01 -9.11291281e-02 6.88367057e-03 1.66080865e+01] [ 9.11278359e-02 9.95839076e-01 5.01787764e-04 4.10195128e-01] [-6.90075562e-03 1.27606073e-04 9.99976181e-01 -2.60611148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72 meters 0.016757659738243367 Centerline is valid? [True, True] Translation: X:16.67, Y:0.42, Z:-0.26 [[ 9.96212763e-01 -8.65452899e-02 8.36923107e-03 1.66662242e+01] [ 8.65431839e-02 9.96247911e-01 6.14149129e-04 4.19417506e-01] [-8.39098069e-03 1.12476703e-04 9.99964789e-01 -2.60446950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.779999999999998 meters 0.015871907651331313 Centerline is valid? [True, True] Translation: X:16.72, Y:0.43, Z:-0.26 [[ 9.96390477e-01 -8.39893964e-02 1.23206598e-02 1.67237585e+01] [ 8.39846205e-02 9.96466640e-01 9.05433617e-04 4.26669239e-01] [-1.23531733e-02 1.32580501e-04 9.99923688e-01 -2.58391514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84 meters 0.016474998324676356 Centerline is valid? [True, True] Translation: X:16.78, Y:0.43, Z:-0.26 [[ 9.96316376e-01 -8.43433774e-02 1.54878646e-02 1.67819415e+01] [ 8.43358458e-02 9.96436734e-01 1.13994614e-03 4.31378078e-01] [-1.55288241e-02 1.70435153e-04 9.99879406e-01 -2.56449948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.9 meters 0.01653654789740024 Centerline is valid? [True, True] Translation: X:16.84, Y:0.44, Z:-0.26 [[ 9.96338279e-01 -8.40478774e-02 1.56840327e-02 1.68385791e+01] [ 8.40400505e-02 9.96461704e-01 1.15861974e-03 4.38362562e-01] [-1.57259175e-02 1.63709699e-04 9.99876327e-01 -2.58782962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96 meters 0.016002614358413887 Centerline is valid? [True, True] Translation: X:16.90, Y:0.45, Z:-0.26 [[ 9.96474809e-01 -8.27113026e-02 1.40283639e-02 1.68975210e+01] [ 8.27048896e-02 9.96573542e-01 1.03765632e-03 4.45582742e-01] [-1.40661222e-02 1.26215903e-04 9.99901059e-01 -2.61911620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.02 meters 0.016102810514006336 Centerline is valid? [True, True] Translation: X:16.96, Y:0.45, Z:-0.27 [[ 9.96792975e-01 -7.92276856e-02 1.12578314e-02 1.69561351e+01] [ 7.92233117e-02 9.96856544e-01 8.34641856e-04 4.53702568e-01] [-1.12885696e-02 5.99175438e-05 9.99936280e-01 -2.65057861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.08 meters 0.016176810527862517 Centerline is valid? [True, True] Translation: X:17.01, Y:0.46, Z:-0.27 [[ 9.97063053e-01 -7.59716348e-02 9.67363298e-03 1.70140808e+01] [ 7.59682371e-02 9.97109979e-01 7.18732976e-04 4.61261623e-01] [-9.70027930e-03 1.82667489e-05 9.99952951e-01 -2.67875059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14 meters 0.016333561791079292 Centerline is valid? [True, True] Translation: X:17.07, Y:0.47, Z:-0.27 [[ 9.97300026e-01 -7.28875821e-02 8.94754340e-03 1.70712927e+01] [ 7.28845209e-02 9.97340163e-01 6.68159594e-04 4.65581551e-01] [-8.97244492e-03 -1.42181664e-05 9.99959747e-01 -2.69714551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.2 meters 0.016651339928669906 Centerline is valid? [True, True] Translation: X:17.13, Y:0.47, Z:-0.27 [[ 9.97427734e-01 -7.10108794e-02 9.76581078e-03 1.71293057e+01] [ 7.10071430e-02 9.97475540e-01 7.29236579e-04 4.69473984e-01] [-9.79294112e-03 -3.39184663e-05 9.99952047e-01 -2.69641947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.259999999999998 meters 0.01723414140408686 Centerline is valid? [True, True] Translation: X:17.19, Y:0.47, Z:-0.27 [[ 9.97544643e-01 -6.93055479e-02 1.00710306e-02 1.71868282e+01] [ 6.93014488e-02 9.97595478e-01 7.55853317e-04 4.72661083e-01] [-1.00991995e-02 -5.60604133e-05 9.99949000e-01 -2.70375828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32 meters 0.017508180155280113 Centerline is valid? [True, True] Translation: X:17.24, Y:0.48, Z:-0.27 [[ 9.97589009e-01 -6.85339210e-02 1.09210862e-02 1.72445369e+01] [ 6.85290514e-02 9.97648784e-01 8.19921738e-04 4.76647491e-01] [-1.09516008e-02 -6.95332387e-05 9.99940027e-01 -2.71711163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.38 meters 0.018848379475088776 Centerline is valid? [True, True] Translation: X:17.30, Y:0.48, Z:-0.27 [[ 9.97583098e-01 -6.85329763e-02 1.14539806e-02 1.73022088e+01] [ 6.85275823e-02 9.97648849e-01 8.63196013e-04 4.80337910e-01] [-1.14862079e-02 -7.61961581e-05 9.99934028e-01 -2.72423700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.439999999999998 meters 0.016392699673151132 Centerline is valid? [True, True] Translation: X:17.36, Y:0.48, Z:-0.27 [[ 9.97674449e-01 -6.71370262e-02 1.17606708e-02 1.73602333e+01] [ 6.71311970e-02 9.97743760e-01 8.90167990e-04 4.83683094e-01] [-1.17938991e-02 -9.85899544e-05 9.99930445e-01 -2.72626557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.5 meters 0.016526514262371627 Centerline is valid? [True, True] Translation: X:17.42, Y:0.49, Z:-0.28 [[ 9.97762830e-01 -6.61320478e-02 9.79219878e-03 1.74190400e+01] [ 6.61279611e-02 9.97810876e-01 7.40887519e-04 4.86965668e-01] [-9.81975885e-03 -9.16918879e-05 9.99951781e-01 -2.75402522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.56 meters 0.019020014761144143 Centerline is valid? [True, True] Translation: X:17.48, Y:0.49, Z:-0.28 [[ 9.97855853e-01 -6.50760617e-02 6.98591671e-03 1.74764095e+01] [ 6.50739444e-02 9.97880304e-01 5.30199140e-04 4.93587623e-01] [-7.00561196e-03 -7.44611594e-05 9.99975458e-01 -2.82492942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.62 meters 0.017145018759723626 Centerline is valid? [True, True] Translation: X:17.54, Y:0.49, Z:-0.28 [[ 9.97874554e-01 -6.48357697e-02 6.53428527e-03 1.75353014e+01] [ 6.48339137e-02 9.97895945e-01 4.95693651e-04 4.94931458e-01] [-6.55267545e-03 -7.09967940e-05 9.99978528e-01 -2.81242667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.68 meters 0.017882236928210754 Centerline is valid? [True, True] Translation: X:17.59, Y:0.50, Z:-0.28 [[ 9.97774895e-01 -6.61636232e-02 8.22398569e-03 1.75945089e+01] [ 6.61607038e-02 9.97808783e-01 6.26842824e-04 4.96214000e-01] [-8.24743935e-03 -8.13433524e-05 9.99965986e-01 -2.80331448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.74 meters 0.014303184383561058 Centerline is valid? [True, True] Translation: X:17.65, Y:0.50, Z:-0.28 [[ 9.97651181e-01 -6.77268051e-02 1.02567880e-02 1.76538487e+01] [ 6.77223120e-02 9.97703900e-01 7.85148149e-04 4.98625539e-01] [-1.02864129e-02 -8.86905834e-05 9.99947090e-01 -2.77198435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.8 meters 0.014138322267559948 Centerline is valid? [True, True] Translation: X:17.71, Y:0.50, Z:-0.28 [[ 9.97467310e-01 -7.03125330e-02 1.07290826e-02 1.77126099e+01] [ 7.03077366e-02 9.97525009e-01 8.24040720e-04 5.01965529e-01] [-1.07604686e-02 -6.76161673e-05 9.99942102e-01 -2.78721273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.86 meters 0.014036279480188341 Centerline is valid? [True, True] Translation: X:17.77, Y:0.51, Z:-0.28 [[ 9.97404582e-01 -7.13353983e-02 9.76532762e-03 1.77704997e+01] [ 7.13314561e-02 9.97452384e-01 7.51845697e-04 5.09236296e-01] [-9.79408253e-03 -5.33193041e-05 9.99952035e-01 -2.81601316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.919999999999998 meters 0.014171737977346936 Centerline is valid? [True, True] Translation: X:17.83, Y:0.52, Z:-0.28 [[ 9.97426410e-01 -7.11563356e-02 8.79387018e-03 1.78277364e+01] [ 7.11531043e-02 9.97465174e-01 6.80161448e-04 5.16302666e-01] [-8.81997704e-03 -5.26998293e-05 9.99961102e-01 -2.83663516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98 meters 0.014082676862054465 Centerline is valid? [True, True] Translation: X:17.89, Y:0.52, Z:-0.28 [[ 9.97449197e-01 -7.08963251e-02 8.29516216e-03 1.78853124e+01] [ 7.08934470e-02 9.97483688e-01 6.40850609e-04 5.20611855e-01] [-8.31972290e-03 -5.11432860e-05 9.99965389e-01 -2.83371647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.04 meters 0.014033939763887483 Centerline is valid? [True, True] Translation: X:17.94, Y:0.53, Z:-0.28 [[ 9.97387221e-01 -7.18467760e-02 7.53474186e-03 1.79431506e+01] [ 7.18444155e-02 9.97415680e-01 5.83840667e-04 5.25149428e-01] [-7.55721675e-03 -4.09860957e-05 9.99971443e-01 -2.84203733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.099999999999998 meters 0.015101355970066812 Centerline is valid? [True, True] Translation: X:18.00, Y:0.53, Z:-0.29 [[ 9.97288524e-01 -7.32953087e-02 6.58768509e-03 1.80011021e+01] [ 7.32935273e-02 9.97310281e-01 5.11760094e-04 5.29343376e-01] [-6.60747568e-03 -2.75377918e-05 9.99978170e-01 -2.86805606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16 meters 0.014225158756558652 Centerline is valid? [True, True] Translation: X:18.06, Y:0.53, Z:-0.29 [[ 9.97199763e-01 -7.44289339e-02 7.27775907e-03 1.80595030e+01] [ 7.44267715e-02 9.97226320e-01 5.67885608e-04 5.34004356e-01] [-7.29984001e-03 -2.46352827e-05 9.99973356e-01 -2.87455058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.22 meters 0.01751610546919162 Centerline is valid? [True, True] Translation: X:18.12, Y:0.54, Z:-0.29 [[ 9.97105377e-01 -7.57897590e-02 6.06466904e-03 1.81179648e+01] [ 7.57882762e-02 9.97123820e-01 4.74285879e-04 5.37372339e-01] [-6.08317197e-03 -1.32821877e-05 9.99981497e-01 -2.90031392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.279999999999998 meters 0.013824321818083988 Centerline is valid? [True, True] Translation: X:18.17, Y:0.54, Z:-0.29 [[ 9.97180624e-01 -7.47260198e-02 6.84285331e-03 1.81749840e+01] [ 7.47240804e-02 9.97204102e-01 5.38999278e-04 5.42176214e-01] [-6.86399866e-03 -2.61537156e-05 9.99976442e-01 -2.88526706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34 meters 0.013820302877909663 Centerline is valid? [True, True] Translation: X:18.23, Y:0.55, Z:-0.29 [[ 9.97220709e-01 -7.42428986e-02 6.23288242e-03 1.82332824e+01] [ 7.42412836e-02 9.97240187e-01 4.90411141e-04 5.46813629e-01] [-6.25209037e-03 -2.63109550e-05 9.99980455e-01 -2.89525666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.4 meters 0.013869984837259795 Centerline is valid? [True, True] Translation: X:18.29, Y:0.55, Z:-0.29 [[ 9.97271209e-01 -7.36122254e-02 5.60146190e-03 1.82910875e+01] [ 7.36108965e-02 9.97286939e-01 4.43309815e-04 5.51780967e-01] [-5.61889782e-03 -2.97714824e-05 9.99984213e-01 -2.90827411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46 meters 0.016478017743078357 Centerline is valid? [True, True] Translation: X:18.35, Y:0.56, Z:-0.29 [[ 9.97128370e-01 -7.55838686e-02 4.70027440e-03 1.83491887e+01] [ 7.55829632e-02 9.97139448e-01 3.70208305e-04 5.55776887e-01] [-4.71481079e-03 -1.38845371e-05 9.99988885e-01 -2.94009720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.52 meters 0.015387245090056111 Centerline is valid? [True, True] Translation: X:18.41, Y:0.56, Z:-0.29 [[ 9.96865335e-01 -7.89413706e-02 5.26905310e-03 1.84074859e+01] [ 7.89402592e-02 9.96879260e-01 4.18896783e-04 5.57711791e-01] [-5.28567805e-03 -1.64326424e-06 9.99986031e-01 -2.94574378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.58 meters 0.01639447997932991 Centerline is valid? [True, True] Translation: X:18.47, Y:0.56, Z:-0.29 [[ 9.96471583e-01 -8.37441446e-02 5.59489358e-03 1.84659142e+01] [ 8.37429737e-02 9.96487289e-01 4.43627446e-04 5.58225434e-01] [-5.61239154e-03 2.64708830e-05 9.99984250e-01 -2.94911525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.64 meters 0.015726597681661587 Centerline is valid? [True, True] Translation: X:18.52, Y:0.56, Z:-0.29 [[ 9.95926220e-01 -8.98875057e-02 7.15549315e-03 1.85244847e+01] [ 8.98857164e-02 9.95951922e-01 5.71917812e-04 5.58337507e-01] [-7.17793543e-03 7.35886838e-05 9.99974236e-01 -2.93973018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.7 meters 0.018218910734574097 Centerline is valid? [True, True] Translation: X:18.58, Y:0.56, Z:-0.30 [[ 9.95555417e-01 -9.38708517e-02 7.59444901e-03 1.85825257e+01] [ 9.38689464e-02 9.95584377e-01 6.07721105e-04 5.59892170e-01] [-7.61796208e-03 1.07862889e-04 9.99970977e-01 -2.95574043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.759999999999998 meters 0.014915564228457084 Centerline is valid? [True, True] Translation: X:18.64, Y:0.57, Z:-0.29 [[ 9.95492416e-01 -9.44614717e-02 8.47822844e-03 1.86402758e+01] [ 9.44591226e-02 9.95528510e-01 6.77975766e-04 5.67251880e-01] [-8.50436072e-03 1.25926287e-04 9.99963829e-01 -2.92820042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82 meters 0.017503906162559996 Centerline is valid? [True, True] Translation: X:18.70, Y:0.57, Z:-0.30 [[ 9.95311109e-01 -9.63943179e-02 7.99576348e-03 1.86981228e+01] [ 9.63922662e-02 9.95343216e-01 6.42470355e-04 5.70378494e-01] [-8.02045943e-03 1.31271880e-04 9.99967827e-01 -2.96126042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.88 meters 0.017763716376051262 Centerline is valid? [True, True] Translation: X:18.76, Y:0.58, Z:-0.30 [[ 9.95225462e-01 -9.72585407e-02 8.18876602e-03 1.87560692e+01] [ 9.72564062e-02 9.95259140e-01 6.59428903e-04 5.75019089e-01] [-8.21407932e-03 1.40129520e-04 9.99966254e-01 -2.96769155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.939999999999998 meters 0.016445426245382488 Centerline is valid? [True, True] Translation: X:18.81, Y:0.58, Z:-0.30 [[ 9.95017129e-01 -9.93752029e-02 8.09208334e-03 1.88141051e+01] [ 9.93731836e-02 9.95050021e-01 6.52229527e-04 5.82090253e-01] [-8.11684314e-03 1.55156532e-04 9.99967046e-01 -2.95689934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.0 meters 0.015799700577757866 Centerline is valid? [True, True] Translation: X:18.87, Y:0.59, Z:-0.30 [[ 9.94876148e-01 -1.00747903e-01 8.44455645e-03 1.88729215e+01] [ 1.00745756e-01 9.94911971e-01 6.80321030e-04 5.89304532e-01] [-8.47013122e-03 1.73918060e-04 9.99964113e-01 -2.95226507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.06 meters 0.018267075915215883 Centerline is valid? [True, True] Translation: X:18.93, Y:0.59, Z:-0.30 [[ 9.94836076e-01 -1.01183983e-01 7.93618302e-03 1.89310693e+01] [ 1.01182078e-01 9.94867717e-01 6.42268358e-04 5.92663636e-01] [-7.96043955e-03 1.64047756e-04 9.99968302e-01 -2.98077147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.119999999999997 meters 0.01559879041861416 Centerline is valid? [True, True] Translation: X:18.99, Y:0.60, Z:-0.30 [[ 9.95055242e-01 -9.88997146e-02 9.16030687e-03 1.89899721e+01] [ 9.88970777e-02 9.95097391e-01 7.41505785e-04 6.02742248e-01] [-9.18873218e-03 1.68088362e-04 9.99957769e-01 -2.96145829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.18 meters 0.015974271915762086 Centerline is valid? [True, True] Translation: X:19.05, Y:0.61, Z:-0.30 [[ 9.95296346e-01 -9.63628273e-02 9.96942476e-03 1.90471960e+01] [ 9.63595434e-02 9.95346262e-01 8.10329517e-04 6.09004686e-01] [-1.00011153e-02 1.54131211e-04 9.99949976e-01 -2.96831011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.24 meters 0.017673577304841155 Centerline is valid? [True, True] Translation: X:19.11, Y:0.62, Z:-0.30 [[ 9.95773082e-01 -9.14867710e-02 8.13268096e-03 1.91058799e+01] [ 9.14844265e-02 9.95806288e-01 6.60610071e-04 6.19556278e-01] [-8.15901192e-03 8.61959272e-05 9.99966711e-01 -3.00982881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.3 meters 0.014389249448826162 Centerline is valid? [True, True] Translation: X:19.16, Y:0.63, Z:-0.30 [[ 9.95996003e-01 -8.89924575e-02 8.50324534e-03 1.91645207e+01] [ 8.89897878e-02 9.96032298e-01 6.92554602e-04 6.27206201e-01] [-8.53113913e-03 6.69203830e-05 9.99963607e-01 -2.99974300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.36 meters 0.017426174247461703 Centerline is valid? [True, True] Translation: X:19.22, Y:0.64, Z:-0.31 [[ 9.96351894e-01 -8.51951319e-02 4.96924777e-03 1.92221871e+01] [ 8.51941667e-02 9.96364285e-01 4.05985376e-04 6.36027542e-01] [-4.98576899e-03 1.88466247e-05 9.99987571e-01 -3.06001153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.419999999999998 meters 0.016581528153905088 Centerline is valid? [True, True] Translation: X:19.28, Y:0.64, Z:-0.31 [[ 9.96527355e-01 -8.31440123e-02 4.50605195e-03 1.92802178e+01] [ 8.31432062e-02 9.96537542e-01 3.66256898e-04 6.43429685e-01] [-4.52090200e-03 9.66258872e-06 9.99989781e-01 -3.05214820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48 meters 0.017868604873253435 Centerline is valid? [True, True] Translation: X:19.34, Y:0.65, Z:-0.31 [[ 9.96588984e-01 -8.25047931e-02 1.83205151e-03 1.93379866e+01] [ 8.25046577e-02 9.96590668e-01 1.49505214e-04 6.47738863e-01] [-1.83814034e-03 2.15753419e-06 9.99998311e-01 -3.08428955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.54 meters 0.014018339073233112 Centerline is valid? [True, True] Translation: X:19.40, Y:0.65, Z:-0.31 [[ 9.96646364e-01 -8.17992011e-02 2.21710060e-03 1.93964362e+01] [ 8.17990054e-02 9.96648830e-01 1.78954168e-04 6.51312228e-01] [-2.22430903e-03 3.00260336e-06 9.99997526e-01 -3.06833538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.599999999999998 meters 0.01444542291065201 Centerline is valid? [True, True] Translation: X:19.45, Y:0.65, Z:-0.31 [[ 9.96715144e-01 -8.09670403e-02 1.80579837e-03 1.94546930e+01] [ 8.09669050e-02 9.96716779e-01 1.48043406e-04 6.53307344e-01] [-1.81185617e-03 -1.34720006e-06 9.99998359e-01 -3.06974925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66 meters 0.016872343252981266 Centerline is valid? [True, True] Translation: X:19.51, Y:0.66, Z:-0.31 [[ 9.97033084e-01 -7.69307975e-02 2.58499636e-03 1.95127656e+01] [ 7.69305110e-02 9.97036435e-01 2.10240952e-04 6.58894430e-01] [-2.59350956e-03 -1.07520934e-05 9.99996637e-01 -3.06409085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.72 meters 0.01715539843055049 Centerline is valid? [True, True] Translation: X:19.57, Y:0.67, Z:-0.31 [[ 9.97398352e-01 -7.19373186e-02 4.64222680e-03 1.95708673e+01] [ 7.19363168e-02 9.97409154e-01 3.82639948e-04 6.66096155e-01] [-4.65772559e-03 -4.76997557e-05 9.99989152e-01 -3.05077194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.779999999999998 meters 0.017606182172061852 Centerline is valid? [True, True] Translation: X:19.63, Y:0.67, Z:-0.31 [[ 9.97772887e-01 -6.64707879e-02 5.55875013e-03 1.96293810e+01] [ 6.64692548e-02 9.97788367e-01 4.60290988e-04 6.74068653e-01] [-5.57705212e-03 -8.97798890e-05 9.99984444e-01 -3.05449550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.84 meters 0.01846096677449092 Centerline is valid? [True, True] Translation: X:19.69, Y:0.68, Z:-0.31 [[ 9.98187285e-01 -5.99420354e-02 5.39408183e-03 1.96880207e+01] [ 5.99404795e-02 9.98201852e-01 4.49793070e-04 6.81598670e-01] [-5.41134398e-03 -1.25653872e-04 9.99985351e-01 -3.07172372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.9 meters 0.019719608798864 Centerline is valid? [True, True] Translation: X:19.75, Y:0.69, Z:-0.31 [[ 9.98172593e-01 -6.03198219e-02 3.60465573e-03 1.97463313e+01] [ 6.03191380e-02 9.98179098e-01 2.98242077e-04 6.86579812e-01] [-3.61608192e-03 -8.02673412e-05 9.99993459e-01 -3.11083276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.96 meters 0.017744599122064407 Centerline is valid? [True, True] Translation: X:19.81, Y:0.69, Z:-0.31 [[ 9.97991313e-01 -6.33146673e-02 2.14308190e-03 1.98059115e+01] [ 6.33144343e-02 9.97993613e-01 1.76457640e-04 6.87330019e-01] [-2.14995440e-03 -4.04151742e-05 9.99997688e-01 -3.12745753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.02 meters 0.01756912395438617 Centerline is valid? [True, True] Translation: X:19.87, Y:0.69, Z:-0.31 [[ 9.97592331e-01 -6.92432250e-02 3.86237250e-03 1.98653025e+01] [ 6.92424888e-02 9.97599806e-01 3.24153502e-04 6.87375313e-01] [-3.87554749e-03 -5.59327627e-05 9.99992488e-01 -3.13288257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.08 meters 0.0141037712625386 Centerline is valid? [True, True] Translation: X:19.92, Y:0.69, Z:-0.31 [[ 9.97247940e-01 -7.37960934e-02 7.11911756e-03 1.99249550e+01] [ 7.37937143e-02 9.97273349e-01 5.96643718e-04 6.87231795e-01] [-7.14373618e-03 -6.96555911e-05 9.99974481e-01 -3.09583538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14 meters 0.01640274616751452 Centerline is valid? [True, True] Translation: X:19.98, Y:0.69, Z:-0.31 [[ 9.96640264e-01 -8.12961985e-02 9.95555951e-03 1.99842287e+01] [ 8.12918834e-02 9.96689986e-01 8.38006415e-04 6.85383206e-01] [-9.99073320e-03 -2.58847513e-05 9.99950091e-01 -3.09781732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.2 meters 0.013355487035984936 Centerline is valid? [True, True] Translation: X:20.04, Y:0.69, Z:-0.31 [[ 9.96333804e-01 -8.48645812e-02 1.08144748e-02 2.00427438e+01] [ 8.48596681e-02 9.96392494e-01 9.13201329e-04 6.87662379e-01] [-1.08529600e-02 7.85939126e-06 9.99941105e-01 -3.09050263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.259999999999998 meters 0.013448193174078927 Centerline is valid? [True, True] Translation: X:20.10, Y:0.69, Z:-0.31 [[ 9.96042622e-01 -8.83688111e-02 9.48941269e-03 2.01010995e+01] [ 8.83651646e-02 9.96087823e-01 8.03681991e-04 6.92630398e-01] [-9.52330885e-03 3.80319970e-05 9.99954652e-01 -3.12247639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32 meters 0.015945358337166895 Centerline is valid? [True, True] Translation: X:20.16, Y:0.70, Z:-0.32 [[ 9.95899719e-01 -9.01398118e-02 7.65275068e-03 2.01592971e+01] [ 9.01374835e-02 9.95929120e-01 6.49313787e-04 6.99096451e-01] [-7.68012627e-03 4.31482694e-05 9.99970506e-01 -3.16807102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.38 meters 0.016473257753725344 Centerline is valid? [True, True] Translation: X:20.22, Y:0.71, Z:-0.32 [[ 9.95815176e-01 -9.12064395e-02 5.78974081e-03 2.02181179e+01] [ 9.12051222e-02 9.95832006e-01 4.91689359e-04 7.05350440e-01] [-5.81045444e-03 3.84222925e-05 9.99983118e-01 -3.19249906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.439999999999998 meters 0.01382809682873381 Centerline is valid? [True, True] Translation: X:20.28, Y:0.71, Z:-0.32 [[ 9.95878832e-01 -9.05222904e-02 5.57368281e-03 2.02751553e+01] [ 9.05210450e-02 9.95894429e-01 4.75821219e-04 7.12018432e-01] [-5.59387208e-03 3.06753121e-05 9.99984354e-01 -3.18334553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.5 meters 0.013616153763925455 Centerline is valid? [True, True] Translation: X:20.33, Y:0.72, Z:-0.32 [[ 9.95963300e-01 -8.94964522e-02 6.89129841e-03 2.03340943e+01] [ 8.94945210e-02 9.95987141e-01 5.88718388e-04 7.20384682e-01] [-6.91633280e-03 3.03915416e-05 9.99976081e-01 -3.18064315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.56 meters 0.01441481014679639 Centerline is valid? [True, True] Translation: X:20.39, Y:0.73, Z:-0.32 [[ 9.96138920e-01 -8.74328530e-02 7.92140092e-03 2.03912673e+01] [ 8.74302090e-02 9.96170415e-01 6.80124588e-04 7.28146620e-01] [-7.95053047e-03 1.50711649e-05 9.99968394e-01 -3.19235798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.619999999999997 meters 0.01350921305590263 Centerline is valid? [True, True] Translation: X:20.45, Y:0.73, Z:-0.32 [[ 9.96252134e-01 -8.60667904e-02 8.61353018e-03 2.04493412e+01] [ 8.60636159e-02 9.96289369e-01 7.39227050e-04 7.33761555e-01] [-8.64519145e-03 4.85502713e-06 9.99962630e-01 -3.17244688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.68 meters 0.013481174509544003 Centerline is valid? [True, True] Translation: X:20.51, Y:0.74, Z:-0.32 [[ 9.96286253e-01 -8.55359979e-02 9.86386932e-03 2.05066598e+01] [ 8.55317661e-02 9.96335081e-01 8.50844184e-04 7.39603121e-01] [-9.90049684e-03 -4.01019984e-06 9.99950989e-01 -3.17493319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.74 meters 0.013536466668599902 Centerline is valid? [True, True] Translation: X:20.56, Y:0.75, Z:-0.32 [[ 9.96438217e-01 -8.35373892e-02 1.15058566e-02 2.05642037e+01] [ 8.35314924e-02 9.96504643e-01 9.92959243e-04 7.46694536e-01] [-1.15485887e-02 -2.83211679e-05 9.99933312e-01 -3.16528983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.8 meters 0.013521155418065995 Centerline is valid? [True, True] Translation: X:20.62, Y:0.75, Z:-0.32 [[ 9.96623885e-01 -8.12968155e-02 1.14742885e-02 2.06229148e+01] [ 8.12907633e-02 9.96689934e-01 9.93635855e-04 7.53614367e-01] [-1.15170873e-02 -5.75275541e-05 9.99933674e-01 -3.17536466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.86 meters 0.013890658759742998 Centerline is valid? [True, True] Translation: X:20.68, Y:0.76, Z:-0.32 [[ 9.96920702e-01 -7.77061485e-02 1.05293830e-02 2.06814642e+01] [ 7.77008270e-02 9.96976302e-01 9.14151513e-04 7.61461885e-01] [-1.05685805e-02 -9.31948017e-05 9.99944147e-01 -3.19883389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.919999999999998 meters 0.016833299300125396 Centerline is valid? [True, True] Translation: X:20.74, Y:0.77, Z:-0.32 [[ 9.96968361e-01 -7.70628028e-02 1.07430178e-02 2.07393445e+01] [ 7.70571885e-02 9.97026235e-01 9.36173138e-04 7.67658145e-01] [-1.07832147e-02 -1.05508250e-04 9.99941854e-01 -3.23936374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98 meters 0.016320475129407784 Centerline is valid? [True, True] Translation: X:20.80, Y:0.77, Z:-0.32 [[ 9.96980497e-01 -7.67262192e-02 1.19572289e-02 2.07971151e+01] [ 7.67192326e-02 9.97052191e-01 1.04257194e-03 7.70615048e-01] [-1.20019739e-02 -1.22074472e-04 9.99927966e-01 -3.23934638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.04 meters 0.01831370938284944 Centerline is valid? [True, True] Translation: X:20.85, Y:0.77, Z:-0.33 [[ 9.96979980e-01 -7.67076624e-02 1.21183094e-02 2.08543422e+01] [ 7.67004356e-02 9.97053618e-01 1.06067676e-03 7.74703123e-01] [-1.21639663e-02 -1.27993890e-04 9.99926008e-01 -3.25810894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.099999999999998 meters 0.014768075371600282 Centerline is valid? [True, True] Translation: X:20.91, Y:0.78, Z:-0.33 [[ 9.96976110e-01 -7.69213320e-02 1.10337634e-02 2.09119090e+01] [ 7.69153477e-02 9.97037159e-01 9.66313431e-04 7.78369496e-01] [-1.10754023e-02 -1.14725655e-04 9.99938659e-01 -3.25924127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16 meters 0.014279109959314204 Centerline is valid? [True, True] Translation: X:20.97, Y:0.79, Z:-0.33 [[ 9.97116692e-01 -7.52815550e-02 9.53886524e-03 2.09701523e+01] [ 7.52769848e-02 9.97162311e-01 8.37749211e-04 7.85158811e-01] [-9.57486396e-03 -1.17276709e-04 9.99954153e-01 -3.27478684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.22 meters 0.017469407883505445 Centerline is valid? [True, True] Translation: X:21.03, Y:0.79, Z:-0.33 [[ 9.97106988e-01 -7.55779559e-02 8.10099590e-03 2.10291190e+01] [ 7.55746576e-02 9.97139891e-01 7.12934889e-04 7.91404683e-01] [-8.13170834e-03 -9.86423693e-05 9.99966932e-01 -3.32521527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.279999999999998 meters 0.014513003796025999 Centerline is valid? [True, True] Translation: X:21.09, Y:0.80, Z:-0.33 [[ 9.97156038e-01 -7.50335078e-02 7.05749740e-03 2.10879314e+01] [ 7.50309818e-02 9.97181009e-01 6.22392069e-04 7.98120248e-01] [-7.08430264e-03 -9.10910506e-05 9.99974902e-01 -3.32810851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.34 meters 0.01612979909431495 Centerline is valid? [True, True] Translation: X:21.15, Y:0.80, Z:-0.34 [[ 9.96994776e-01 -7.72621908e-02 5.65422124e-03 2.11457008e+01] [ 7.72605929e-02 9.97010807e-01 5.00811679e-04 8.00116230e-01] [-5.67601349e-03 -6.24581420e-05 9.99983889e-01 -3.36672680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.4 meters 0.014088821684892684 Centerline is valid? [True, True] Translation: X:21.20, Y:0.80, Z:-0.33 [[ 9.96823420e-01 -7.94909085e-02 4.92592636e-03 2.12046287e+01] [ 7.94897296e-02 9.96835590e-01 4.34957862e-04 8.00825338e-01] [-4.94491391e-03 -4.20156286e-05 9.99987773e-01 -3.34845288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.46 meters 0.013772808657742943 Centerline is valid? [True, True] Translation: X:21.26, Y:0.80, Z:-0.33 [[ 9.96558058e-01 -8.25731548e-02 7.32877712e-03 2.12635793e+01] [ 8.25706019e-02 9.96585005e-01 6.50747209e-04 8.02292450e-01] [-7.35748364e-03 -4.33658369e-05 9.99972932e-01 -3.31853065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.52 meters 0.013683405161551792 Centerline is valid? [True, True] Translation: X:21.32, Y:0.81, Z:-0.33 [[ 9.96416711e-01 -8.39468478e-02 1.03278606e-02 2.13224035e+01] [ 8.39418101e-02 9.96470232e-01 9.21061772e-04 8.07802479e-01] [-1.03687259e-02 -5.08220252e-05 9.99946242e-01 -3.29541128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.58 meters 0.014761307685734665 Centerline is valid? [True, True] Translation: X:21.38, Y:0.81, Z:-0.33 [[ 9.96070401e-01 -8.77316378e-02 1.21208962e-02 2.13812443e+01] [ 8.77249341e-02 9.96144146e-01 1.08466883e-03 8.14662286e-01] [-1.21693196e-02 -1.71016973e-05 9.99925951e-01 -3.30620833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64 meters 0.01364753368124473 Centerline is valid? [True, True] Translation: X:21.44, Y:0.82, Z:-0.33 [[ 9.95718430e-01 -9.17195921e-02 1.15032610e-02 2.14391969e+01] [ 9.17137909e-02 9.95784874e-01 1.03193677e-03 8.17734403e-01] [-1.15494221e-02 2.74892110e-05 9.99933303e-01 -3.29597284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.7 meters 0.014496709589750412 Centerline is valid? [True, True] Translation: X:21.50, Y:0.82, Z:-0.33 [[ 9.94754489e-01 -1.01864621e-01 9.33306246e-03 2.14986660e+01] [ 1.01861228e-01 9.94798264e-01 8.39374408e-04 8.16998217e-01] [-9.37001688e-03 1.15705742e-04 9.99956094e-01 -3.32265781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.759999999999998 meters 0.018849678103029812 Centerline is valid? [True, True] Translation: X:21.56, Y:0.82, Z:-0.34 [[ 9.93874261e-01 -1.10192979e-01 8.45347871e-03 2.15568499e+01] [ 1.10190471e-01 9.93910196e-01 7.63227384e-04 8.18065029e-01] [-8.48610098e-03 1.72940753e-04 9.99963977e-01 -3.37717466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82 meters 0.019142843812462725 Centerline is valid? [True, True] Translation: X:21.62, Y:0.82, Z:-0.34 [[ 9.92911091e-01 -1.18546161e-01 8.62403216e-03 2.16173367e+01] [ 1.18543857e-01 9.92948511e-01 7.79706908e-04 8.21790009e-01] [-8.65565115e-03 2.48146397e-04 9.99962508e-01 -3.37478286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.88 meters 0.021055351233835826 Centerline is valid? [True, True] Translation: X:21.68, Y:0.83, Z:-0.34 [[ 9.92495737e-01 -1.21999517e-01 8.26617308e-03 2.16762747e+01] [ 1.21997522e-01 9.92530124e-01 7.46986742e-04 8.27111791e-01] [-8.29555781e-03 2.67071474e-04 9.99965556e-01 -3.38605037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.939999999999998 meters 0.018564337222425863 Centerline is valid? [True, True] Translation: X:21.73, Y:0.83, Z:-0.34 [[ 9.92718311e-01 -1.20144846e-01 8.69316819e-03 2.17340947e+01] [ 1.20142566e-01 9.92756338e-01 7.85867708e-04 8.33278409e-01] [-8.72461577e-03 2.64274272e-04 9.99961905e-01 -3.36230912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.0 meters 0.016781291211817807 Centerline is valid? [True, True] Translation: X:21.79, Y:0.84, Z:-0.34 [[ 9.93428660e-01 -1.14030687e-01 9.82338958e-03 2.17932253e+01] [ 1.14027463e-01 9.93477200e-01 8.89456681e-04 8.44944795e-01] [-9.86073893e-03 2.36524435e-04 9.99951354e-01 -3.36032196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.06 meters 0.015215301217333095 Centerline is valid? [True, True] Translation: X:21.85, Y:0.86, Z:-0.34 [[ 9.94133076e-01 -1.07614733e-01 1.08856252e-02 2.18524202e+01] [ 1.07610387e-01 9.94192654e-01 9.85857222e-04 8.56945478e-01] [-1.09285014e-02 1.91333071e-04 9.99940264e-01 -3.35784632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.119999999999997 meters 0.014492827595578952 Centerline is valid? [True, True] Translation: X:21.91, Y:0.87, Z:-0.34 [[ 9.95287569e-01 -9.63954814e-02 1.05150004e-02 2.19114718e+01] [ 9.63907979e-02 9.95343110e-01 9.52470195e-04 8.72472997e-01] [-1.05578470e-02 6.55675331e-05 9.99944262e-01 -3.37643602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.18 meters 0.01689636414873695 Centerline is valid? [True, True] Translation: X:21.97, Y:0.88, Z:-0.34 [[ 9.95958041e-01 -8.93317786e-02 9.34952548e-03 2.19683276e+01] [ 8.93277669e-02 9.96001924e-01 8.46635462e-04 8.84698899e-01] [-9.38777682e-03 -8.04116379e-06 9.99955934e-01 -3.41660126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.24 meters 0.014859903057265143 Centerline is valid? [True, True] Translation: X:22.03, Y:0.90, Z:-0.34 [[ 9.96602975e-01 -8.18854976e-02 8.79063227e-03 2.20261346e+01] [ 8.18816639e-02 9.96641741e-01 7.95729133e-04 8.96915304e-01] [-8.82626973e-03 -7.32344235e-05 9.99961045e-01 -3.41854288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.3 meters 0.017195144830166455 Centerline is valid? [True, True] Translation: X:22.08, Y:0.90, Z:-0.34 [[ 9.96702026e-01 -8.06228731e-02 9.22087917e-03 2.20848536e+01] [ 8.06185781e-02 9.96744673e-01 8.37147313e-04 9.03987131e-01] [-9.25835542e-03 -9.10122550e-05 9.99957136e-01 -3.44770158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.36 meters 0.01504397275212109 Centerline is valid? [True, True] Translation: X:22.14, Y:0.91, Z:-0.34 [[ 9.96723375e-01 -8.02421097e-02 1.01841858e-02 2.21427938e+01] [ 8.02368218e-02 9.96775397e-01 9.27412613e-04 9.09488143e-01] [-1.02257634e-02 -1.07227131e-04 9.99947710e-01 -3.42595287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.419999999999998 meters 0.01751624923939754 Centerline is valid? [True, True] Translation: X:22.20, Y:0.91, Z:-0.35 [[ 9.96475530e-01 -8.33145968e-02 9.75689540e-03 2.22019236e+01] [ 8.33098629e-02 9.96523292e-01 8.91328933e-04 9.11908539e-01] [-9.79723424e-03 -7.53418526e-05 9.99952003e-01 -3.45234322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48 meters 0.014277200115361523 Centerline is valid? [True, True] Translation: X:22.26, Y:0.91, Z:-0.34 [[ 9.96325231e-01 -8.50608621e-02 1.00340883e-02 2.22606251e+01] [ 8.50559177e-02 9.96375755e-01 9.19247813e-04 9.14951628e-01] [-1.00759143e-02 -6.24112026e-05 9.99949235e-01 -3.43941972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.54 meters 0.01383872620315891 Centerline is valid? [True, True] Translation: X:22.32, Y:0.92, Z:-0.34 [[ 9.96152621e-01 -8.72328140e-02 8.38998200e-03 2.23188170e+01] [ 8.72294236e-02 9.96187952e-01 7.69881263e-04 9.17530618e-01] [-8.42515789e-03 -3.50659439e-05 9.99964507e-01 -3.44791688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.599999999999998 meters 0.01830015717021593 Centerline is valid? [True, True] Translation: X:22.38, Y:0.92, Z:-0.35 [[ 9.95981652e-01 -8.93945837e-02 5.39975977e-03 2.23773825e+01] [ 8.93932093e-02 9.95996289e-01 4.95843391e-04 9.19836245e-01] [-5.42246641e-03 -1.11490647e-05 9.99985298e-01 -3.50305856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.66 meters 0.016906239280061155 Centerline is valid? [True, True] Translation: X:22.44, Y:0.92, Z:-0.35 [[ 9.95770655e-01 -9.17536820e-02 4.69736430e-03 2.24356464e+01] [ 9.17526666e-02 9.95781734e-01 4.31655516e-04 9.22166924e-01] [-4.71715555e-03 1.16580469e-06 9.99988874e-01 -3.51014049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.72 meters 0.013970253781073928 Centerline is valid? [True, True] Translation: X:22.49, Y:0.92, Z:-0.35 [[ 9.95270330e-01 -9.70075551e-02 5.14819113e-03 2.24938056e+01] [ 9.70063857e-02 9.95283645e-01 4.76959519e-04 9.20486805e-01] [-5.17017911e-03 2.47037570e-05 9.99986634e-01 -3.49722690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.779999999999998 meters 0.016233918667679696 Centerline is valid? [True, True] Translation: X:22.55, Y:0.92, Z:-0.35 [[ 9.94681374e-01 -1.02826414e-01 5.97438924e-03 2.25526787e+01] [ 1.02824948e-01 9.94699314e-01 5.52795230e-04 9.19371749e-01] [-5.99956283e-03 6.44611440e-05 9.99982000e-01 -3.49651050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.84 meters 0.015552961113062444 Centerline is valid? [True, True] Translation: X:22.61, Y:0.92, Z:-0.35 [[ 9.93818931e-01 -1.10652256e-01 8.94489850e-03 2.26125207e+01] [ 1.10649240e-01 9.93859171e-01 8.32802283e-04 9.16867380e-01] [-8.98212086e-03 1.62091550e-04 9.99959647e-01 -3.46091251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.9 meters 0.018454591683159095 Centerline is valid? [True, True] Translation: X:22.67, Y:0.92, Z:-0.35 [[ 9.93249835e-01 -1.15611787e-01 9.41700619e-03 2.26711890e+01] [ 1.15608660e-01 9.93294452e-01 8.77636919e-04 9.17337358e-01] [-9.45532517e-03 2.16974740e-04 9.99955274e-01 -3.48412402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.96 meters 0.018167776854924 Centerline is valid? [True, True] Translation: X:22.73, Y:0.92, Z:-0.35 [[ 9.92895587e-01 -1.18589430e-01 9.74163838e-03 2.27290563e+01] [ 1.18586222e-01 9.92943343e-01 9.08256594e-04 9.19231294e-01] [-9.78060461e-03 2.53420129e-04 9.99952137e-01 -3.47146410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.02 meters 0.0170933483451018 Centerline is valid? [True, True] Translation: X:22.79, Y:0.93, Z:-0.35 [[ 9.92873485e-01 -1.18778084e-01 9.69583654e-03 2.27861319e+01] [ 1.18774910e-01 9.92920794e-01 9.04606722e-04 9.26967957e-01] [-9.73464516e-03 2.53462082e-04 9.99952585e-01 -3.47976949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.08 meters 0.01686562812450765 Centerline is valid? [True, True] Translation: X:22.84, Y:0.93, Z:-0.35 [[ 9.92953059e-01 -1.18037604e-01 1.05520909e-02 2.28449921e+01] [ 1.18033793e-01 9.93009090e-01 9.85428328e-04 9.33881487e-01] [-1.05946398e-02 2.67019238e-04 9.99943840e-01 -3.48088273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.14 meters 0.01920939338004516 Centerline is valid? [True, True] Translation: X:22.90, Y:0.94, Z:-0.35 [[ 9.93111930e-01 -1.16822248e-01 9.01430374e-03 2.29030277e+01] [ 1.16819401e-01 9.93152816e-01 8.43539076e-04 9.40935380e-01] [-9.05112528e-03 2.15316847e-04 9.99959015e-01 -3.52605743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.2 meters 0.01627790123426521 Centerline is valid? [True, True] Translation: X:22.96, Y:0.95, Z:-0.35 [[ 9.93649194e-01 -1.12170930e-01 8.88599817e-03 2.29600483e+01] [ 1.12167949e-01 9.93688912e-01 8.34697578e-04 9.49359875e-01] [-8.92354666e-03 1.67327612e-04 9.99960170e-01 -3.51735700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.259999999999998 meters 0.01616304506566853 Centerline is valid? [True, True] Translation: X:23.02, Y:0.96, Z:-0.36 [[ 9.93878737e-01 -1.10192475e-01 7.91672483e-03 2.30182210e+01] [ 1.10190051e-01 9.93910258e-01 7.43064301e-04 9.57934524e-01] [-7.95039412e-03 1.33828507e-04 9.99968386e-01 -3.55341883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32 meters 0.01577448286985805 Centerline is valid? [True, True] Translation: X:23.08, Y:0.96, Z:-0.36 [[ 9.94121803e-01 -1.07992723e-01 7.70796378e-03 2.30755622e+01] [ 1.07990338e-01 9.94151678e-01 7.26154224e-04 9.63442538e-01] [-7.74130450e-03 1.10499871e-04 9.99970030e-01 -3.56558958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.38 meters 0.014393042443836152 Centerline is valid? [True, True] Translation: X:23.13, Y:0.97, Z:-0.35 [[ 9.94296103e-01 -1.06365392e-01 7.85255841e-03 2.31337776e+01] [ 1.06362865e-01 9.94327106e-01 7.39963636e-04 9.71146612e-01] [-7.88671820e-03 9.94776511e-05 9.99968894e-01 -3.54592042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.439999999999998 meters 0.014416726497582808 Centerline is valid? [True, True] Translation: X:23.19, Y:0.98, Z:-0.36 [[ 9.94230209e-01 -1.06953328e-01 8.20226985e-03 2.31919260e+01] [ 1.06950575e-01 9.94264036e-01 7.74883184e-04 9.77059666e-01] [-8.23809827e-03 1.06825203e-04 9.99966061e-01 -3.55267580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.5 meters 0.014537774793465977 Centerline is valid? [True, True] Translation: X:23.25, Y:0.98, Z:-0.36 [[ 9.94052060e-01 -1.08440112e-01 1.00619792e-02 2.32502706e+01] [ 1.08436005e-01 9.94102973e-01 9.54449586e-04 9.82207684e-01] [-1.01061441e-02 1.42308252e-04 9.99948921e-01 -3.55990820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.56 meters 0.014789642088133558 Centerline is valid? [True, True] Translation: X:23.31, Y:0.99, Z:-0.36 [[ 9.93896077e-01 -1.09829728e-01 1.03932323e-02 2.33088146e+01] [ 1.09825388e-01 9.93950404e-01 9.89164960e-04 9.86610640e-01] [-1.04389971e-02 1.58313590e-04 9.99945500e-01 -3.57105541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.619999999999997 meters 0.015105370272307843 Centerline is valid? [True, True] Translation: X:23.37, Y:0.99, Z:-0.36 [[ 9.93862248e-01 -1.10267767e-01 8.87983688e-03 2.33663234e+01] [ 1.10264592e-01 9.93901907e-01 8.47784164e-04 9.90787488e-01] [-8.91917007e-03 1.36550915e-04 9.99960214e-01 -3.58578684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.68 meters 0.01776199810488175 Centerline is valid? [True, True] Translation: X:23.42, Y:1.00, Z:-0.36 [[ 9.93960013e-01 -1.09514512e-01 7.07554925e-03 2.34237589e+01] [ 1.09512486e-01 9.93985191e-01 6.74387491e-04 9.97741512e-01] [-7.10684640e-03 1.04546786e-04 9.99974741e-01 -3.62257352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.74 meters 0.01691880797971521 Centerline is valid? [True, True] Translation: X:23.48, Y:1.01, Z:-0.36 [[ 9.94395183e-01 -1.05544202e-01 6.21629419e-03 2.34812031e+01] [ 1.05542542e-01 9.94414610e-01 5.95373500e-04 1.00788486e+00] [-6.24441199e-03 6.40469491e-05 9.99980501e-01 -3.64222971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.8 meters 0.013765356177097923 Centerline is valid? [True, True] Translation: X:23.54, Y:1.02, Z:-0.36 [[ 9.94692864e-01 -1.02693582e-01 6.33525725e-03 2.35400525e+01] [ 1.02691806e-01 9.94713037e-01 6.05910085e-04 1.01576548e+00] [-6.36398605e-03 4.78845692e-05 9.99979748e-01 -3.61392477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.86 meters 0.01761625707209926 Centerline is valid? [True, True] Translation: X:23.60, Y:1.02, Z:-0.37 [[ 9.94840172e-01 -1.01373151e-01 4.06396192e-03 2.35974686e+01] [ 1.01372403e-01 9.94848473e-01 3.90114739e-04 1.02237080e+00] [-4.08257347e-03 2.38717714e-05 9.99991666e-01 -3.67636721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.919999999999998 meters 0.015423530011543608 Centerline is valid? [True, True] Translation: X:23.66, Y:1.03, Z:-0.37 [[ 9.94825992e-01 -1.01474766e-01 4.91091019e-03 2.36551823e+01] [ 1.01473682e-01 9.94838113e-01 4.70092229e-04 1.02834847e+00] [-4.93326313e-03 3.06681714e-05 9.99987831e-01 -3.65229058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98 meters 0.01606685227896605 Centerline is valid? [True, True] Translation: X:23.71, Y:1.03, Z:-0.36 [[ 9.94637477e-01 -1.03160949e-01 7.35581973e-03 2.37137285e+01] [ 1.03158529e-01 9.94664675e-01 7.08661468e-04 1.03232529e+00] [-7.38968023e-03 5.39542916e-05 9.99972694e-01 -3.63644038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.04 meters 0.017011170025464022 Centerline is valid? [True, True] Translation: X:23.77, Y:1.04, Z:-0.36 [[ 9.94495550e-01 -1.04458205e-01 8.19055993e-03 2.37710312e+01] [ 1.04455221e-01 9.94529275e-01 7.92467982e-04 1.03569166e+00] [-8.22853141e-03 6.74408631e-05 9.99966143e-01 -3.64233516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.099999999999998 meters 0.015847650339201495 Centerline is valid? [True, True] Translation: X:23.83, Y:1.04, Z:-0.36 [[ 9.94478603e-01 -1.04428215e-01 1.03467684e-02 2.38293543e+01] [ 1.04423439e-01 9.94532423e-01 1.00230070e-03 1.04039608e+00] [-1.03948651e-02 8.36785384e-05 9.99945968e-01 -3.62727691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.16 meters 0.016386094952052326 Centerline is valid? [True, True] Translation: X:23.89, Y:1.05, Z:-0.37 [[ 9.94631475e-01 -1.02865591e-01 1.12649496e-02 2.38879814e+01] [ 1.02859794e-01 9.94695262e-01 1.09433620e-03 1.04759514e+00] [-1.13177615e-02 7.02491667e-05 9.99935950e-01 -3.65061362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.22 meters 0.01720399503232786 Centerline is valid? [True, True] Translation: X:23.95, Y:1.06, Z:-0.37 [[ 9.95082506e-01 -9.85635650e-02 9.79951285e-03 2.39451514e+01] [ 9.85589413e-02 9.95130757e-01 9.54813471e-04 1.05519068e+00] [-9.84590646e-03 1.57114304e-05 9.99951528e-01 -3.68363671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.279999999999998 meters 0.015944547636978695 Centerline is valid? [True, True] Translation: X:24.00, Y:1.06, Z:-0.37 [[ 9.95355844e-01 -9.58737360e-02 8.65850493e-03 2.40032131e+01] [ 9.58700301e-02 9.95393503e-01 8.43010122e-04 1.06235198e+00] [-8.69944209e-03 -9.00392338e-06 9.99962159e-01 -3.69535167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.34 meters 0.013681580339588124 Centerline is valid? [True, True] Translation: X:24.06, Y:1.07, Z:-0.37 [[ 9.95659735e-01 -9.26707273e-02 8.59230750e-03 2.40611171e+01] [ 9.26669268e-02 9.95696809e-01 8.40244033e-04 1.07003066e+00] [-8.63319918e-03 -4.03744209e-05 9.99962732e-01 -3.69451947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.4 meters 0.015051853316646283 Centerline is valid? [True, True] Translation: X:24.12, Y:1.08, Z:-0.37 [[ 9.95664241e-01 -9.27039349e-02 7.66159785e-03 2.41185645e+01] [ 9.27009210e-02 9.95693718e-01 7.48336815e-04 1.07522220e+00] [-7.69797862e-03 -3.48550290e-05 9.99970370e-01 -3.72576107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.459999999999997 meters 0.01660835213373697 Centerline is valid? [True, True] Translation: X:24.18, Y:1.08, Z:-0.37 [[ 9.95607241e-01 -9.33223904e-02 7.55996140e-03 2.41755137e+01] [ 9.33194487e-02 9.95635943e-01 7.41701215e-04 1.07992478e+00] [-7.59618663e-03 -3.29516695e-05 9.99971148e-01 -3.74717426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.52 meters 0.017031730578527516 Centerline is valid? [True, True] Translation: X:24.23, Y:1.08, Z:-0.38 [[ 9.95373759e-01 -9.57678776e-02 7.71967059e-03 2.42334798e+01] [ 9.57648855e-02 9.95403694e-01 7.57151411e-04 1.08272501e+00] [-7.75669941e-03 -1.43752751e-05 9.99969916e-01 -3.75002619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.58 meters 0.016787236603801 Centerline is valid? [True, True] Translation: X:24.29, Y:1.09, Z:-0.37 [[ 9.95022421e-01 -9.93009320e-02 8.34900167e-03 2.42913092e+01] [ 9.92975338e-02 9.95057448e-01 8.21600880e-04 1.08580788e+00] [-8.38932203e-03 1.15239782e-05 9.99964809e-01 -3.74788713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.64 meters 0.015491499360676527 Centerline is valid? [True, True] Translation: X:24.35, Y:1.08, Z:-0.37 [[ 9.94282267e-01 -1.06397748e-01 9.07157963e-03 2.43492048e+01] [ 1.06393995e-01 9.94323646e-01 8.96646910e-04 1.08441107e+00] [-9.11548735e-03 7.36414754e-05 9.99958450e-01 -3.73064832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.7 meters 0.018500155928068657 Centerline is valid? [True, True] Translation: X:24.41, Y:1.09, Z:-0.38 [[ 9.93732566e-01 -1.11544183e-01 7.31320112e-03 2.44083758e+01] [ 1.11541885e-01 9.93759471e-01 7.22542715e-04 1.08561862e+00] [-7.34815831e-03 9.77140147e-05 9.99972997e-01 -3.75564063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.759999999999998 meters 0.01890386044925407 Centerline is valid? [True, True] Translation: X:24.47, Y:1.09, Z:-0.37 [[ 9.92954625e-01 -1.18282865e-01 7.09065915e-03 2.44680546e+01] [ 1.18280855e-01 9.92979931e-01 7.03580148e-04 1.08529634e+00] [-7.12410372e-03 1.40066069e-04 9.99974613e-01 -3.74478929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.82 meters 0.019128735600349722 Centerline is valid? [True, True] Translation: X:24.53, Y:1.09, Z:-0.38 [[ 9.92480819e-01 -1.22195988e-01 7.06857193e-03 2.45266308e+01] [ 1.22194085e-01 9.92505976e-01 7.02106458e-04 1.08835804e+00] [-7.10139448e-03 1.66910489e-04 9.99974771e-01 -3.75207956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.88 meters 0.01955092978266978 Centerline is valid? [True, True] Translation: X:24.59, Y:1.09, Z:-0.38 [[ 9.91777555e-01 -1.27769218e-01 7.23241772e-03 2.45860771e+01] [ 1.27767370e-01 9.91803903e-01 7.18910737e-04 1.09422873e+00] [-7.26499478e-03 2.11067459e-04 9.99973587e-01 -3.75293577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.939999999999998 meters 0.020111946621912184 Centerline is valid? [True, True] Translation: X:24.64, Y:1.10, Z:-0.37 [[ 9.91403413e-01 -1.30637676e-01 7.28490161e-03 2.46446893e+01] [ 1.30635889e-01 9.91430150e-01 7.22747115e-04 1.09981007e+00] [-7.31688910e-03 2.35135639e-04 9.99973204e-01 -3.74879243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.0 meters 0.021326430712026317 Centerline is valid? [True, True] Translation: X:24.70, Y:1.11, Z:-0.38 [[ 9.91181628e-01 -1.32354144e-01 6.43122547e-03 2.47035716e+01] [ 1.32352780e-01 9.91202468e-01 6.39163527e-04 1.10697370e+00] [-6.45924250e-03 2.17663425e-04 9.99979115e-01 -3.76734966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.06 meters 0.02042132778701946 Centerline is valid? [True, True] Translation: X:24.76, Y:1.11, Z:-0.38 [[ 9.90996437e-01 -1.33764829e-01 5.74743679e-03 2.47606728e+01] [ 1.33763748e-01 9.91013083e-01 5.73785833e-04 1.11382819e+00] [-5.77253742e-03 2.00178970e-04 9.99983319e-01 -3.78305653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.119999999999997 meters 0.02005521957792496 Centerline is valid? [True, True] Translation: X:24.82, Y:1.12, Z:-0.38 [[ 9.91144940e-01 -1.32645077e-01 6.08209893e-03 2.48195522e+01] [ 1.32643849e-01 9.91163580e-01 6.06590123e-04 1.12135792e+00] [-6.10881614e-03 2.05534280e-04 9.99981320e-01 -3.79279771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.18 meters 0.020314912718098762 Centerline is valid? [True, True] Translation: X:24.88, Y:1.13, Z:-0.38 [[ 9.91739675e-01 -1.28104008e-01 6.46378749e-03 2.48788420e+01] [ 1.28102503e-01 9.91760722e-01 6.48116865e-04 1.13247008e+00] [-6.49355691e-03 1.85264143e-04 9.99978899e-01 -3.80564948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.24 meters 0.017247921794412407 Centerline is valid? [True, True] Translation: X:24.94, Y:1.14, Z:-0.38 [[ 9.92477834e-01 -1.22206269e-01 7.30589349e-03 2.49384172e+01] [ 1.22204185e-01 9.92504710e-01 7.32716091e-04 1.14377957e+00] [-7.34067620e-03 1.65606279e-04 9.99973043e-01 -3.79340783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.3 meters 0.018508826958245822 Centerline is valid? [True, True] Translation: X:25.00, Y:1.16, Z:-0.38 [[ 9.93111775e-01 -1.16972301e-01 6.81788849e-03 2.49966170e+01] [ 1.16970373e-01 9.93135170e-01 6.82188445e-04 1.15608189e+00] [-6.85088200e-03 1.20001582e-04 9.99976525e-01 -3.83301756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.36 meters 0.014632875893867336 Centerline is valid? [True, True] Translation: X:25.05, Y:1.17, Z:-0.38 [[ 9.93609340e-01 -1.12505374e-01 9.11154788e-03 2.50543952e+01] [ 1.12501706e-01 9.93651110e-01 9.15747995e-04 1.16753253e+00] [-9.15672623e-03 1.15168917e-04 9.99958070e-01 -3.80124749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.419999999999998 meters 0.014498102872658987 Centerline is valid? [True, True] Translation: X:25.11, Y:1.18, Z:-0.38 [[ 9.93641500e-01 -1.12144644e-01 1.00074342e-02 2.51127584e+01] [ 1.12140201e-01 9.93691886e-01 1.00571741e-03 1.17521930e+00] [-1.00570919e-02 1.22913124e-04 9.99949419e-01 -3.81414761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48 meters 0.015413676100946632 Centerline is valid? [True, True] Translation: X:25.17, Y:1.18, Z:-0.38 [[ 9.93665527e-01 -1.11866008e-01 1.07152191e-02 2.51702444e+01] [ 1.11860869e-01 9.93723292e-01 1.07963831e-03 1.18252671e+00] [-1.07687376e-02 1.25814346e-04 9.99942008e-01 -3.83410148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.54 meters 0.014615833233907628 Centerline is valid? [True, True] Translation: X:25.23, Y:1.19, Z:-0.38 [[ 9.93858933e-01 -1.10169048e-01 1.03538048e-02 2.52280850e+01] [ 1.10164119e-01 9.93912859e-01 1.04693752e-03 1.18929396e+00] [-1.04061199e-02 1.00109586e-04 9.99945850e-01 -3.84872016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.599999999999998 meters 0.013951383971799607 Centerline is valid? [True, True] Translation: X:25.29, Y:1.20, Z:-0.39 [[ 9.93978869e-01 -1.09113218e-01 1.00157203e-02 2.52860209e+01] [ 1.09108553e-01 9.94029325e-01 1.01260765e-03 1.19612523e+00] [-1.00664085e-02 8.62901434e-05 9.99949329e-01 -3.85072986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.66 meters 0.016422063456382148 Centerline is valid? [True, True] Translation: X:25.34, Y:1.20, Z:-0.39 [[ 9.93838534e-01 -1.10618281e-01 6.96873200e-03 2.53445962e+01] [ 1.10616053e-01 9.93862964e-01 7.05539896e-04 1.20181485e+00] [-7.00401025e-03 6.96608940e-05 9.99975469e-01 -3.91409866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.72 meters 0.014280990606628373 Centerline is valid? [True, True] Translation: X:25.40, Y:1.21, Z:-0.39 [[ 9.93817327e-01 -1.10768361e-01 7.58227628e-03 2.54029538e+01] [ 1.10765712e-01 9.93846248e-01 7.69602393e-04 1.20563009e+00] [-7.62086443e-03 7.50120407e-05 9.99970958e-01 -3.89957267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.779999999999998 meters 0.014270361604589289 Centerline is valid? [True, True] Translation: X:25.46, Y:1.21, Z:-0.39 [[ 9.93661379e-01 -1.12181278e-01 7.24048687e-03 2.54614436e+01] [ 1.12178886e-01 9.93687755e-01 7.36949988e-04 1.20961899e+00] [-7.27745514e-03 7.99510113e-05 9.99973516e-01 -3.90311961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.84 meters 0.016509450367965566 Centerline is valid? [True, True] Translation: X:25.52, Y:1.21, Z:-0.39 [[ 9.93402030e-01 -1.14430161e-01 7.62529892e-03 2.55199899e+01] [ 1.14427558e-01 9.93431290e-01 7.78207537e-04 1.21190485e+00] [-7.66426096e-03 9.94713864e-05 9.99970624e-01 -3.92362602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.9 meters 0.014366153590102904 Centerline is valid? [True, True] Translation: X:25.58, Y:1.22, Z:-0.39 [[ 9.93520633e-01 -1.13422028e-01 7.22458234e-03 2.55793194e+01] [ 1.13419652e-01 9.93546897e-01 7.39072320e-04 1.21606957e+00] [-7.26178844e-03 8.51260113e-05 9.99973629e-01 -3.91162966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.959999999999997 meters 0.01643737539398174 Centerline is valid? [True, True] Translation: X:25.64, Y:1.22, Z:-0.39 [[ 9.93658721e-01 -1.12202386e-01 7.27816787e-03 2.56379434e+01] [ 1.12199930e-01 9.93685372e-01 7.46135864e-04 1.22127187e+00] [-7.31592717e-03 7.52055178e-05 9.99973235e-01 -3.94088928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.02 meters 0.018503786439869142 Centerline is valid? [True, True] Translation: X:25.70, Y:1.23, Z:-0.40 [[ 9.94242862e-01 -1.06964138e-01 6.30907716e-03 2.56958085e+01] [ 1.06962174e-01 9.94262879e-01 6.48887069e-04 1.22789575e+00] [-6.34228887e-03 2.96812726e-05 9.99979887e-01 -3.96724675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.08 meters 0.013791246717887362 Centerline is valid? [True, True] Translation: X:25.75, Y:1.24, Z:-0.39 [[ 9.94797433e-01 -1.01589133e-01 7.59702395e-03 2.57545223e+01] [ 1.01586124e-01 9.94826441e-01 7.81863495e-04 1.23556392e+00] [-7.63714914e-03 -6.04357813e-06 9.99970837e-01 -3.93366757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14 meters 0.015474974448172111 Centerline is valid? [True, True] Translation: X:25.81, Y:1.24, Z:-0.39 [[ 9.95194226e-01 -9.75558435e-02 8.44450729e-03 2.58132430e+01] [ 9.75519603e-02 9.95230052e-01 8.71505724e-04 1.24234662e+00] [-8.48924791e-03 -4.35392235e-05 9.99963965e-01 -3.93933004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.2 meters 0.01774472703826393 Centerline is valid? [True, True] Translation: X:25.87, Y:1.25, Z:-0.40 [[ 9.95861856e-01 -9.05475937e-02 7.76507725e-03 2.58701950e+01] [ 9.05440748e-02 9.95892125e-01 8.04250869e-04 1.25072804e+00] [-7.80600226e-03 -9.78410281e-05 9.99969528e-01 -3.95350779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.259999999999998 meters 0.019056660620212867 Centerline is valid? [True, True] Translation: X:25.93, Y:1.26, Z:-0.40 [[ 9.96190683e-01 -8.69240646e-02 6.95200189e-03 2.59286746e+01] [ 8.69211616e-02 9.96214934e-01 7.19216629e-04 1.25818292e+00] [-6.98820533e-03 -1.12200826e-04 9.99975576e-01 -3.97796428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.32 meters 0.015368296756115726 Centerline is valid? [True, True] Translation: X:25.99, Y:1.26, Z:-0.40 [[ 9.96147991e-01 -8.73913670e-02 7.20611562e-03 2.59862095e+01] [ 8.73882479e-02 9.96174049e-01 7.47187229e-04 1.26369784e+00] [-7.24384308e-03 -1.14579240e-04 9.99973756e-01 -3.96731650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.38 meters 0.017048383920643152 Centerline is valid? [True, True] Translation: X:26.04, Y:1.27, Z:-0.40 [[ 9.95905824e-01 -9.01866349e-02 6.16129437e-03 2.60447224e+01] [ 9.01843989e-02 9.95924879e-01 6.40346348e-04 1.26749246e+00] [-6.19393703e-03 -8.20720281e-05 9.99980814e-01 -4.00074853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.439999999999998 meters 0.01565639882391918 Centerline is valid? [True, True] Translation: X:26.10, Y:1.27, Z:-0.40 [[ 9.95621905e-01 -9.32789982e-02 6.00422651e-03 2.61023797e+01] [ 9.32769139e-02 9.95640007e-01 6.26847153e-04 1.27128877e+00] [-6.03651980e-03 -6.40470373e-05 9.99981778e-01 -4.00624528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.5 meters 0.0161402132764455 Centerline is valid? [True, True] Translation: X:26.16, Y:1.27, Z:-0.40 [[ 9.95147023e-01 -9.82818808e-02 4.80366404e-03 2.61615435e+01] [ 9.82806119e-02 9.95158616e-01 5.00056673e-04 1.27274394e+00] [-4.82955417e-03 -2.55228681e-05 9.99988337e-01 -4.02475428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.56 meters 0.014402006040042922 Centerline is valid? [True, True] Translation: X:26.22, Y:1.27, Z:-0.40 [[ 9.94513260e-01 -1.04340581e-01 7.51123947e-03 2.62208129e+01] [ 1.04337622e-01 9.94541625e-01 7.85769467e-04 1.27270831e+00] [-7.55222795e-03 2.24671210e-06 9.99971482e-01 -3.99457341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.619999999999997 meters 0.015228652737758062 Centerline is valid? [True, True] Translation: X:26.28, Y:1.28, Z:-0.40 [[ 9.94275682e-01 -1.06524541e-01 8.26986720e-03 2.62782400e+01] [ 1.06521012e-01 9.94310073e-01 8.67313204e-04 1.27859747e+00] [-8.31520240e-03 1.85661944e-05 9.99965428e-01 -3.99998340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.68 meters 0.01660482646940552 Centerline is valid? [True, True] Translation: X:26.34, Y:1.29, Z:-0.40 [[ 9.94169334e-01 -1.07564940e-01 7.55774010e-03 2.63352589e+01] [ 1.07561997e-01 9.94198060e-01 7.95938361e-04 1.28572414e+00] [-7.59950561e-03 2.16281114e-05 9.99971123e-01 -4.02773663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.74 meters 0.015426755648116946 Centerline is valid? [True, True] Translation: X:26.39, Y:1.30, Z:-0.40 [[ 9.94257647e-01 -1.06724203e-01 7.85343473e-03 2.63928746e+01] [ 1.06721005e-01 9.94288662e-01 8.26401780e-04 1.29579895e+00] [-7.89677819e-03 1.64701551e-05 9.99968820e-01 -4.03085314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.799999999999997 meters 0.014356351637697657 Centerline is valid? [True, True] Translation: X:26.45, Y:1.30, Z:-0.40 [[ 9.94459714e-01 -1.04826458e-01 7.82887609e-03 2.64502109e+01] [ 1.04823203e-01 9.94490530e-01 8.26075349e-04 1.30421608e+00] [-7.87233769e-03 -8.50783953e-07 9.99969013e-01 -4.02559312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.86 meters 0.015391685908247608 Centerline is valid? [True, True] Translation: X:26.51, Y:1.31, Z:-0.40 [[ 9.94693811e-01 -1.02692623e-01 6.20057140e-03 2.65083602e+01] [ 1.02690532e-01 9.94713137e-01 6.55472488e-04 1.31447824e+00] [-6.23510202e-03 -1.52544533e-05 9.99980561e-01 -4.04875171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.919999999999998 meters 0.015951905028291073 Centerline is valid? [True, True] Translation: X:26.57, Y:1.32, Z:-0.41 [[ 9.94732619e-01 -1.02357745e-01 5.46883260e-03 2.65669321e+01] [ 1.02356108e-01 9.94747652e-01 5.79063600e-04 1.32231380e+00] [-5.49938003e-03 -1.62450307e-05 9.99984878e-01 -4.07290182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.98 meters 0.014201044631985198 Centerline is valid? [True, True] Translation: X:26.63, Y:1.33, Z:-0.41 [[ 9.94871108e-01 -1.01031437e-01 4.91194852e-03 2.66254642e+01] [ 1.01030096e-01 9.94883234e-01 5.20923780e-04 1.33073227e+00] [-4.93944490e-03 -2.19973874e-05 9.99987801e-01 -4.07697546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.04 meters 0.016381554102203474 Centerline is valid? [True, True] Translation: X:26.68, Y:1.34, Z:-0.41 [[ 9.94900515e-01 -1.00794527e-01 3.66463468e-03 2.66824934e+01] [ 1.00793773e-01 9.94907263e-01 3.90464193e-04 1.33796444e+00] [-3.68532832e-03 -1.91006718e-05 9.99993209e-01 -4.10188721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.099999999999998 meters 0.015691080160381846 Centerline is valid? [True, True] Translation: X:26.74, Y:1.34, Z:-0.41 [[ 9.94822044e-01 -1.01541444e-01 4.29378208e-03 2.67398933e+01] [ 1.01540421e-01 9.94831310e-01 4.55981398e-04 1.34358807e+00] [-4.31788986e-03 -1.76279047e-05 9.99990678e-01 -4.08499484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.16 meters 0.01669563361871085 Centerline is valid? [True, True] Translation: X:26.80, Y:1.35, Z:-0.41 [[ 9.94698081e-01 -1.02720935e-01 4.91292926e-03 2.67976110e+01] [ 1.02719601e-01 9.94710214e-01 5.23767004e-04 1.34953093e+00] [-4.94074275e-03 -1.63359009e-05 9.99987794e-01 -4.08826640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.22 meters 0.014076917212661737 Centerline is valid? [True, True] Translation: X:26.86, Y:1.35, Z:-0.41 [[ 9.94743952e-01 -1.02212202e-01 6.09397057e-03 2.68560059e+01] [ 1.02210122e-01 9.94762617e-01 6.52496080e-04 1.35446820e+00] [-6.12874718e-03 -2.62010500e-05 9.99981219e-01 -4.05907011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.279999999999998 meters 0.01610502097144942 Centerline is valid? [True, True] Translation: X:26.91, Y:1.36, Z:-0.41 [[ 9.94695740e-01 -1.02734627e-01 5.09716687e-03 2.69148698e+01] [ 1.02733173e-01 9.94708800e-01 5.46883805e-04 1.36022426e+00] [-5.12638064e-03 -2.03348652e-05 9.99986860e-01 -4.08055317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.34 meters 0.015445545119034745 Centerline is valid? [True, True] Translation: X:26.97, Y:1.36, Z:-0.41 [[ 9.94462428e-01 -1.05026597e-01 3.72737288e-03 2.69727425e+01] [ 1.05025838e-01 9.94469413e-01 3.99399587e-04 1.36355988e+00] [-3.74870590e-03 -5.71742237e-06 9.99992974e-01 -4.09873129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.4 meters 0.0159046411342873 Centerline is valid? [True, True] Translation: X:27.03, Y:1.37, Z:-0.41 [[ 9.94148236e-01 -1.07974277e-01 3.29258073e-03 2.70295475e+01] [ 1.07973693e-01 9.94153688e-01 3.55176123e-04 1.36608609e+00] [-3.31168116e-03 2.41438346e-06 9.99994516e-01 -4.12008837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.459999999999997 meters 0.014204482126883435 Centerline is valid? [True, True] Translation: X:27.09, Y:1.37, Z:-0.41 [[ 9.93931742e-01 -1.09915001e-01 4.28777949e-03 2.70875810e+01] [ 1.09914031e-01 9.93940990e-01 4.61898019e-04 1.36961291e+00] [-4.31256932e-03 1.21920281e-05 9.99990701e-01 -4.09881031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.52 meters 0.015404451757425401 Centerline is valid? [True, True] Translation: X:27.14, Y:1.38, Z:-0.41 [[ 9.94185374e-01 -1.07570140e-01 4.90987838e-03 2.71449151e+01] [ 1.07568830e-01 9.94197498e-01 5.30967201e-04 1.37992586e+00] [-4.93850502e-03 2.70046227e-07 9.99987806e-01 -4.11207615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.58 meters 0.013817991545657524 Centerline is valid? [True, True] Translation: X:27.20, Y:1.39, Z:-0.41 [[ 9.94526413e-01 -1.04314583e-01 5.97334068e-03 2.72026080e+01] [ 1.04312569e-01 9.94544352e-01 6.48567248e-04 1.38956654e+00] [-6.00840726e-03 -2.19227448e-05 9.99981949e-01 -4.11021085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64 meters 0.013386428486553246 Centerline is valid? [True, True] Translation: X:27.26, Y:1.40, Z:-0.41 [[ 9.94775087e-01 -1.01945144e-01 5.45105533e-03 2.72603715e+01] [ 1.01943414e-01 9.94790021e-01 5.94873340e-04 1.39760990e+00] [-5.48329989e-03 -3.60659857e-05 9.99984966e-01 -4.12847296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.7 meters 0.012766201118942208 Centerline is valid? [True, True] Translation: X:27.32, Y:1.40, Z:-0.41 [[ 9.94691797e-01 -1.02793830e-01 4.65384701e-03 2.73180721e+01] [ 1.02792587e-01 9.94702683e-01 5.06027823e-04 1.40153358e+00] [-4.68121065e-03 -2.49607480e-05 9.99989043e-01 -4.12859977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.759999999999998 meters 0.012681144633122535 Centerline is valid? [True, True] Translation: X:27.38, Y:1.40, Z:-0.41 [[ 9.94499927e-01 -1.04675317e-01 3.60190833e-03 2.73758387e+01] [ 1.04674584e-01 9.94506449e-01 3.91747758e-04 1.40424031e+00] [-3.62312738e-03 -1.25648597e-05 9.99993436e-01 -4.14622216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.82 meters 0.012741331114043165 Centerline is valid? [True, True] Translation: X:27.43, Y:1.41, Z:-0.42 [[ 9.94475814e-01 -1.04877864e-01 4.29987759e-03 2.74335785e+01] [ 1.04876805e-01 9.94485110e-01 4.71780013e-04 1.41027419e+00] [-4.32564352e-03 -1.82163902e-05 9.99990644e-01 -4.15038485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.88 meters 0.01270461011916415 Centerline is valid? [True, True] Translation: X:27.49, Y:1.42, Z:-0.41 [[ 9.94455452e-01 -1.05049476e-01 4.79177026e-03 2.74913924e+01] [ 1.05048169e-01 9.94466997e-01 5.24241352e-04 1.41554438e+00] [-4.82032866e-03 -1.79679790e-05 9.99988382e-01 -4.13580894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.939999999999998 meters 0.015115713194067733 Centerline is valid? [True, True] Translation: X:27.55, Y:1.42, Z:-0.42 [[ 9.94288252e-01 -1.06605792e-01 5.10662284e-03 2.75492734e+01] [ 1.06604319e-01 9.94301365e-01 5.60473925e-04 1.42255701e+00] [-5.13727182e-03 -1.28845885e-05 9.99986804e-01 -4.16179608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.0 meters 0.012630471076466013 Centerline is valid? [True, True] Translation: X:27.61, Y:1.43, Z:-0.41 [[ 9.94226697e-01 -1.07103594e-01 6.48811583e-03 2.76081393e+01] [ 1.07101206e-01 9.94247866e-01 7.15415231e-04 1.42848214e+00] [-6.52741886e-03 -1.63998913e-05 9.99978696e-01 -4.14816038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.06 meters 0.012711704940416022 Centerline is valid? [True, True] Translation: X:27.67, Y:1.43, Z:-0.42 [[ 9.93966032e-01 -1.09473638e-01 6.85931070e-03 2.76655385e+01] [ 1.09471014e-01 9.93989699e-01 7.58037628e-04 1.43387186e+00] [-6.90106932e-03 -2.56795785e-06 9.99976187e-01 -4.16814083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.119999999999997 meters 0.013541703664418607 Centerline is valid? [True, True] Translation: X:27.72, Y:1.44, Z:-0.42 [[ 9.93684715e-01 -1.11998958e-01 6.84982337e-03 2.77236981e+01] [ 1.11996387e-01 9.93708324e-01 7.58987808e-04 1.43906139e+00] [-6.89173234e-03 1.29608851e-05 9.99976252e-01 -4.19062303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.18 meters 0.012809252808503875 Centerline is valid? [True, True] Translation: X:27.78, Y:1.44, Z:-0.42 [[ 9.93395984e-01 -1.14486280e-01 7.57041201e-03 2.77813289e+01] [ 1.14483192e-01 9.93424829e-01 8.41488816e-04 1.44304031e+00] [-7.61697418e-03 3.07533221e-05 9.99970990e-01 -4.19044943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.24 meters 0.012852288730180872 Centerline is valid? [True, True] Translation: X:27.84, Y:1.45, Z:-0.42 [[ 9.93331619e-01 -1.15064266e-01 7.24640401e-03 2.78391506e+01] [ 1.15061438e-01 9.93358049e-01 8.07386322e-04 1.44962661e+00] [-7.29117506e-03 3.17793004e-05 9.99973419e-01 -4.20906727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.299999999999997 meters 0.012776618309755907 Centerline is valid? [True, True] Translation: X:27.90, Y:1.46, Z:-0.42 [[ 9.93389860e-01 -1.14591071e-01 6.74337147e-03 2.78967838e+01] [ 1.14588600e-01 9.93412747e-01 7.52907547e-04 1.45708401e+00] [-6.78522766e-03 2.47827739e-05 9.99976980e-01 -4.22191130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.36 meters 0.013080852653385253 Centerline is valid? [True, True] Translation: X:27.95, Y:1.46, Z:-0.43 [[ 9.93556444e-01 -1.13212929e-01 5.33154949e-03 2.79545780e+01] [ 1.13211351e-01 9.93570749e-01 5.97808646e-04 1.46439413e+00] [-5.36495129e-03 9.63528643e-06 9.99985608e-01 -4.25336702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.419999999999998 meters 0.012982868870684958 Centerline is valid? [True, True] Translation: X:28.01, Y:1.47, Z:-0.43 [[ 9.93616648e-01 -1.12671131e-01 5.58323612e-03 2.80124853e+01] [ 1.12669399e-01 9.93632335e-01 6.24752982e-04 1.47174822e+00] [-5.61807556e-03 8.29489234e-06 9.99984218e-01 -4.26183233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.48 meters 0.012827399799781947 Centerline is valid? [True, True] Translation: X:28.07, Y:1.48, Z:-0.42 [[ 9.93660744e-01 -1.12196623e-01 7.08829880e-03 2.80709301e+01] [ 1.12193795e-01 9.93686026e-01 7.96564662e-04 1.47878342e+00] [-7.13291532e-03 3.74811024e-06 9.99974560e-01 -4.24824724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54 meters 0.015413179827626067 Centerline is valid? [True, True] Translation: X:28.13, Y:1.49, Z:-0.43 [[ 9.93777308e-01 -1.11087104e-01 8.14358843e-03 2.81280694e+01] [ 1.11083315e-01 9.93810674e-01 9.17495622e-04 1.48760710e+00] [-8.19510703e-03 -7.16952744e-06 9.99966420e-01 -4.25627714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.599999999999998 meters 0.012645817850007885 Centerline is valid? [True, True] Translation: X:28.18, Y:1.50, Z:-0.43 [[ 9.93876774e-01 -1.10201925e-01 8.03086638e-03 2.81843448e+01] [ 1.10198184e-01 9.93909219e-01 9.08193176e-04 1.49525063e+00] [-8.08203677e-03 -1.76452120e-05 9.99967340e-01 -4.25812144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.66 meters 0.014436283114260828 Centerline is valid? [True, True] Translation: X:28.24, Y:1.50, Z:-0.43 [[ 9.93610498e-01 -1.12576843e-01 8.03943247e-03 2.82421364e+01] [ 1.12573172e-01 9.93643022e-01 9.09075848e-04 1.50065963e+00] [-8.09066686e-03 1.75711147e-06 9.99967270e-01 -4.27637256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.72 meters 0.014849358506314525 Centerline is valid? [True, True] Translation: X:28.30, Y:1.50, Z:-0.42 [[ 9.92955478e-01 -1.18131417e-01 9.18620089e-03 2.83008885e+01] [ 1.18126832e-01 9.92997969e-01 1.04194140e-03 1.50302954e+00] [-9.24496484e-03 5.05353914e-05 9.99957263e-01 -4.24809974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.779999999999998 meters 0.01659459734011307 Centerline is valid? [True, True] Translation: X:28.36, Y:1.51, Z:-0.42 [[ 9.92363216e-01 -1.22960560e-01 9.79530140e-03 2.83591729e+01] [ 1.22955543e-01 9.92411553e-01 1.11504276e-03 1.50544842e+00] [-9.85807656e-03 9.78591805e-05 9.99951403e-01 -4.24505534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.84 meters 0.017295135982505306 Centerline is valid? [True, True] Translation: X:28.42, Y:1.51, Z:-0.43 [[ 9.92203408e-01 -1.24275138e-01 9.38543313e-03 2.84174024e+01] [ 1.24270592e-01 9.92247791e-01 1.06827110e-03 1.51176170e+00] [-9.44543483e-03 1.06391105e-04 9.99955385e-01 -4.25884072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.9 meters 0.014113921052022705 Centerline is valid? [True, True] Translation: X:28.48, Y:1.52, Z:-0.43 [[ 9.92164046e-01 -1.24729028e-01 7.29217924e-03 2.84753934e+01] [ 1.24726280e-01 9.92190840e-01 8.32145566e-04 1.51853708e+00] [-7.33902615e-03 8.39014781e-05 9.99973065e-01 -4.27026066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.959999999999997 meters 0.013904923440871464 Centerline is valid? [True, True] Translation: X:28.53, Y:1.53, Z:-0.43 [[ 9.92432587e-01 -1.22735427e-01 3.68439534e-03 2.85335882e+01] [ 1.22734719e-01 9.92439426e-01 4.18369712e-04 1.52983748e+00] [-3.70788798e-03 3.69994932e-05 9.99993125e-01 -4.31045464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.02 meters 0.013501550628758498 Centerline is valid? [True, True] Translation: X:28.59, Y:1.54, Z:-0.43 [[ 9.92820617e-01 -1.19592217e-01 2.21906697e-03 2.85904004e+01] [ 1.19591956e-01 9.92823097e-01 2.50665107e-04 1.54037006e+00] [-2.23311854e-03 1.65170725e-05 9.99997506e-01 -4.32212779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.08 meters 0.015633268749903922 Centerline is valid? [True, True] Translation: X:28.65, Y:1.55, Z:-0.43 [[ 9.92864393e-01 -1.19208954e-01 3.08597878e-03 2.86477827e+01] [ 1.19208432e-01 9.92869188e-01 3.53292633e-04 1.54820057e+00] [-3.10608889e-03 1.71030164e-05 9.99995176e-01 -4.33673016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.14 meters 0.017323646168799743 Centerline is valid? [True, True] Translation: X:28.71, Y:1.55, Z:-0.43 [[ 9.92712044e-01 -1.20434855e-01 4.27126076e-03 2.87052261e+01] [ 1.20433871e-01 9.92721232e-01 4.87838578e-04 1.55454861e+00] [-4.29892401e-03 3.01212335e-05 9.99990759e-01 -4.34318286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.2 meters 0.01568032261474619 Centerline is valid? [True, True] Translation: X:28.76, Y:1.56, Z:-0.43 [[ 9.92858440e-01 -1.19214953e-01 4.46248722e-03 2.87633964e+01] [ 1.19213860e-01 9.92868468e-01 5.11013770e-04 1.56095388e+00] [-4.49158333e-03 2.46259935e-05 9.99989912e-01 -4.34370785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.259999999999998 meters 0.016749706005120914 Centerline is valid? [True, True] Translation: X:28.82, Y:1.57, Z:-0.44 [[ 9.93328693e-01 -1.15268741e-01 3.35026412e-03 2.88213210e+01] [ 1.15268103e-01 9.93334343e-01 3.83548207e-04 1.56805526e+00] [-3.37214353e-03 5.18915220e-06 9.99994314e-01 -4.36144240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.32 meters 0.017043428848513415 Centerline is valid? [True, True] Translation: X:28.88, Y:1.58, Z:-0.44 [[ 9.93652894e-01 -1.12439728e-01 3.35170097e-03 2.88781433e+01] [ 1.12439067e-01 9.93658547e-01 3.85675470e-04 1.57596376e+00] [-3.37381156e-03 -6.36541690e-06 9.99994309e-01 -4.38055575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.38 meters 0.014958325744668575 Centerline is valid? [True, True] Translation: X:28.94, Y:1.58, Z:-0.44 [[ 9.94012902e-01 -1.09214810e-01 3.23667842e-03 2.89364829e+01] [ 1.09214177e-01 9.94018171e-01 3.72202839e-04 1.58405441e+00] [-3.25796722e-03 -1.64832535e-05 9.99994693e-01 -4.38255940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.439999999999998 meters 0.01588840783318614 Centerline is valid? [True, True] Translation: X:28.99, Y:1.60, Z:-0.44 [[ 9.94356326e-01 -1.06070258e-01 2.14416889e-03 2.89928359e+01] [ 1.06069970e-01 9.94358638e-01 2.47690105e-04 1.59605915e+00] [-2.15834540e-03 -1.88602936e-05 9.99997671e-01 -4.41025215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.5 meters 0.01624766497059658 Centerline is valid? [True, True] Translation: X:29.05, Y:1.61, Z:-0.44 [[ 9.94519191e-01 -1.04535107e-01 1.99760361e-03 2.90511371e+01] [ 1.04534858e-01 9.94521197e-01 2.29022096e-04 1.60664068e+00] [-2.01059998e-03 -1.89476609e-05 9.99997979e-01 -4.40877860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.56 meters 0.01374837444585832 Centerline is valid? [True, True] Translation: X:29.11, Y:1.62, Z:-0.44 [[ 9.94615939e-01 -1.03597939e-01 2.56943592e-03 2.91078162e+01] [ 1.03597514e-01 9.94619257e-01 2.98250703e-04 1.61608621e+00] [-2.58650861e-03 -3.04577291e-05 9.99996655e-01 -4.42466875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.619999999999997 meters 0.016981189505727353 Centerline is valid? [True, True] Translation: X:29.17, Y:1.62, Z:-0.45 [[ 9.94476237e-01 -1.04954949e-01 1.21330205e-03 2.91650329e+01] [ 1.04954856e-01 9.94476977e-01 1.40280536e-04 1.62370067e+00] [-1.22132410e-03 -1.21637168e-05 9.99999254e-01 -4.47506601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.68 meters 0.012666146065427849 Centerline is valid? [True, True] Translation: X:29.22, Y:1.63, Z:-0.45 [[ 9.93966128e-01 -1.09681757e-01 1.11703776e-03 2.92238097e+01] [ 1.09681684e-01 9.93966756e-01 1.26817153e-04 1.62558768e+00] [-1.12420793e-03 -3.53337149e-06 9.99999368e-01 -4.46758998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.74 meters 0.012594127520757309 Centerline is valid? [True, True] Translation: X:29.28, Y:1.63, Z:-0.45 [[ 9.93105576e-01 -1.17200338e-01 2.32305405e-03 2.92836087e+01] [ 1.17200030e-01 9.93108293e-01 2.68685546e-04 1.62568228e+00] [-2.33853428e-03 5.42888971e-06 9.99997266e-01 -4.45914663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.799999999999997 meters 0.01585545859370397 Centerline is valid? [True, True] Translation: X:29.34, Y:1.63, Z:-0.45 [[ 9.92463230e-01 -1.22507138e-01 2.95615266e-03 2.93426433e+01] [ 1.22506659e-01 9.92467632e-01 3.43317497e-04 1.62866410e+00] [-2.97594468e-03 2.14183942e-05 9.99995572e-01 -4.46239481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.86 meters 0.016071507883264932 Centerline is valid? [True, True] Translation: X:29.40, Y:1.63, Z:-0.45 [[ 9.91769457e-01 -1.27916865e-01 5.53359546e-03 2.94011641e+01] [ 1.27915244e-01 9.91784892e-01 6.47287569e-04 1.63311298e+00] [-5.57093537e-03 6.58711718e-05 9.99984480e-01 -4.46478028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.919999999999998 meters 0.014166767009828465 Centerline is valid? [True, True] Translation: X:29.46, Y:1.64, Z:-0.45 [[ 9.91429397e-01 -1.30408392e-01 7.83598230e-03 2.94599535e+01] [ 1.30405192e-01 9.91460357e-01 9.20145706e-04 1.63908011e+00] [-7.88906053e-03 1.09593270e-04 9.99968875e-01 -4.46031185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.98 meters 0.014373698448325914 Centerline is valid? [True, True] Translation: X:29.52, Y:1.64, Z:-0.45 [[ 9.91288054e-01 -1.31473977e-01 7.91125713e-03 2.95182179e+01] [ 1.31470733e-01 9.91319615e-01 9.30967634e-04 1.64486912e+00] [-7.96498239e-03 1.17241682e-04 9.99968272e-01 -4.46596404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04 meters 0.015832561307198394 Centerline is valid? [True, True] Translation: X:29.58, Y:1.65, Z:-0.45 [[ 9.91528435e-01 -1.29717105e-01 6.69585496e-03 2.95759906e+01] [ 1.29714734e-01 9.91551040e-01 7.89020952e-04 1.65466517e+00] [-6.74163147e-03 8.62143333e-05 9.99977271e-01 -4.48067739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.1 meters 0.015428102535726924 Centerline is valid? [True, True] Translation: X:29.63, Y:1.67, Z:-0.45 [[ 9.91846276e-01 -1.27229515e-01 7.32226904e-03 2.96338792e+01] [ 1.27226596e-01 9.91873301e-01 8.64931505e-04 1.66649517e+00] [-7.37280798e-03 7.37082739e-05 9.99972818e-01 -4.48734747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16 meters 0.013337278028337788 Centerline is valid? [True, True] Translation: X:29.69, Y:1.67, Z:-0.45 [[ 9.91846592e-01 -1.27150906e-01 8.54311518e-03 2.96908507e+01] [ 1.27146899e-01 9.91883380e-01 1.01271814e-03 1.67365737e+00] [-8.60254199e-03 8.17695690e-05 9.99962994e-01 -4.49910120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22 meters 0.013793809188843775 Centerline is valid? [True, True] Translation: X:29.75, Y:1.68, Z:-0.45 [[ 9.91294217e-01 -1.31265516e-01 1.02537109e-02 2.97498568e+01] [ 1.31259952e-01 9.91347237e-01 1.21673746e-03 1.67838441e+00] [-1.03247037e-02 1.39756791e-04 9.99946689e-01 -4.49249995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28 meters 0.015125522781377354 Centerline is valid? [True, True] Translation: X:29.81, Y:1.68, Z:-0.45 [[ 9.90943655e-01 -1.33893086e-01 1.01643853e-02 2.98082859e+01] [ 1.33887731e-01 9.90995769e-01 1.20861938e-03 1.68368332e+00] [-1.02346886e-02 1.63212774e-04 9.99947611e-01 -4.49582899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.339999999999996 meters 0.014489311971402526 Centerline is valid? [True, True] Translation: X:29.87, Y:1.69, Z:-0.45 [[ 9.90707914e-01 -1.35592918e-01 1.06013802e-02 2.98663083e+01] [ 1.35587152e-01 9.90764617e-01 1.26410839e-03 1.68981897e+00] [-1.06748765e-02 1.85048754e-04 9.99943005e-01 -4.50103826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.4 meters 0.015460715446644452 Centerline is valid? [True, True] Translation: X:29.92, Y:1.70, Z:-0.45 [[ 9.90683696e-01 -1.35860469e-01 9.36736424e-03 2.99237616e+01] [ 1.35855982e-01 9.90727967e-01 1.11655958e-03 1.69620142e+00] [-9.43220604e-03 1.66455104e-04 9.99955502e-01 -4.51561072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46 meters 0.016504251171578298 Centerline is valid? [True, True] Translation: X:29.98, Y:1.70, Z:-0.45 [[ 9.90796635e-01 -1.35107573e-01 8.24444979e-03 2.99819041e+01] [ 1.35104056e-01 9.90830926e-01 9.84556759e-04 1.70272975e+00] [-8.30187690e-03 1.38363085e-04 9.99965529e-01 -4.52945391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.519999999999996 meters 0.014329932099179184 Centerline is valid? [True, True] Translation: X:30.04, Y:1.71, Z:-0.45 [[ 9.90891344e-01 -1.34340034e-01 9.33271118e-03 3.00401916e+01] [ 1.34335462e-01 9.90935282e-01 1.11789098e-03 1.70941882e+00] [-9.39829030e-03 1.46005568e-04 9.99955824e-01 -4.54154459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58 meters 0.015110318184489165 Centerline is valid? [True, True] Translation: X:30.10, Y:1.72, Z:-0.46 [[ 9.91309924e-01 -1.31303320e-01 8.00456724e-03 3.00985274e+01] [ 1.31299847e-01 9.91342236e-01 9.60166183e-04 1.71899212e+00] [-8.06133859e-03 9.91761877e-05 9.99967502e-01 -4.56426446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64 meters 0.013804219643090898 Centerline is valid? [True, True] Translation: X:30.16, Y:1.73, Z:-0.46 [[ 9.91774806e-01 -1.27712522e-01 8.49974234e-03 3.01566939e+01] [ 1.27708453e-01 9.91811225e-01 1.02192878e-03 1.72759376e+00] [-8.56065297e-03 7.19657319e-05 9.99963354e-01 -4.57213124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.699999999999996 meters 0.013440030198715126 Centerline is valid? [True, True] Translation: X:30.21, Y:1.74, Z:-0.46 [[ 9.92147802e-01 -1.24848401e-01 7.45764628e-03 3.02147094e+01] [ 1.24845178e-01 9.92175829e-01 8.98010435e-04 1.73635920e+00] [-7.51141155e-03 4.00920955e-05 9.99971788e-01 -4.58753725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76 meters 0.01429979684020093 Centerline is valid? [True, True] Translation: X:30.27, Y:1.74, Z:-0.46 [[ 9.92335433e-01 -1.23363723e-01 7.19580099e-03 3.02716347e+01] [ 1.23360664e-01 9.92361522e-01 8.69161340e-04 1.74371458e+00] [-7.24805900e-03 2.51791916e-05 9.99973732e-01 -4.60978153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82 meters 0.01206736259864707 Centerline is valid? [True, True] Translation: X:30.33, Y:1.75, Z:-0.46 [[ 9.92403304e-01 -1.22641249e-01 9.73687205e-03 3.03302511e+01] [ 1.22635601e-01 9.92451068e-01 1.17735509e-03 1.74927985e+00] [-9.80776137e-03 2.56760667e-05 9.99951902e-01 -4.60134383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.879999999999995 meters 0.013511811360779035 Centerline is valid? [True, True] Translation: X:30.39, Y:1.76, Z:-0.46 [[ 9.92277303e-01 -1.23654981e-01 9.75701162e-03 3.03876355e+01] [ 1.23649338e-01 9.92325271e-01 1.18187661e-03 1.75550515e+00] [-9.82827413e-03 3.36986938e-05 9.99951701e-01 -4.60599808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94 meters 0.012025309995798712 Centerline is valid? [True, True] Translation: X:30.44, Y:1.76, Z:-0.46 [[ 9.92121471e-01 -1.24781407e-01 1.11618977e-02 3.04443437e+01] [ 1.24774043e-01 9.92184256e-01 1.35647458e-03 1.76100618e+00] [-1.12439219e-02 4.69275368e-05 9.99936784e-01 -4.61481485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.0 meters 0.012042742952143392 Centerline is valid? [True, True] Translation: X:30.50, Y:1.77, Z:-0.46 [[ 9.91961453e-01 -1.26097501e-01 1.05780795e-02 3.05023521e+01] [ 1.26090957e-01 9.92017851e-01 1.28599158e-03 1.76738334e+00] [-1.06558040e-02 5.81460961e-05 9.99943224e-01 -4.62520230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06 meters 0.013408834164734477 Centerline is valid? [True, True] Translation: X:30.56, Y:1.77, Z:-0.47 [[ 9.91524181e-01 -1.29631372e-01 8.68937857e-03 3.05597743e+01] [ 1.29627065e-01 9.91562253e-01 1.05938492e-03 1.77175842e+00] [-8.75338931e-03 7.59728737e-05 9.99961685e-01 -4.66119822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12 meters 0.01609722461860253 Centerline is valid? [True, True] Translation: X:30.62, Y:1.78, Z:-0.47 [[ 9.90754308e-01 -1.35398520e-01 8.55230544e-03 3.06183777e+01] [ 1.35394566e-01 9.90791212e-01 1.04237019e-03 1.77607725e+00] [-8.61468445e-03 1.25202928e-04 9.99962885e-01 -4.67664307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18 meters 0.015125989861887292 Centerline is valid? [True, True] Translation: X:30.68, Y:1.78, Z:-0.47 [[ 9.90323092e-01 -1.38349297e-01 1.09382544e-02 3.06766895e+01] [ 1.38342966e-01 9.90383479e-01 1.33697419e-03 1.78219885e+00] [-1.10180359e-02 1.89194136e-04 9.99939282e-01 -4.66924299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24 meters 0.016620288654610165 Centerline is valid? [True, True] Translation: X:30.74, Y:1.79, Z:-0.47 [[ 9.89669000e-01 -1.42861132e-01 1.20816827e-02 3.07351969e+01] [ 1.42853702e-01 9.89742708e-01 1.48018311e-03 1.78759773e+00] [-1.21692180e-02 2.61021750e-04 9.99925918e-01 -4.66890436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.3 meters 0.017157943515563816 Centerline is valid? [True, True] Translation: X:30.79, Y:1.79, Z:-0.47 [[ 9.89259516e-01 -1.45634069e-01 1.25031513e-02 3.07934096e+01] [ 1.45626292e-01 9.89338479e-01 1.53508847e-03 1.79448127e+00] [-1.25934098e-02 3.02186683e-04 9.99920654e-01 -4.68328081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36 meters 0.015021609825044703 Centerline is valid? [True, True] Translation: X:30.85, Y:1.80, Z:-0.47 [[ 9.89206363e-01 -1.45984783e-01 1.26180067e-02 3.08512866e+01] [ 1.45976852e-01 9.89286788e-01 1.55229956e-03 1.80328470e+00] [-1.27094394e-02 3.06392288e-04 9.99919185e-01 -4.70048347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42 meters 0.016269864422899804 Centerline is valid? [True, True] Translation: X:30.91, Y:1.81, Z:-0.47 [[ 9.89655745e-01 -1.42905367e-01 1.26317696e-02 3.09084481e+01] [ 1.42897115e-01 9.89736322e-01 1.55809130e-03 1.81293471e+00] [-1.27247808e-02 2.63069426e-04 9.99919002e-01 -4.71826269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48 meters 0.01613445461795697 Centerline is valid? [True, True] Translation: X:30.97, Y:1.83, Z:-0.47 [[ 9.90085394e-01 -1.39825570e-01 1.34060308e-02 3.09662953e+01] [ 1.39815970e-01 9.90176123e-01 1.65530824e-03 1.82540486e+00] [-1.35057861e-02 2.35480699e-04 9.99908765e-01 -4.72498245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54 meters 0.015519769395492952 Centerline is valid? [True, True] Translation: X:31.02, Y:1.84, Z:-0.47 [[ 9.90707563e-01 -1.35349170e-01 1.33838442e-02 3.10238235e+01] [ 1.35339147e-01 9.90797948e-01 1.65599126e-03 1.83638155e+00] [-1.34848224e-02 1.70754988e-04 9.99909061e-01 -4.74576864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.6 meters 0.013003948359304147 Centerline is valid? [True, True] Translation: X:31.08, Y:1.85, Z:-0.48 [[ 9.91110388e-01 -1.32413589e-01 1.29166692e-02 3.10818285e+01] [ 1.32403963e-01 9.91194545e-01 1.60130108e-03 1.84657119e+00] [-1.30149660e-02 1.23152059e-04 9.99915294e-01 -4.76442752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66 meters 0.016049617628971138 Centerline is valid? [True, True] Translation: X:31.14, Y:1.86, Z:-0.48 [[ 9.91698590e-01 -1.27919384e-01 1.30590078e-02 3.11402743e+01] [ 1.27909111e-01 9.91784567e-01 1.62230055e-03 1.85688796e+00] [-1.31592461e-02 6.15329097e-05 9.99913411e-01 -4.79007616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72 meters 0.014566115466513898 Centerline is valid? [True, True] Translation: X:31.20, Y:1.87, Z:-0.48 [[ 9.92603459e-01 -1.20637656e-01 1.35988772e-02 3.11977436e+01] [ 1.20625784e-01 9.92696607e-01 1.69288992e-03 1.86669031e+00] [-1.37037855e-02 -3.99931621e-05 9.99906098e-01 -4.78988841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78 meters 0.016675144656122097 Centerline is valid? [True, True] Translation: X:31.26, Y:1.88, Z:-0.48 [[ 9.93117940e-01 -1.16174603e-01 1.48397520e-02 3.12551785e+01] [ 1.16159896e-01 9.93228800e-01 1.85212905e-03 1.87599685e+00] [-1.49544394e-02 -1.15598545e-04 9.99888169e-01 -4.79969619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.839999999999996 meters 0.01549817992854576 Centerline is valid? [True, True] Translation: X:31.31, Y:1.89, Z:-0.48 [[ 9.93676621e-01 -1.10840408e-01 1.79214281e-02 3.13126627e+01] [ 1.10818056e-01 9.93838190e-01 2.23863219e-03 1.88507699e+00] [-1.80591306e-02 -2.38458650e-04 9.99836892e-01 -4.77851946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.9 meters 0.014565366099340964 Centerline is valid? [True, True] Translation: X:31.37, Y:1.89, Z:-0.48 [[ 9.93861278e-01 -1.09107958e-01 1.83088605e-02 3.13709240e+01] [ 1.09084294e-01 9.94029867e-01 2.28920689e-03 1.89344971e+00] [-1.84493248e-02 -2.77944955e-04 9.99829758e-01 -4.79119471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96 meters 0.016876596399170687 Centerline is valid? [True, True] Translation: X:31.43, Y:1.90, Z:-0.48 [[ 9.94061883e-01 -1.07477098e-01 1.70190039e-02 3.14284240e+01] [ 1.07456349e-01 9.94207518e-01 2.13160189e-03 1.90315069e+00] [-1.71495200e-02 -2.90144159e-04 9.99852894e-01 -4.83167961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.019999999999996 meters 0.01795362272936856 Centerline is valid? [True, True] Translation: X:31.49, Y:1.91, Z:-0.49 [[ 9.94153385e-01 -1.06909839e-01 1.51437625e-02 3.14870744e+01] [ 1.06893326e-01 9.94268683e-01 1.89795557e-03 1.91080508e+00] [-1.52598789e-02 -2.68091806e-04 9.99883525e-01 -4.87811943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08 meters 0.018941219319250285 Centerline is valid? [True, True] Translation: X:31.54, Y:1.92, Z:-0.49 [[ 9.93999422e-01 -1.08489296e-01 1.39721450e-02 3.15448884e+01] [ 1.08475348e-01 9.94097591e-01 1.75451363e-03 1.91813519e+00] [-1.40800216e-02 -2.28352245e-04 9.99900846e-01 -4.90335702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14 meters 0.01772819501711954 Centerline is valid? [True, True] Translation: X:31.60, Y:1.92, Z:-0.49 [[ 9.93738739e-01 -1.10726846e-01 1.49293413e-02 3.16034146e+01] [ 1.10711152e-01 9.93850854e-01 1.87612041e-03 1.92331179e+00] [-1.50452755e-02 -2.11528946e-04 9.99886791e-01 -4.89427355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.199999999999996 meters 0.013868857766837779 Centerline is valid? [True, True] Translation: X:31.66, Y:1.93, Z:-0.49 [[ 9.93365735e-01 -1.13920128e-01 1.57073288e-02 3.16623478e+01] [ 1.13903091e-01 9.93489896e-01 1.97792223e-03 1.92719086e+00] [-1.58303976e-02 -1.75686864e-04 9.99874676e-01 -4.87377809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26 meters 0.01583703107190584 Centerline is valid? [True, True] Translation: X:31.72, Y:1.93, Z:-0.49 [[ 9.92846073e-01 -1.18268879e-01 1.64057111e-02 3.17198225e+01] [ 1.18250819e-01 9.92981601e-01 2.06999651e-03 1.93243105e+00] [-1.65353854e-02 -1.15199145e-04 9.99863275e-01 -4.90079067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32 meters 0.015778517965908657 Centerline is valid? [True, True] Translation: X:31.78, Y:1.93, Z:-0.49 [[ 9.91769250e-01 -1.27051113e-01 1.58672502e-02 3.17789369e+01] [ 1.27035308e-01 9.91896171e-01 2.00417389e-03 1.93199303e+00] [-1.59932973e-02 2.80229813e-05 9.99872099e-01 -4.91931403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.379999999999995 meters 0.014193148970086507 Centerline is valid? [True, True] Translation: X:31.84, Y:1.94, Z:-0.49 [[ 9.91050340e-01 -1.32522980e-01 1.60275848e-02 3.18376555e+01] [ 1.32507504e-01 9.91179927e-01 2.02841217e-03 1.93615180e+00] [-1.61550315e-02 1.13516688e-04 9.99869493e-01 -4.91033843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44 meters 0.017780327063447607 Centerline is valid? [True, True] Translation: X:31.90, Y:1.94, Z:-0.49 [[ 9.90101007e-01 -1.39400440e-01 1.63558161e-02 3.18958819e+01] [ 1.39385195e-01 9.90236066e-01 2.07395697e-03 1.94198112e+00] [-1.64852295e-02 2.26331739e-04 9.99864084e-01 -4.92981926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.5 meters 0.016139252116760233 Centerline is valid? [True, True] Translation: X:31.95, Y:1.95, Z:-0.49 [[ 9.89692674e-01 -1.42479945e-01 1.44179222e-02 3.19541281e+01] [ 1.42468409e-01 9.89797659e-01 1.82933515e-03 1.94707447e+00] [-1.45314692e-02 2.43618848e-04 9.99894383e-01 -4.92281599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56 meters 0.018871783139791022 Centerline is valid? [True, True] Translation: X:32.01, Y:1.95, Z:-0.50 [[ 9.88666994e-01 -1.49507949e-01 1.35995837e-02 3.20135309e+01] [ 1.49498324e-01 9.88760470e-01 1.72731886e-03 1.95441138e+00] [-1.37049787e-02 3.25371825e-04 9.99906029e-01 -4.95060126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.62 meters 0.018677982517360473 Centerline is valid? [True, True] Translation: X:32.07, Y:1.96, Z:-0.50 [[ 9.88440991e-01 -1.50986642e-01 1.36909449e-02 3.20723282e+01] [ 1.50977027e-01 9.88535742e-01 1.73914669e-03 1.96205646e+00] [-1.37965763e-02 3.47974280e-04 9.99904762e-01 -4.95394834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68 meters 0.018051576947452224 Centerline is valid? [True, True] Translation: X:32.13, Y:1.97, Z:-0.49 [[ 9.88114287e-01 -1.53073867e-01 1.40906518e-02 3.21308780e+01] [ 1.53063842e-01 9.88214675e-01 1.79359225e-03 1.97020478e+00] [-1.41991410e-02 3.84495171e-04 9.99899113e-01 -4.93209982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74 meters 0.018042461069576042 Centerline is valid? [True, True] Translation: X:32.19, Y:1.98, Z:-0.49 [[ 9.87999852e-01 -1.53831922e-01 1.38575752e-02 3.21889223e+01] [ 1.53822252e-01 9.88096954e-01 1.76735424e-03 1.97873206e+00] [-1.39645033e-02 3.85457697e-04 9.99902417e-01 -4.93206087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.8 meters 0.01831390396282457 Centerline is valid? [True, True] Translation: X:32.25, Y:1.99, Z:-0.49 [[ 9.88126079e-01 -1.53038412e-01 1.36417216e-02 3.22475640e+01] [ 1.53028919e-01 9.88220173e-01 1.74323822e-03 1.98625014e+00] [-1.37478069e-02 3.65038756e-04 9.99905428e-01 -4.93406721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86 meters 0.02079972062864343 Centerline is valid? [True, True] Translation: X:32.30, Y:2.00, Z:-0.50 [[ 9.88579290e-01 -1.50236528e-01 1.18309912e-02 3.23049392e+01] [ 1.50229158e-01 9.88650043e-01 1.51433054e-03 1.99682698e+00] [-1.19242177e-02 2.80324029e-04 9.99928865e-01 -4.97599215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92 meters 0.018463167440220512 Centerline is valid? [True, True] Translation: X:32.36, Y:2.01, Z:-0.50 [[ 9.89207959e-01 -1.46169689e-01 1.01012330e-02 3.23632652e+01] [ 1.46164084e-01 9.89259513e-01 1.29491552e-03 2.00868032e+00] [-1.01820183e-02 1.95496734e-04 9.99948143e-01 -4.97857553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98 meters 0.0181073548732672 Centerline is valid? [True, True] Translation: X:32.42, Y:2.02, Z:-0.50 [[ 9.90151042e-01 -1.39781460e-01 7.87766440e-03 3.24209962e+01] [ 1.39777832e-01 9.90182374e-01 1.01205464e-03 2.02124870e+00] [-7.94179091e-03 9.90358974e-05 9.99968459e-01 -4.97508673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04 meters 0.017718074950455055 Centerline is valid? [True, True] Translation: X:32.48, Y:2.03, Z:-0.50 [[ 9.90661384e-01 -1.36133399e-01 7.59740564e-03 3.24777861e+01] [ 1.36129914e-01 9.90690513e-01 9.76445461e-04 2.03127909e+00] [-7.65960453e-03 6.69073617e-05 9.99970663e-01 -4.98768258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.1 meters 0.017970474623708512 Centerline is valid? [True, True] Translation: X:32.54, Y:2.04, Z:-0.50 [[ 9.90956039e-01 -1.33936873e-01 8.18801351e-03 3.25354808e+01] [ 1.33932752e-01 9.90989864e-01 1.05211577e-03 2.04127065e+00] [-8.25515549e-03 5.40427074e-05 9.99965924e-01 -4.99718642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16 meters 0.01636793232422906 Centerline is valid? [True, True] Translation: X:32.59, Y:2.05, Z:-0.50 [[ 9.91418373e-01 -1.30488703e-01 7.89357174e-03 3.25936286e+01] [ 1.30484748e-01 9.91449796e-01 1.01615062e-03 2.05133306e+00] [-7.95867626e-03 2.25603294e-05 9.99968329e-01 -4.98923408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22 meters 0.015100202301880701 Centerline is valid? [True, True] Translation: X:32.65, Y:2.06, Z:-0.50 [[ 9.92049393e-01 -1.25753320e-01 4.90965746e-03 3.26517306e+01] [ 1.25751733e-01 9.92061542e-01 6.31874125e-04 2.06137154e+00] [-4.95014261e-03 -9.45240768e-06 9.99987748e-01 -5.00061671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28 meters 0.015444802793128584 Centerline is valid? [True, True] Translation: X:32.71, Y:2.07, Z:-0.50 [[ 9.92560718e-01 -1.21726814e-01 2.40895028e-03 3.27100417e+01] [ 1.21726423e-01 9.92563642e-01 3.08722915e-04 2.07134006e+00] [-2.42861632e-03 -1.31933362e-05 9.99997051e-01 -5.02135406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.339999999999996 meters 0.01871601065354163 Centerline is valid? [True, True] Translation: X:32.77, Y:2.08, Z:-0.51 [[ 9.93169146e-01 -1.16672910e-01 -1.57436713e-03 3.27676539e+01] [ 1.16672731e-01 9.93170394e-01 -2.05049390e-04 2.08110639e+00] [ 1.58753853e-03 1.99630147e-05 9.99998740e-01 -5.06850036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.4 meters 0.01861137595794811 Centerline is valid? [True, True] Translation: X:32.83, Y:2.09, Z:-0.51 [[ 9.93420177e-01 -1.14501647e-01 -2.39282216e-03 3.28250670e+01] [ 1.14501228e-01 9.93423058e-01 -3.11936509e-04 2.08788627e+00] [ 2.41280195e-03 3.59029470e-05 9.99997089e-01 -5.07174840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46 meters 0.019591666171278634 Centerline is valid? [True, True] Translation: X:32.88, Y:2.09, Z:-0.51 [[ 9.93563864e-01 -1.13225716e-01 -3.28404306e-03 3.28833176e+01] [ 1.13224920e-01 9.93569290e-01 -4.27898192e-04 2.09320589e+00] [ 3.31137341e-03 5.33086701e-05 9.99994516e-01 -5.06934375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.519999999999996 meters 0.018924879514952385 Centerline is valid? [True, True] Translation: X:32.94, Y:2.10, Z:-0.50 [[ 9.93832113e-01 -1.10848607e-01 -3.21212282e-03 3.29427864e+01] [ 1.10847823e-01 9.93837302e-01 -4.21783176e-04 2.09623669e+00] [ 3.23908155e-03 6.31248445e-05 9.99994752e-01 -5.03348685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58 meters 0.01670039854718084 Centerline is valid? [True, True] Translation: X:33.00, Y:2.10, Z:-0.50 [[ 9.94242591e-01 -1.07104391e-01 -3.21230774e-03 3.30013579e+01] [ 1.07103583e-01 9.94247778e-01 -4.22811070e-04 2.10085303e+00] [ 3.23911476e-03 7.63271047e-05 9.99994751e-01 -5.00198127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64 meters 0.01994480746400528 Centerline is valid? [True, True] Translation: X:33.06, Y:2.11, Z:-0.50 [[ 9.94134382e-01 -1.08023557e-01 -5.26711678e-03 3.30596711e+01] [ 1.08021405e-01 9.94148327e-01 -6.92106389e-04 2.10714661e+00] [ 5.31105913e-03 1.19085401e-04 9.99985889e-01 -5.03020071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.699999999999996 meters 0.01900328799198916 Centerline is valid? [True, True] Translation: X:33.12, Y:2.11, Z:-0.50 [[ 9.93779593e-01 -1.11223429e-01 -5.60977174e-03 3.31182690e+01] [ 1.11221033e-01 9.93795420e-01 -7.38244206e-04 2.10996611e+00] [ 5.65707552e-03 1.09727421e-04 9.99983993e-01 -5.02000440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76 meters 0.01642907635535723 Centerline is valid? [True, True] Translation: X:33.18, Y:2.12, Z:-0.50 [[ 9.93639159e-01 -1.12496016e-01 -5.08601150e-03 3.31772377e+01] [ 1.12494056e-01 9.93652171e-01 -6.70855638e-04 2.11578340e+00] [ 5.12919496e-03 9.44423721e-05 9.99986841e-01 -5.01001306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82 meters 0.018379290633255597 Centerline is valid? [True, True] Translation: X:33.24, Y:2.12, Z:-0.50 [[ 9.93299457e-01 -1.15242378e-01 -8.68233935e-03 3.32357583e+01] [ 1.15236771e-01 9.93337393e-01 -1.14493201e-03 2.12084641e+00] [ 8.75643702e-03 1.36735593e-04 9.99961652e-01 -5.03635096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.879999999999995 meters 0.01526079330773048 Centerline is valid? [True, True] Translation: X:33.29, Y:2.13, Z:-0.50 [[ 9.93111287e-01 -1.16932683e-01 -7.53118191e-03 3.32941435e+01] [ 1.16928495e-01 9.93139837e-01 -9.95466177e-04 2.12689798e+00] [ 7.59591931e-03 1.07998928e-04 9.99971145e-01 -5.01994437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94 meters 0.015976756735685157 Centerline is valid? [True, True] Translation: X:33.35, Y:2.13, Z:-0.50 [[ 9.92309813e-01 -1.23561288e-01 -7.33784661e-03 3.33535408e+01] [ 1.23557479e-01 9.92336941e-01 -9.72014623e-04 2.13022934e+00] [ 7.40171964e-03 5.78938215e-05 9.99972605e-01 -4.99597279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.0 meters 0.016048811413788455 Centerline is valid? [True, True] Translation: X:33.41, Y:2.14, Z:-0.50 [[ 9.91582980e-01 -1.29290876e-01 -6.86027486e-03 3.34107317e+01] [ 1.29287687e-01 9.91606711e-01 -9.08070181e-04 2.13560878e+00] [ 6.92009978e-03 1.34778650e-05 9.99976056e-01 -5.03221339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.059999999999995 meters 0.015954210486508174 Centerline is valid? [True, True] Translation: X:33.47, Y:2.14, Z:-0.50 [[ 9.90135756e-01 -1.39947322e-01 -6.77733048e-03 3.34696925e+01] [ 1.39944436e-01 9.90158949e-01 -9.00469201e-04 2.13664464e+00] [ 6.83665268e-03 -5.68629405e-05 9.99976628e-01 -5.02702424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12 meters 0.017649150044564757 Centerline is valid? [True, True] Translation: X:33.53, Y:2.14, Z:-0.50 [[ 9.89038514e-01 -1.47502010e-01 -6.78052620e-03 3.35292100e+01] [ 1.47499319e-01 9.89061750e-01 -8.97987472e-04 2.14003289e+00] [ 6.83881406e-03 -1.11978805e-04 9.99976609e-01 -5.02290224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18 meters 0.020526883143297127 Centerline is valid? [True, True] Translation: X:33.59, Y:2.14, Z:-0.50 [[ 9.87879855e-01 -1.55123261e-01 -5.49228071e-03 3.35878621e+01] [ 1.55121609e-01 9.87895114e-01 -7.28023210e-04 2.14330254e+00] [ 5.53873061e-03 -1.32771959e-04 9.99984652e-01 -5.04963386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24 meters 0.01821412168485039 Centerline is valid? [True, True] Translation: X:33.65, Y:2.15, Z:-0.50 [[ 9.87300887e-01 -1.58805335e-01 -4.22196070e-03 3.36462441e+01] [ 1.58804375e-01 9.87309907e-01 -5.63867003e-04 2.15308828e+00] [ 4.25792872e-03 -1.13759438e-04 9.99990929e-01 -5.03009823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.3 meters 0.02208994862652982 Centerline is valid? [True, True] Translation: X:33.70, Y:2.16, Z:-0.51 [[ 9.86759226e-01 -1.62106545e-01 -5.26295328e-03 3.37049396e+01] [ 1.62105119e-01 9.86773247e-01 -6.99269463e-04 2.15843366e+00] [ 5.30669765e-03 -1.63141074e-04 9.99985906e-01 -5.08203872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36 meters 0.020547854191799483 Centerline is valid? [True, True] Translation: X:33.76, Y:2.17, Z:-0.51 [[ 9.86675513e-01 -1.62618088e-01 -5.17595769e-03 3.37614597e+01] [ 1.62616690e-01 9.86689076e-01 -6.92643269e-04 2.17072730e+00] [ 5.21969723e-03 -1.58282953e-04 9.99986365e-01 -5.08559433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42 meters 0.019910379621788567 Centerline is valid? [True, True] Translation: X:33.82, Y:2.18, Z:-0.51 [[ 9.86942883e-01 -1.61038782e-01 -3.20268491e-03 3.38199618e+01] [ 1.61038233e-01 9.86948075e-01 -4.30083290e-04 2.18211965e+00] [ 3.23014380e-03 -9.12870780e-05 9.99994779e-01 -5.09905099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48 meters 0.0194769437626455 Centerline is valid? [True, True] Translation: X:33.88, Y:2.19, Z:-0.51 [[ 9.87362414e-01 -1.58467902e-01 -1.84066515e-03 3.38781069e+01] [ 1.58467718e-01 9.87364128e-01 -2.46385658e-04 2.19271587e+00] [ 1.85645096e-03 -4.84140688e-05 9.99998276e-01 -5.09960747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54 meters 0.018493505254431917 Centerline is valid? [True, True] Translation: X:33.94, Y:2.20, Z:-0.51 [[ 9.87599908e-01 -1.56988160e-01 -1.06758307e-03 3.39363455e+01] [ 1.56988093e-01 9.87600485e-01 -1.46280241e-04 2.20426136e+00] [ 1.07730982e-03 -2.31314782e-05 9.99999419e-01 -5.09879203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.6 meters 0.016100653314230173 Centerline is valid? [True, True] Translation: X:33.99, Y:2.22, Z:-0.51 [[ 9.88879585e-01 -1.48688571e-01 2.97916154e-03 3.39939544e+01] [ 1.48688048e-01 9.88884071e-01 3.97464326e-04 2.22038573e+00] [-3.00514379e-03 4.99213569e-05 9.99995483e-01 -5.10717445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66 meters 0.014218981471627371 Centerline is valid? [True, True] Translation: X:34.05, Y:2.24, Z:-0.51 [[ 9.90303717e-01 -1.38825855e-01 5.09209735e-03 3.40503882e+01] [ 1.38824194e-01 9.90316808e-01 6.79844389e-04 2.23924146e+00] [-5.13716957e-03 3.36538839e-05 9.99986804e-01 -5.13033811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72 meters 0.016479712672885786 Centerline is valid? [True, True] Translation: X:34.11, Y:2.25, Z:-0.51 [[ 9.91081518e-01 -1.33184351e-01 4.39919220e-03 3.41077492e+01] [ 1.33183065e-01 9.91091282e-01 5.85228029e-04 2.25289434e+00] [-4.43794425e-03 5.88921755e-06 9.99990152e-01 -5.13714009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78 meters 0.016560276821706688 Centerline is valid? [True, True] Translation: X:34.17, Y:2.27, Z:-0.51 [[ 9.92025385e-01 -1.25924654e-01 5.34951554e-03 3.41655283e+01] [ 1.25922636e-01 9.92039808e-01 7.13673612e-04 2.26712598e+00] [-5.39680147e-03 -3.43572402e-05 9.99985437e-01 -5.14609217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.839999999999996 meters 0.018534128024955562 Centerline is valid? [True, True] Translation: X:34.22, Y:2.28, Z:-0.52 [[ 9.92570191e-01 -1.21562327e-01 5.19779527e-03 3.42230614e+01] [ 1.21560356e-01 9.92583799e-01 6.94609969e-04 2.27881164e+00] [-5.24368578e-03 -5.76033040e-05 9.99986250e-01 -5.16290510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.9 meters 0.01965684768618133 Centerline is valid? [True, True] Translation: X:34.28, Y:2.29, Z:-0.52 [[ 9.93141203e-01 -1.16839029e-01 4.38089185e-03 3.42795989e+01] [ 1.16837573e-01 9.93150863e-01 5.87659769e-04 2.29116904e+00] [-4.41954812e-03 -7.17763575e-05 9.99990231e-01 -5.20295887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96 meters 0.020211377592269337 Centerline is valid? [True, True] Translation: X:34.34, Y:2.30, Z:-0.52 [[ 9.93343640e-01 -1.15087775e-01 4.81846405e-03 3.43369174e+01] [ 1.15085990e-01 9.93355322e-01 6.46935556e-04 2.30038481e+00] [-4.86090128e-03 -8.80916123e-05 9.99988182e-01 -5.22645583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.019999999999996 meters 0.01819080770166091 Centerline is valid? [True, True] Translation: X:34.40, Y:2.31, Z:-0.52 [[ 9.93267421e-01 -1.15631363e-01 7.01556980e-03 3.43951772e+01] [ 1.15627593e-01 9.93292189e-01 9.41876724e-04 2.30665529e+00] [-7.07742117e-03 -1.24342011e-04 9.99974947e-01 -5.22064360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08 meters 0.0186577939332876 Centerline is valid? [True, True] Translation: X:34.45, Y:2.31, Z:-0.52 [[ 9.93025128e-01 -1.17502444e-01 9.70928697e-03 3.44536063e+01] [ 1.17495278e-01 9.93072581e-01 1.30720324e-03 2.31142999e+00] [-9.79562624e-03 -1.57290294e-04 9.99952009e-01 -5.21058267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14 meters 0.017511824990538497 Centerline is valid? [True, True] Translation: X:34.51, Y:2.31, Z:-0.52 [[ 9.92536064e-01 -1.21291783e-01 1.26674494e-02 3.45124273e+01] [ 1.21279840e-01 9.92616884e-01 1.70965409e-03 2.31410429e+00] [-1.27812911e-02 -1.60587112e-04 9.99918303e-01 -5.20800898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.199999999999996 meters 0.0169547561551649 Centerline is valid? [True, True] Translation: X:34.57, Y:2.32, Z:-0.52 [[ 9.92050427e-01 -1.25124136e-01 1.34127424e-02 3.45702214e+01] [ 1.25111045e-01 9.92141087e-01 1.81397158e-03 2.31670579e+00] [-1.35343045e-02 -1.21469063e-04 9.99908400e-01 -5.22650552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26 meters 0.015664392097236645 Centerline is valid? [True, True] Translation: X:34.63, Y:2.32, Z:-0.52 [[ 9.91771163e-01 -1.27372875e-01 1.28883991e-02 3.46291931e+01] [ 1.27360968e-01 9.91854900e-01 1.74380122e-03 2.32165197e+00] [-1.30055348e-02 -8.79727742e-05 9.99915421e-01 -5.24742683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32 meters 0.016155697106039788 Centerline is valid? [True, True] Translation: X:34.69, Y:2.33, Z:-0.53 [[ 9.91331628e-01 -1.30770935e-01 1.26714584e-02 3.46869868e+01] [ 1.30759660e-01 9.91412609e-01 1.71774073e-03 2.32503386e+00] [-1.27872742e-02 -4.59351209e-05 9.99918238e-01 -5.27435576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.379999999999995 meters 0.01735655968165664 Centerline is valid? [True, True] Translation: X:34.74, Y:2.33, Z:-0.53 [[ 9.90931261e-01 -1.33725639e-01 1.31411031e-02 3.47448169e+01] [ 1.33713758e-01 9.91018392e-01 1.78254908e-03 2.32968058e+00] [-1.32614474e-02 -9.23732221e-06 9.99912063e-01 -5.29082943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44 meters 0.016589665801533558 Centerline is valid? [True, True] Translation: X:34.80, Y:2.33, Z:-0.53 [[ 9.89944080e-01 -1.40725903e-01 1.43853361e-02 3.48038002e+01] [ 1.40712386e-01 9.90048591e-01 1.95262038e-03 2.32917570e+00] [-1.45169660e-02 9.12099781e-05 9.99894619e-01 -5.29117362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.5 meters 0.01721413666125656 Centerline is valid? [True, True] Translation: X:34.86, Y:2.33, Z:-0.53 [[ 9.89054805e-01 -1.46731072e-01 1.55107920e-02 3.48629951e+01] [ 1.46716072e-01 9.89176403e-01 2.10682898e-03 2.33007860e+00] [-1.56520468e-02 1.91913157e-04 9.99877481e-01 -5.28005440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.559999999999995 meters 0.02092814790933389 Centerline is valid? [True, True] Translation: X:34.92, Y:2.33, Z:-0.53 [[ 9.87621653e-01 -1.55879351e-01 1.74670484e-02 3.49229085e+01] [ 1.55861688e-01 9.87776031e-01 2.37642549e-03 2.32685361e+00] [-1.76239674e-02 3.75434375e-04 9.99844615e-01 -5.26892746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62 meters 0.023345445646871504 Centerline is valid? [True, True] Translation: X:34.98, Y:2.33, Z:-0.53 [[ 9.86646108e-01 -1.62163776e-01 1.52436081e-02 3.49829022e+01] [ 1.62151066e-01 9.86763765e-01 2.07433984e-03 2.32681626e+00] [-1.53782229e-02 4.25127969e-04 9.99881658e-01 -5.29321918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68 meters 0.020803959922995552 Centerline is valid? [True, True] Translation: X:35.04, Y:2.34, Z:-0.53 [[ 9.86304567e-01 -1.64386104e-01 1.34353783e-02 3.50413924e+01] [ 1.64376438e-01 9.86395988e-01 1.82812927e-03 2.33623557e+00] [-1.35531223e-02 4.05367394e-04 9.99908070e-01 -5.30978351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74 meters 0.02011852245538328 Centerline is valid? [True, True] Translation: X:35.10, Y:2.35, Z:-0.54 [[ 9.86182581e-01 -1.65377686e-01 9.70249514e-03 3.50998425e+01] [ 1.65372681e-01 9.86230262e-01 1.32144236e-03 2.34574952e+00] [-9.78743141e-03 3.01344188e-04 9.99952057e-01 -5.35075675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.8 meters 0.02138287864527375 Centerline is valid? [True, True] Translation: X:35.16, Y:2.35, Z:-0.54 [[ 9.86152897e-01 -1.65575417e-01 9.34052337e-03 3.51575367e+01] [ 1.65570759e-01 9.86197089e-01 1.27523450e-03 2.35141655e+00] [-9.42274444e-03 2.88941340e-04 9.99955563e-01 -5.36509333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86 meters 0.02242552030897442 Centerline is valid? [True, True] Translation: X:35.22, Y:2.36, Z:-0.54 [[ 9.85853691e-01 -1.67254176e-01 1.08876564e-02 3.52160942e+01] [ 1.67247942e-01 9.85913746e-01 1.48700703e-03 2.35712853e+00] [-1.09829983e-02 3.54966768e-04 9.99939622e-01 -5.35249486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92 meters 0.029076929215009695 Centerline is valid? [True, True] Translation: X:35.28, Y:2.35, Z:-0.54 [[ 9.85684081e-01 -1.68248234e-01 1.09281115e-02 3.52751285e+01] [ 1.68241979e-01 9.85744591e-01 1.49580547e-03 2.35250571e+00] [-1.10239935e-02 3.64175471e-04 9.99939168e-01 -5.35337661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98 meters 0.019560322122473637 Centerline is valid? [True, True] Translation: X:35.33, Y:2.38, Z:-0.54 [[ 9.85590631e-01 -1.68812038e-01 1.06584736e-02 3.53313519e+01] [ 1.68806119e-01 9.85648196e-01 1.45902742e-03 2.37666717e+00] [-1.07518067e-02 3.61211818e-04 9.99942132e-01 -5.35109376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04 meters 0.018116174622947356 Centerline is valid? [True, True] Translation: X:35.39, Y:2.39, Z:-0.53 [[ 9.85911490e-01 -1.67050715e-01 8.52017029e-03 3.53883359e+01] [ 1.67046846e-01 9.85948267e-01 1.16882199e-03 2.38576992e+00] [-8.59569968e-03 2.70912544e-04 9.99963020e-01 -5.34862511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.1 meters 0.018301162125418116 Centerline is valid? [True, True] Translation: X:35.45, Y:2.40, Z:-0.54 [[ 9.86468042e-01 -1.63827981e-01 6.41837306e-03 3.54462325e+01] [ 1.63825715e-01 9.86488905e-01 8.80903139e-04 2.39770354e+00] [-6.47597039e-03 1.82511759e-04 9.99979014e-01 -5.38047424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16 meters 0.019097260778282436 Centerline is valid? [True, True] Translation: X:35.50, Y:2.41, Z:-0.54 [[ 9.86875256e-01 -1.61398920e-01 5.25529798e-03 3.55039936e+01] [ 1.61397374e-01 9.86889239e-01 7.19729453e-04 2.40876855e+00] [-5.30256057e-03 1.37908105e-04 9.99985932e-01 -5.40419466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22 meters 0.019226594007478476 Centerline is valid? [True, True] Translation: X:35.56, Y:2.42, Z:-0.54 [[ 9.87552025e-01 -1.57245855e-01 3.83926524e-03 3.55616463e+01] [ 1.57244991e-01 9.87559484e-01 5.27727584e-04 2.42193910e+00] [-3.87448578e-03 8.25467846e-05 9.99992491e-01 -5.41947345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28 meters 0.018250768899301967 Centerline is valid? [True, True] Translation: X:35.62, Y:2.43, Z:-0.54 [[ 9.88097998e-01 -1.53782076e-01 3.66326468e-03 3.56196237e+01] [ 1.53781272e-01 9.88104786e-01 5.01749677e-04 2.43335559e+00] [-3.69684947e-03 6.75636503e-05 9.99993164e-01 -5.42257524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.339999999999996 meters 0.01745165560203813 Centerline is valid? [True, True] Translation: X:35.68, Y:2.45, Z:-0.54 [[ 9.89120068e-01 -1.47031949e-01 4.80600856e-03 3.56772373e+01] [ 1.47030465e-01 9.89131742e-01 6.62445054e-04 2.44624726e+00] [-4.85117621e-03 5.13919789e-05 9.99988232e-01 -5.40794655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.4 meters 0.01796193869318363 Centerline is valid? [True, True] Translation: X:35.74, Y:2.46, Z:-0.54 [[ 9.89784221e-01 -1.42500437e-01 4.56304185e-03 3.57355369e+01] [ 1.42499058e-01 9.89794739e-01 6.27511057e-04 2.45803203e+00] [-4.60589542e-03 2.91286232e-05 9.99989392e-01 -5.40356994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46 meters 0.015535828917163073 Centerline is valid? [True, True] Translation: X:35.79, Y:2.47, Z:-0.54 [[ 9.90411012e-01 -1.38078967e-01 4.49726770e-03 3.57935609e+01] [ 1.38077578e-01 9.90421223e-01 6.19298720e-04 2.47007445e+00] [-4.53970150e-03 7.61155885e-06 9.99989695e-01 -5.40026449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.519999999999996 meters 0.018709950471353484 Centerline is valid? [True, True] Translation: X:35.85, Y:2.48, Z:-0.54 [[ 9.90987343e-01 -1.33944196e-01 1.74325769e-03 3.58514690e+01] [ 1.33943984e-01 9.90988876e-01 2.38194330e-04 2.48103084e+00] [-1.75945373e-03 -2.54868537e-06 9.99998452e-01 -5.42845109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58 meters 0.018467604842398996 Centerline is valid? [True, True] Translation: X:35.91, Y:2.49, Z:-0.54 [[ 9.91610975e-01 -1.29250475e-01 -1.41054435e-03 3.59084629e+01] [ 1.29250325e-01 9.91611978e-01 -1.97225154e-04 2.49140791e+00] [ 1.42420412e-03 1.32573122e-05 9.99998986e-01 -5.44836540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64 meters 0.019276515406607825 Centerline is valid? [True, True] Translation: X:35.97, Y:2.50, Z:-0.55 [[ 9.91668354e-01 -1.28770163e-01 -3.48135933e-03 3.59670380e+01] [ 1.28769243e-01 9.91674465e-01 -4.88182970e-04 2.49885886e+00] [ 3.51523855e-03 3.58235975e-05 9.99993821e-01 -5.45772033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.699999999999996 meters 0.017513464634682993 Centerline is valid? [True, True] Translation: X:36.03, Y:2.50, Z:-0.54 [[ 9.91452214e-01 -1.30448549e-01 -2.38401930e-03 3.60256663e+01] [ 1.30448118e-01 9.91455080e-01 -3.36144559e-04 2.50346641e+00] [ 2.40749761e-03 2.22804363e-05 9.99997102e-01 -5.44042151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76 meters 0.017025776531929666 Centerline is valid? [True, True] Translation: X:36.08, Y:2.51, Z:-0.54 [[ 9.90997818e-01 -1.33873779e-01 -1.06587282e-03 3.60844758e+01] [ 1.33873692e-01 9.90998391e-01 -1.52650685e-04 2.50557813e+00] [ 1.07671417e-03 8.58416642e-06 9.99999420e-01 -5.42668370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82 meters 0.015350712398353153 Centerline is valid? [True, True] Translation: X:36.14, Y:2.51, Z:-0.54 [[ 9.90757941e-01 -1.35641519e-01 2.85854605e-04 3.61425484e+01] [ 1.35641513e-01 9.90757982e-01 3.86121228e-05 2.50985330e+00] [-2.88450139e-04 5.18483986e-07 9.99999958e-01 -5.42345583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.879999999999995 meters 0.017484186908463033 Centerline is valid? [True, True] Translation: X:36.20, Y:2.51, Z:-0.54 [[ 9.90309593e-01 -1.38856466e-01 -2.40683582e-03 3.62020219e+01] [ 1.38856048e-01 9.90312517e-01 -3.40699459e-04 2.51266253e+00] [ 2.43082796e-03 3.19423325e-06 9.99997046e-01 -5.43907922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94 meters 0.017088409345219095 Centerline is valid? [True, True] Translation: X:36.26, Y:2.52, Z:-0.54 [[ 9.90020068e-01 -1.40865062e-01 -4.15917345e-03 3.62611247e+01] [ 1.40863838e-01 9.90028805e-01 -5.87128562e-04 2.51704004e+00] [ 4.20040742e-03 -4.60807757e-06 9.99991178e-01 -5.44782336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.0 meters 0.016849198544510734 Centerline is valid? [True, True] Translation: X:36.32, Y:2.53, Z:-0.55 [[ 9.90144387e-01 -1.39991518e-01 -4.05796928e-03 3.63169688e+01] [ 1.39990351e-01 9.90152703e-01 -5.71504852e-04 2.52666002e+00] [ 4.09801508e-03 -2.20422287e-06 9.99991603e-01 -5.45915055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.059999999999995 meters 0.01694205518309122 Centerline is valid? [True, True] Translation: X:36.37, Y:2.54, Z:-0.55 [[ 9.90307604e-01 -1.38850433e-01 -3.37736976e-03 3.63748501e+01] [ 1.38849608e-01 9.90313363e-01 -4.78622944e-04 2.53695300e+00] [ 3.41111141e-03 5.03747337e-06 9.99994182e-01 -5.45424443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12 meters 0.01823861315152383 Centerline is valid? [True, True] Translation: X:36.43, Y:2.55, Z:-0.55 [[ 9.90183634e-01 -1.39717495e-01 -3.92331315e-03 3.64330201e+01] [ 1.39716387e-01 9.90191407e-01 -5.56471104e-04 2.54503181e+00] [ 3.96257971e-03 2.85744244e-06 9.99992149e-01 -5.45405178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18 meters 0.016087159894013145 Centerline is valid? [True, True] Translation: X:36.49, Y:2.55, Z:-0.55 [[ 9.89947453e-01 -1.41432937e-01 -8.74516245e-04 3.64904455e+01] [ 1.41432882e-01 9.89947839e-01 -1.24598317e-04 2.55163255e+00] [ 8.83347773e-04 -3.39566546e-07 9.99999610e-01 -5.45554404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24 meters 0.017899164596280114 Centerline is valid? [True, True] Translation: X:36.55, Y:2.56, Z:-0.55 [[ 9.89842833e-01 -1.42139969e-01 -2.71947656e-03 3.65491998e+01] [ 1.42139440e-01 9.89846569e-01 -3.87794509e-04 2.55950535e+00] [ 2.74698564e-03 -2.68925931e-06 9.99996227e-01 -5.46505346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.3 meters 0.018298203368824963 Centerline is valid? [True, True] Translation: X:36.61, Y:2.57, Z:-0.55 [[ 9.90103966e-01 -1.40292451e-01 -3.48778772e-03 3.66070832e+01] [ 1.40291571e-01 9.90110109e-01 -4.97165272e-04 2.57037059e+00] [ 3.52304242e-03 2.93809005e-06 9.99993794e-01 -5.47971709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36 meters 0.017546515885591987 Centerline is valid? [True, True] Translation: X:36.66, Y:2.58, Z:-0.55 [[ 9.90479097e-01 -1.37609303e-01 -3.85196125e-03 3.66645368e+01] [ 1.37608206e-01 9.90486587e-01 -5.49625955e-04 2.58170579e+00] [ 3.89094960e-03 1.43315403e-05 9.99992430e-01 -5.49013012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42 meters 0.0185978699070148 Centerline is valid? [True, True] Translation: X:36.72, Y:2.59, Z:-0.55 [[ 9.91102427e-01 -1.33017036e-01 -4.73790025e-03 3.67211406e+01] [ 1.33015338e-01 9.91113751e-01 -6.73171218e-04 2.59470433e+00] [ 4.78534133e-03 3.69682247e-05 9.99988550e-01 -5.51113226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48 meters 0.018266117538887985 Centerline is valid? [True, True] Translation: X:36.78, Y:2.61, Z:-0.55 [[ 9.91424835e-01 -1.30617360e-01 -3.98763175e-03 3.67787814e+01] [ 1.30616123e-01 9.91432854e-01 -5.70085029e-04 2.60627773e+00] [ 4.02793213e-03 4.43474569e-05 9.99991887e-01 -5.52457886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54 meters 0.018853370012344065 Centerline is valid? [True, True] Translation: X:36.84, Y:2.62, Z:-0.55 [[ 9.91545794e-01 -1.29735943e-01 -2.35013179e-03 3.68359158e+01] [ 1.29735512e-01 9.91548579e-01 -3.35315204e-04 2.61786833e+00] [ 2.37377227e-03 2.75848277e-05 9.99997182e-01 -5.53708297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.6 meters 0.01842159507726051 Centerline is valid? [True, True] Translation: X:36.90, Y:2.62, Z:-0.55 [[ 9.91222849e-01 -1.32198283e-01 -9.36346639e-04 3.68951137e+01] [ 1.32198212e-01 9.91223292e-01 -1.37116114e-04 2.62321962e+00] [ 9.46255113e-04 1.21292735e-05 9.99999552e-01 -5.50975714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66 meters 0.01729794261195635 Centerline is valid? [True, True] Translation: X:36.95, Y:2.63, Z:-0.55 [[ 9.90893114e-01 -1.34649070e-01 6.82283690e-04 3.69525277e+01] [ 1.34649036e-01 9.90893348e-01 9.52740281e-05 2.63085411e+00] [-6.88898929e-04 -2.53753694e-06 9.99999763e-01 -5.53966095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72 meters 0.018608736756683304 Centerline is valid? [True, True] Translation: X:37.01, Y:2.64, Z:-0.55 [[ 9.90294310e-01 -1.38986230e-01 8.40238922e-05 3.70107832e+01] [ 1.38986230e-01 9.90294314e-01 7.73798024e-06 2.63664205e+00] [-8.42838554e-05 4.01528622e-06 9.99999996e-01 -5.54436973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78 meters 0.017922629070321782 Centerline is valid? [True, True] Translation: X:37.07, Y:2.64, Z:-0.56 [[ 9.89902742e-01 -1.41747893e-01 3.11504964e-04 3.70690119e+01] [ 1.41747888e-01 9.89902791e-01 4.02607690e-05 2.64305084e+00] [-3.14066512e-04 4.30092505e-06 9.99999951e-01 -5.56093120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.839999999999996 meters 0.017102537757427 Centerline is valid? [True, True] Translation: X:37.13, Y:2.65, Z:-0.56 [[ 9.89064172e-01 -1.47476828e-01 1.62773544e-03 3.71268343e+01] [ 1.47476651e-01 9.89065511e-01 2.29077717e-04 2.64617687e+00] [-1.64372064e-03 1.34804089e-05 9.99998649e-01 -5.57284569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.9 meters 0.01598314017244977 Centerline is valid? [True, True] Translation: X:37.19, Y:2.65, Z:-0.56 [[ 9.88649578e-01 -1.50161488e-01 4.85172570e-03 3.71851345e+01] [ 1.50159895e-01 9.88661482e-01 6.93118590e-04 2.65242301e+00] [-4.90079404e-03 4.32832202e-05 9.99987990e-01 -5.57400689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96 meters 0.018528033849904525 Centerline is valid? [True, True] Translation: X:37.24, Y:2.66, Z:-0.56 [[ 9.88814556e-01 -1.49015167e-01 6.34451209e-03 3.72431313e+01] [ 1.49012401e-01 9.88834909e-01 9.09155426e-04 2.66375272e+00] [-6.40915298e-03 4.64248595e-05 9.99979460e-01 -5.58181561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.019999999999996 meters 0.018270023174529606 Centerline is valid? [True, True] Translation: X:37.30, Y:2.67, Z:-0.56 [[ 9.88982712e-01 -1.47855562e-01 7.20614671e-03 3.73011667e+01] [ 1.47851945e-01 9.89008964e-01 1.03494867e-03 2.67309349e+00] [-7.27996661e-03 4.18964640e-05 9.99973500e-01 -5.58968617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08 meters 0.01711840544391827 Centerline is valid? [True, True] Translation: X:37.36, Y:2.68, Z:-0.56 [[ 9.88957967e-01 -1.47898435e-01 9.39110202e-03 3.73593570e+01] [ 1.47892261e-01 9.89002553e-01 1.35227176e-03 2.68120928e+00] [-9.48782275e-03 5.15313821e-05 9.99954988e-01 -5.58907706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14 meters 0.017145146889126064 Centerline is valid? [True, True] Translation: X:37.42, Y:2.69, Z:-0.56 [[ 9.88899440e-01 -1.48086747e-01 1.21742838e-02 3.74180881e+01] [ 1.48076336e-01 9.88974373e-01 1.75720950e-03 2.68995282e+00] [-1.23002741e-02 6.50198455e-05 9.99924347e-01 -5.58217388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.199999999999996 meters 0.015295461551843942 Centerline is valid? [True, True] Translation: X:37.48, Y:2.70, Z:-0.56 [[ 9.89072718e-01 -1.46869715e-01 1.28236206e-02 3.74756243e+01] [ 1.46858016e-01 9.89155844e-01 1.85433035e-03 2.69855002e+00] [-1.29569042e-02 4.91839154e-05 9.99916055e-01 -5.57419646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26 meters 0.015196389385298137 Centerline is valid? [True, True] Translation: X:37.53, Y:2.71, Z:-0.56 [[ 9.89485091e-01 -1.43872689e-01 1.48291614e-02 3.75327101e+01] [ 1.43856633e-01 9.89596205e-01 2.14936935e-03 2.70826130e+00] [-1.49841174e-02 6.50431128e-06 9.99887732e-01 -5.57486398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32 meters 0.017509804817401615 Centerline is valid? [True, True] Translation: X:37.59, Y:2.72, Z:-0.56 [[ 9.89568403e-01 -1.43204415e-01 1.57121505e-02 3.75897206e+01] [ 1.43186279e-01 9.89693132e-01 2.27900180e-03 2.71789547e+00] [-1.58765706e-02 -5.46379976e-06 9.99873959e-01 -5.59754283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.379999999999995 meters 0.01779336400644221 Centerline is valid? [True, True] Translation: X:37.65, Y:2.73, Z:-0.56 [[ 9.90409096e-01 -1.37323274e-01 1.52361812e-02 3.76469540e+01] [ 1.37305458e-01 9.90526278e-01 2.21424983e-03 2.73075286e+00] [-1.53959059e-02 -1.01002329e-04 9.99881471e-01 -5.63648597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44 meters 0.017558906462792654 Centerline is valid? [True, True] Translation: X:37.70, Y:2.74, Z:-0.57 [[ 9.90968176e-01 -1.33285701e-01 1.47307990e-02 3.77048793e+01] [ 1.33268546e-01 9.91077644e-01 2.14447882e-03 2.74188784e+00] [-1.48851939e-02 -1.61958096e-04 9.99889196e-01 -5.65645426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.5 meters 0.01987546511377511 Centerline is valid? [True, True] Translation: X:37.76, Y:2.75, Z:-0.57 [[ 9.91532640e-01 -1.28980838e-01 1.50654286e-02 3.77622551e+01] [ 1.28962339e-01 9.91647058e-01 2.19709068e-03 2.75281655e+00] [-1.52229705e-02 -2.35614212e-04 9.99884096e-01 -5.68268777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.559999999999995 meters 0.017842979712746773 Centerline is valid? [True, True] Translation: X:37.82, Y:2.76, Z:-0.57 [[ 9.91358958e-01 -1.30497648e-01 1.33333918e-02 3.78211123e+01] [ 1.30483285e-01 9.91448601e-01 1.94528684e-03 2.75997532e+00] [-1.34732280e-02 -1.88692775e-04 9.99909214e-01 -5.69440593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62 meters 0.018446620316597766 Centerline is valid? [True, True] Translation: X:37.88, Y:2.76, Z:-0.57 [[ 9.90542532e-01 -1.36336110e-01 1.54258759e-02 3.78800423e+01] [ 1.36317521e-01 9.90662631e-01 2.25513947e-03 2.76379895e+00] [-1.55892958e-02 -1.30994405e-04 9.99878471e-01 -5.69687014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68 meters 0.0167754438379206 Centerline is valid? [True, True] Translation: X:37.94, Y:2.77, Z:-0.57 [[ 9.90252924e-01 -1.38284541e-01 1.66292781e-02 3.79390461e+01] [ 1.38263136e-01 9.90392535e-01 2.43558237e-03 2.76955139e+00] [-1.68063163e-02 -1.12626424e-04 9.99858758e-01 -5.68372966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74 meters 0.01745659604340092 Centerline is valid? [True, True] Translation: X:38.00, Y:2.78, Z:-0.57 [[ 9.89901104e-01 -1.40775835e-01 1.66723894e-02 3.79964346e+01] [ 1.40754605e-01 9.90041493e-01 2.44590681e-03 2.77574283e+00] [-1.68506819e-02 -7.44902705e-05 9.99858014e-01 -5.70191004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.8 meters 0.017850102779797043 Centerline is valid? [True, True] Translation: X:38.05, Y:2.78, Z:-0.57 [[ 9.89781001e-01 -1.41620629e-01 1.66483340e-02 3.80546573e+01] [ 1.41599549e-01 9.89921004e-01 2.44423106e-03 2.78166401e+00] [-1.68266890e-02 -6.18568840e-05 9.99858419e-01 -5.71462868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86 meters 0.017036844249414197 Centerline is valid? [True, True] Translation: X:38.11, Y:2.79, Z:-0.57 [[ 9.89867020e-01 -1.41173358e-01 1.52763150e-02 3.81125450e+01] [ 1.41155492e-01 9.89984888e-01 2.24690239e-03 2.78903297e+00] [-1.54405237e-02 -6.77988116e-05 9.99880786e-01 -5.71906615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92 meters 0.017478354488574564 Centerline is valid? [True, True] Translation: X:38.17, Y:2.80, Z:-0.57 [[ 9.89886284e-01 -1.41246592e-01 1.32115320e-02 3.81691434e+01] [ 1.41233188e-01 9.89974442e-01 1.94676400e-03 2.79723516e+00] [-1.33540528e-02 -6.11681879e-05 9.99910829e-01 -5.74551582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98 meters 0.01671906328106182 Centerline is valid? [True, True] Translation: X:38.23, Y:2.81, Z:-0.57 [[ 9.89929328e-01 -1.40878211e-01 1.39016168e-02 3.82254686e+01] [ 1.40863309e-01 9.90026931e-01 2.05028962e-03 2.80575037e+00] [-1.40518161e-02 -7.14140955e-05 9.99901266e-01 -5.73645401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04 meters 0.015473413931712409 Centerline is valid? [True, True] Translation: X:38.28, Y:2.81, Z:-0.57 [[ 9.89849967e-01 -1.41386395e-01 1.43850636e-02 3.82830696e+01] [ 1.41370467e-01 9.89954485e-01 2.12332867e-03 2.81393671e+00] [-1.45407680e-02 -6.81536643e-05 9.99894275e-01 -5.71668002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.1 meters 0.016591194323212436 Centerline is valid? [True, True] Translation: X:38.34, Y:2.82, Z:-0.57 [[ 9.89640089e-01 -1.42609088e-01 1.65874202e-02 3.83401458e+01] [ 1.42587988e-01 9.89779089e-01 2.45390102e-03 2.82201333e+00] [-1.67678303e-02 -6.33119501e-05 9.99859408e-01 -5.72454657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16 meters 0.01618072919747167 Centerline is valid? [True, True] Translation: X:38.40, Y:2.83, Z:-0.57 [[ 9.89583781e-01 -1.43086972e-01 1.58132457e-02 3.83980937e+01] [ 1.43067786e-01 9.89710117e-01 2.34376372e-03 2.82924995e+00] [-1.59858913e-02 -5.69845078e-05 9.99872216e-01 -5.72136157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22 meters 0.015940643562185042 Centerline is valid? [True, True] Translation: X:38.46, Y:2.84, Z:-0.57 [[ 9.89724185e-01 -1.42196844e-01 1.50364705e-02 3.84552540e+01] [ 1.42179331e-01 9.89838397e-01 2.23280645e-03 2.83857906e+00] [-1.52011739e-02 -7.19872322e-05 9.99884453e-01 -5.72911699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28 meters 0.017564712000083055 Centerline is valid? [True, True] Translation: X:38.51, Y:2.85, Z:-0.58 [[ 9.90269791e-01 -1.38553205e-01 1.29903772e-02 3.85132480e+01] [ 1.38539778e-01 9.90354985e-01 1.93219188e-03 2.85141387e+00] [-1.31327962e-02 -1.13707274e-04 9.99913755e-01 -5.77867656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.339999999999996 meters 0.019704809975290324 Centerline is valid? [True, True] Translation: X:38.57, Y:2.86, Z:-0.58 [[ 9.90750751e-01 -1.35212571e-01 1.14241020e-02 3.85708155e+01] [ 1.35201937e-01 9.90816603e-01 1.70170751e-03 2.86355768e+00] [-1.15492822e-02 -1.41407270e-04 9.99933295e-01 -5.80922520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.4 meters 0.02013608791639804 Centerline is valid? [True, True] Translation: X:38.63, Y:2.88, Z:-0.58 [[ 9.91227640e-01 -1.31720703e-01 1.08361227e-02 3.86288797e+01] [ 1.31710898e-01 9.91286853e-01 1.61669507e-03 2.87583986e+00] [-1.09546581e-02 -1.75277386e-04 9.99939981e-01 -5.82090050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46 meters 0.02060576923741706 Centerline is valid? [True, True] Translation: X:38.69, Y:2.89, Z:-0.58 [[ 9.91771613e-01 -1.27570209e-01 1.07195762e-02 3.86854289e+01] [ 1.27560335e-01 9.91829518e-01 1.60267883e-03 2.89035636e+00] [-1.08364462e-02 -2.22098646e-04 9.99941259e-01 -5.82517072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.519999999999996 meters 0.022072384677234443 Centerline is valid? [True, True] Translation: X:38.74, Y:2.90, Z:-0.58 [[ 9.91939657e-01 -1.26298156e-01 1.02221204e-02 3.87440693e+01] [ 1.26289108e-01 9.91992301e-01 1.52839098e-03 2.89935674e+00] [-1.03332977e-02 -2.25129153e-04 9.99946585e-01 -5.84064092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58 meters 0.020057908035347786 Centerline is valid? [True, True] Translation: X:38.80, Y:2.91, Z:-0.58 [[ 9.91749906e-01 -1.27793442e-01 1.00479381e-02 3.88027716e+01] [ 1.27784752e-01 9.91800783e-01 1.50479666e-03 2.90567575e+00] [-1.01578560e-02 -2.08408671e-04 9.99948386e-01 -5.83455885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64 meters 0.019116276097871206 Centerline is valid? [True, True] Translation: X:38.86, Y:2.91, Z:-0.59 [[ 9.91254472e-01 -1.31579395e-01 1.00714903e-02 3.88616191e+01] [ 1.31570832e-01 9.91305620e-01 1.51094358e-03 2.91205427e+00] [-1.01827340e-02 -1.72615218e-04 9.99948140e-01 -5.85077356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.699999999999996 meters 0.018250672847522745 Centerline is valid? [True, True] Translation: X:38.92, Y:2.92, Z:-0.59 [[ 9.90701749e-01 -1.35754460e-01 8.98726562e-03 3.89208963e+01] [ 1.35747790e-01 9.90742506e-01 1.35088429e-03 2.91706937e+00] [-9.08745463e-03 -1.18321982e-04 9.99958701e-01 -5.86891168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76 meters 0.01769665487587547 Centerline is valid? [True, True] Translation: X:38.98, Y:2.92, Z:-0.59 [[ 9.89576742e-01 -1.43786768e-01 7.95221235e-03 3.89799131e+01] [ 1.43781805e-01 9.89608692e-01 1.19529769e-03 2.91789144e+00] [-8.04144646e-03 -3.94553461e-05 9.99967666e-01 -5.88406986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82 meters 0.015262417486956788 Centerline is valid? [True, True] Translation: X:39.04, Y:2.92, Z:-0.59 [[ 9.88727734e-01 -1.49532353e-01 7.58570783e-03 3.90390619e+01] [ 1.49527992e-01 9.88756833e-01 1.14195389e-03 2.92145084e+00] [-7.67117950e-03 5.19418058e-06 9.99970576e-01 -5.86746869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.879999999999995 meters 0.017462815795325142 Centerline is valid? [True, True] Translation: X:39.10, Y:2.93, Z:-0.59 [[ 9.87799263e-01 -1.55581496e-01 6.85672179e-03 3.90977667e+01] [ 1.55578070e-01 9.87823059e-01 1.03348479e-03 2.92580815e+00] [-6.93401900e-03 4.58800327e-05 9.99975958e-01 -5.90057463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94 meters 0.01632891525319349 Centerline is valid? [True, True] Translation: X:39.16, Y:2.93, Z:-0.59 [[ 9.87409092e-01 -1.58028168e-01 7.09814928e-03 3.91557611e+01] [ 1.58024536e-01 9.87434603e-01 1.07316075e-03 2.93045773e+00] [-7.17854784e-03 6.20330631e-05 9.99974232e-01 -5.89288686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.0 meters 0.016040165737446457 Centerline is valid? [True, True] Translation: X:39.21, Y:2.94, Z:-0.59 [[ 9.87392632e-01 -1.58122324e-01 7.28837922e-03 3.92132613e+01] [ 1.58118504e-01 9.87419529e-01 1.10113781e-03 2.94022706e+00] [-7.37080244e-03 6.51722558e-05 9.99972833e-01 -5.89128631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.059999999999995 meters 0.017878737076720073 Centerline is valid? [True, True] Translation: X:39.27, Y:2.95, Z:-0.59 [[ 9.87841237e-01 -1.55332473e-01 6.44306186e-03 3.92699352e+01] [ 1.55329409e-01 9.87862248e-01 9.76444037e-04 2.95293466e+00] [-6.51653104e-03 3.62253028e-05 9.99978767e-01 -5.92876810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12 meters 0.015898468454925246 Centerline is valid? [True, True] Translation: X:39.33, Y:2.96, Z:-0.59 [[ 9.88237386e-01 -1.52737129e-01 7.63140594e-03 3.93275812e+01] [ 1.52732754e-01 9.88266851e-01 1.15627641e-03 2.96446191e+00] [-7.71847185e-03 2.28900692e-05 9.99970212e-01 -5.90786253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18 meters 0.015791989135297384 Centerline is valid? [True, True] Translation: X:39.38, Y:2.98, Z:-0.59 [[ 9.88840446e-01 -1.48816517e-01 6.94379580e-03 3.93834337e+01] [ 1.48812785e-01 9.88864826e-01 1.05393721e-03 2.97768223e+00] [-7.02331869e-03 -8.85015090e-06 9.99975336e-01 -5.93364646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.239999999999995 meters 0.016469520787797887 Centerline is valid? [True, True] Translation: X:39.44, Y:2.99, Z:-0.59 [[ 9.88985711e-01 -1.47870233e-01 6.45427015e-03 3.94403583e+01] [ 1.47866987e-01 9.89006771e-01 9.79810971e-04 2.98749415e+00] [-6.52820176e-03 -1.46455671e-05 9.99978691e-01 -5.94749460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.3 meters 0.017480351576169666 Centerline is valid? [True, True] Translation: X:39.50, Y:3.00, Z:-0.60 [[ 9.89133045e-01 -1.46892460e-01 6.19880151e-03 3.94972639e+01] [ 1.46889426e-01 9.89152468e-01 9.44437631e-04 2.99765017e+00] [-6.27029057e-03 -2.36360746e-05 9.99980341e-01 -5.96694432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36 meters 0.015262997762735361 Centerline is valid? [True, True] Translation: X:39.55, Y:3.01, Z:-0.59 [[ 9.89040895e-01 -1.47451163e-01 7.50079415e-03 3.95540615e+01] [ 1.47446731e-01 9.89069337e-01 1.14345782e-03 3.00661831e+00] [-7.58740968e-03 -2.49589734e-05 9.99971215e-01 -5.94079981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42 meters 0.015534871845962613 Centerline is valid? [True, True] Translation: X:39.61, Y:3.01, Z:-0.59 [[ 9.88580445e-01 -1.50473549e-01 8.14951292e-03 3.96118099e+01] [ 1.50468408e-01 9.88614035e-01 1.24392348e-03 3.01336963e+00] [-8.24390044e-03 -3.47419715e-06 9.99966018e-01 -5.94699872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48 meters 0.017236214678414186 Centerline is valid? [True, True] Translation: X:39.67, Y:3.02, Z:-0.60 [[ 9.88095990e-01 -1.53672796e-01 7.14048230e-03 3.96699455e+01] [ 1.53668938e-01 9.88121790e-01 1.08912615e-03 3.01997642e+00] [-7.22303521e-03 2.11091460e-05 9.99973913e-01 -5.97368786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54 meters 0.0173248365070647 Centerline is valid? [True, True] Translation: X:39.73, Y:3.02, Z:-0.60 [[ 9.87375145e-01 -1.58278454e-01 6.18499418e-03 3.97279005e+01] [ 1.58275634e-01 9.87394515e-01 9.45817441e-04 3.02494642e+00] [-6.25673185e-03 4.50572430e-05 9.99980425e-01 -5.99028156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.6 meters 0.01417341404057865 Centerline is valid? [True, True] Translation: X:39.79, Y:3.03, Z:-0.60 [[ 9.87076875e-01 -1.60103578e-01 6.78873619e-03 3.97855845e+01] [ 1.60100231e-01 9.87100218e-01 1.03722772e-03 3.03278906e+00] [-6.86722684e-03 6.30547373e-05 9.99976418e-01 -5.95087179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66 meters 0.01578993699166453 Centerline is valid? [True, True] Translation: X:39.84, Y:3.04, Z:-0.60 [[ 9.86995956e-01 -1.60603401e-01 6.74760398e-03 3.98426139e+01] [ 1.60600092e-01 9.87019019e-01 1.03288630e-03 3.04156275e+00] [-6.82589851e-03 6.42112222e-05 9.99976701e-01 -5.98203380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72 meters 0.016913896129689854 Centerline is valid? [True, True] Translation: X:39.90, Y:3.05, Z:-0.60 [[ 9.87393641e-01 -1.58199342e-01 5.17359535e-03 3.98988795e+01] [ 1.58197353e-01 9.87407194e-01 7.93990039e-04 3.05231924e+00] [-5.23405397e-03 3.44683767e-05 9.99986302e-01 -6.02127316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78 meters 0.017496108128049154 Centerline is valid? [True, True] Translation: X:39.96, Y:3.06, Z:-0.60 [[ 9.87809534e-01 -1.55597122e-01 4.67555351e-03 3.99557335e+01] [ 1.55595475e-01 9.87820599e-01 7.16401477e-04 3.06278524e+00] [-4.73007807e-03 1.98267579e-05 9.99988813e-01 -6.03219939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.839999999999996 meters 0.017012843134719145 Centerline is valid? [True, True] Translation: X:40.01, Y:3.07, Z:-0.60 [[ 9.88345760e-01 -1.52167571e-01 4.20587642e-03 4.00119500e+01] [ 1.52166199e-01 9.88354709e-01 6.46125656e-04 3.07408591e+00] [-4.25521714e-03 1.39667709e-06 9.99990947e-01 -6.03266318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.9 meters 0.01585421492095297 Centerline is valid? [True, True] Translation: X:40.07, Y:3.08, Z:-0.60 [[ 9.88636930e-01 -1.50224280e-01 5.44852839e-03 4.00689342e+01] [ 1.50221943e-01 9.88651944e-01 8.38013470e-04 3.08492461e+00] [-5.51258816e-03 -1.00025404e-05 9.99984806e-01 -6.01996168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96 meters 0.017590873166171635 Centerline is valid? [True, True] Translation: X:40.13, Y:3.10, Z:-0.60 [[ 9.89021813e-01 -1.47668964e-01 5.45264363e-03 4.01272418e+01] [ 1.47666575e-01 9.89036843e-01 8.40311397e-04 3.09533611e+00] [-5.51695335e-03 -2.59130912e-05 9.99984781e-01 -6.02379376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.019999999999996 meters 0.017049371298432942 Centerline is valid? [True, True] Translation: X:40.18, Y:3.10, Z:-0.60 [[ 9.89065067e-01 -1.47367458e-01 5.75544487e-03 4.01836414e+01] [ 1.47364774e-01 9.89081812e-01 8.89839575e-04 3.10401598e+00] [-5.82373924e-03 -3.19594039e-05 9.99983041e-01 -6.02841313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08 meters 0.016331821610070595 Centerline is valid? [True, True] Translation: X:40.24, Y:3.11, Z:-0.60 [[ 9.88991514e-01 -1.47872270e-01 5.43844146e-03 4.02410011e+01] [ 1.47869887e-01 9.89006467e-01 8.39862161e-04 3.11161761e+00] [-5.50284610e-03 -2.64348254e-05 9.99984859e-01 -6.02238129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14 meters 0.016895196261361635 Centerline is valid? [True, True] Translation: X:40.30, Y:3.12, Z:-0.60 [[ 9.88887845e-01 -1.48577960e-01 5.04182351e-03 4.02984917e+01] [ 1.48575915e-01 9.88900697e-01 7.79765224e-04 3.12108769e+00] [-5.10171871e-03 -2.20068102e-05 9.99986986e-01 -6.04788881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.199999999999996 meters 0.016084136393492116 Centerline is valid? [True, True] Translation: X:40.36, Y:3.13, Z:-0.61 [[ 9.88574075e-01 -1.50623377e-01 5.82202440e-03 4.03572037e+01] [ 1.50620671e-01 9.88591219e-01 9.03092061e-04 3.12951209e+00] [-5.89162898e-03 -1.58561780e-05 9.99982644e-01 -6.05122709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26 meters 0.016221367784422683 Centerline is valid? [True, True] Translation: X:40.42, Y:3.14, Z:-0.61 [[ 9.88069039e-01 -1.53835963e-01 7.35328094e-03 4.04159148e+01] [ 1.53831713e-01 9.88096400e-01 1.14348893e-03 3.13644986e+00] [-7.44166015e-03 1.32179396e-06 9.99972310e-01 -6.05856144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32 meters 0.01664481911915679 Centerline is valid? [True, True] Translation: X:40.47, Y:3.14, Z:-0.61 [[ 9.87708437e-01 -1.56157394e-01 6.84919326e-03 4.04734071e+01] [ 1.56153755e-01 9.87732184e-01 1.06624318e-03 3.14394533e+00] [-6.93167038e-03 1.63898610e-05 9.99975976e-01 -6.07371361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.379999999999995 meters 0.01639173919418254 Centerline is valid? [True, True] Translation: X:40.53, Y:3.15, Z:-0.61 [[ 9.87273471e-01 -1.58922153e-01 5.90277576e-03 4.05318720e+01] [ 1.58919491e-01 9.87291116e-01 9.20363183e-04 3.15087900e+00] [-5.97402417e-03 2.94159662e-05 9.99982155e-01 -6.09532818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44 meters 0.017190789128776487 Centerline is valid? [True, True] Translation: X:40.59, Y:3.16, Z:-0.61 [[ 9.87009523e-01 -1.60550672e-01 5.97348219e-03 4.05898641e+01] [ 1.60547968e-01 9.87027599e-01 9.32524372e-04 3.15868125e+00] [-6.04570919e-03 3.86199932e-05 9.99981724e-01 -6.10068622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.5 meters 0.016453576105656047 Centerline is valid? [True, True] Translation: X:40.65, Y:3.17, Z:-0.61 [[ 9.86969653e-01 -1.60728622e-01 7.56406062e-03 4.06475452e+01] [ 1.60724255e-01 9.86998636e-01 1.18567607e-03 3.16635096e+00] [-7.65628960e-03 4.55017081e-05 9.99970689e-01 -6.09443264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.559999999999995 meters 0.015871442584049357 Centerline is valid? [True, True] Translation: X:40.71, Y:3.18, Z:-0.61 [[ 9.87373310e-01 -1.58148076e-01 9.11773217e-03 4.07050443e+01] [ 1.58141620e-01 9.87415407e-01 1.42935141e-03 3.17903178e+00] [-9.22903839e-03 3.05895023e-05 9.99957411e-01 -6.08965372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62 meters 0.016233697789202656 Centerline is valid? [True, True] Translation: X:40.76, Y:3.19, Z:-0.61 [[ 9.87848981e-01 -1.55172405e-01 8.71300258e-03 4.07614011e+01] [ 1.55166368e-01 9.87887405e-01 1.36875222e-03 3.18974104e+00] [-8.81985808e-03 -1.55523258e-07 9.99961104e-01 -6.10770426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68 meters 0.016950362853661916 Centerline is valid? [True, True] Translation: X:40.82, Y:3.20, Z:-0.61 [[ 9.88390856e-01 -1.51754464e-01 7.35512207e-03 4.08192760e+01] [ 1.51750070e-01 9.88418222e-01 1.15509708e-03 3.19985165e+00] [-7.44522782e-03 -2.55471072e-05 9.99972284e-01 -6.12009565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.739999999999995 meters 0.016097427532885122 Centerline is valid? [True, True] Translation: X:40.88, Y:3.21, Z:-0.61 [[ 9.88644387e-01 -1.50072647e-01 7.77668196e-03 4.08767319e+01] [ 1.50067668e-01 9.88674971e-01 1.22325435e-03 3.20979685e+00] [-7.87218783e-03 -4.23350193e-05 9.99969013e-01 -6.12617425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.8 meters 0.016751439938379267 Centerline is valid? [True, True] Translation: X:40.93, Y:3.22, Z:-0.61 [[ 9.88655917e-01 -1.49987534e-01 7.95094902e-03 4.09333492e+01] [ 1.49982297e-01 9.88687887e-01 1.25420537e-03 3.21840687e+00] [-8.04912216e-03 -4.74759629e-05 9.99967604e-01 -6.14636523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86 meters 0.014716027285188045 Centerline is valid? [True, True] Translation: X:40.99, Y:3.22, Z:-0.61 [[ 9.88266464e-01 -1.52491563e-01 8.70165426e-03 4.09918961e+01] [ 1.52485384e-01 9.88304772e-01 1.37311054e-03 3.22351470e+00] [-8.80927421e-03 -3.01240085e-05 9.99961197e-01 -6.13126034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92 meters 0.017402467659999126 Centerline is valid? [True, True] Translation: X:41.05, Y:3.23, Z:-0.62 [[ 9.87895497e-01 -1.54915231e-01 7.98493010e-03 4.10494524e+01] [ 1.54910097e-01 9.87927766e-01 1.26132851e-03 3.22988363e+00] [-8.08393316e-03 -9.11446140e-06 9.99967324e-01 -6.16031585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98 meters 0.016523909169198547 Centerline is valid? [True, True] Translation: X:41.11, Y:3.24, Z:-0.62 [[ 9.87888590e-01 -1.54904924e-01 8.97760066e-03 4.11056846e+01] [ 1.54898398e-01 9.87929382e-01 1.42197109e-03 3.23969988e+00] [-9.08950579e-03 -1.41330592e-05 9.99958689e-01 -6.16396854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04 meters 0.01804669924045964 Centerline is valid? [True, True] Translation: X:41.16, Y:3.25, Z:-0.62 [[ 9.88082025e-01 -1.53748528e-01 7.43647238e-03 4.11632594e+01] [ 1.53744013e-01 9.88110009e-01 1.17847547e-03 3.25175667e+00] [-7.52924166e-03 -2.11173226e-05 9.99971655e-01 -6.19275243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.1 meters 0.017244099720698756 Centerline is valid? [True, True] Translation: X:41.22, Y:3.26, Z:-0.62 [[ 9.88089994e-01 -1.53693022e-01 7.52458223e-03 4.12205693e+01] [ 1.53688385e-01 9.88118644e-01 1.19415024e-03 3.26200089e+00] [-7.61871255e-03 -2.34870141e-05 9.99970977e-01 -6.19882163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16 meters 0.017182572224416326 Centerline is valid? [True, True] Translation: X:41.28, Y:3.27, Z:-0.62 [[ 9.88060118e-01 -1.53896279e-01 7.28963678e-03 4.12775395e+01] [ 1.53891918e-01 9.88087008e-01 1.15880568e-03 3.27140502e+00] [-7.38113127e-03 -2.31534941e-05 9.99972759e-01 -6.20453291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22 meters 0.017472855274137097 Centerline is valid? [True, True] Translation: X:41.33, Y:3.28, Z:-0.62 [[ 9.87950490e-01 -1.54597113e-01 7.31863450e-03 4.13341654e+01] [ 1.54592712e-01 9.87977597e-01 1.16681863e-03 3.28022779e+00] [-7.41103372e-03 -2.13514806e-05 9.99972538e-01 -6.20875883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28 meters 0.013661638354875051 Centerline is valid? [True, True] Translation: X:41.39, Y:3.29, Z:-0.62 [[ 9.87627070e-01 -1.56624618e-01 7.84218152e-03 4.13920873e+01] [ 1.56619628e-01 9.87658205e-01 1.25020762e-03 3.28761956e+00] [-7.94120821e-03 -6.49933743e-06 9.99968468e-01 -6.16874904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.339999999999996 meters 0.01653384722591133 Centerline is valid? [True, True] Translation: X:41.45, Y:3.29, Z:-0.62 [[ 9.87050554e-01 -1.60211255e-01 7.97225650e-03 4.14501441e+01] [ 1.60206196e-01 9.87082749e-01 1.27336350e-03 3.29425503e+00] [-8.07328403e-03 2.03307376e-05 9.99967410e-01 -6.20925737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.4 meters 0.017769856777147992 Centerline is valid? [True, True] Translation: X:41.51, Y:3.30, Z:-0.62 [[ 9.86222831e-01 -1.65202847e-01 8.51744214e-03 4.15091921e+01] [ 1.65197232e-01 9.86259609e-01 1.36347241e-03 3.29968255e+00] [-8.62565868e-03 6.23702434e-05 9.99962796e-01 -6.21250692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46 meters 0.017021901214961412 Centerline is valid? [True, True] Translation: X:41.57, Y:3.31, Z:-0.62 [[ 9.85850902e-01 -1.67389207e-01 8.87988013e-03 4.15663451e+01] [ 1.67383164e-01 9.85890890e-01 1.42466999e-03 3.30762422e+00] [-8.99306731e-03 8.18302432e-05 9.99959558e-01 -6.20707975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.519999999999996 meters 0.017726482786546406 Centerline is valid? [True, True] Translation: X:41.62, Y:3.32, Z:-0.62 [[ 9.85494281e-01 -1.69413734e-01 1.00004510e-02 4.16248183e+01] [ 1.69406163e-01 9.85545014e-01 1.60548193e-03 3.31781480e+00] [-1.01278853e-02 1.11944780e-04 9.99948705e-01 -6.21646018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58 meters 0.014658213716158828 Centerline is valid? [True, True] Translation: X:41.68, Y:3.33, Z:-0.62 [[ 9.85518492e-01 -1.69281087e-01 9.85974361e-03 4.16808922e+01] [ 1.69273691e-01 9.85567807e-01 1.58598579e-03 3.32646697e+00] [-9.98592329e-03 1.05976864e-04 9.99950134e-01 -6.19324872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64 meters 0.017230144072106452 Centerline is valid? [True, True] Translation: X:41.74, Y:3.34, Z:-0.63 [[ 9.85492947e-01 -1.69605096e-01 6.14516044e-03 4.17386982e+01] [ 1.69602236e-01 9.85512104e-01 9.87421741e-04 3.33860389e+00] [-6.22360176e-03 6.91357894e-05 9.99980631e-01 -6.25527449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.699999999999996 meters 0.01720685702800305 Centerline is valid? [True, True] Translation: X:41.80, Y:3.35, Z:-0.63 [[ 9.85934244e-01 -1.67078903e-01 4.27869132e-03 4.17954156e+01] [ 1.67077485e-01 9.85943527e-01 6.89193901e-04 3.35082457e+00] [-4.33369778e-03 3.53731175e-05 9.99990609e-01 -6.27886762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76 meters 0.017389602932113783 Centerline is valid? [True, True] Translation: X:41.85, Y:3.36, Z:-0.63 [[ 9.86164441e-01 -1.65734635e-01 3.42443737e-03 4.18528164e+01] [ 1.65733727e-01 9.86170386e-01 5.49371686e-04 3.36139739e+00] [-3.46812864e-03 2.57739454e-05 9.99993986e-01 -6.28554718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82 meters 0.013684422862262338 Centerline is valid? [True, True] Translation: X:41.91, Y:3.37, Z:-0.62 [[ 9.86757480e-01 -1.62114811e-01 5.33517714e-03 4.19103166e+01] [ 1.62112530e-01 9.86771903e-01 8.60098114e-04 3.37282487e+00] [-5.40403754e-03 1.61908189e-05 9.99985398e-01 -6.22851835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.879999999999995 meters 0.013593638739801983 Centerline is valid? [True, True] Translation: X:41.97, Y:3.38, Z:-0.62 [[ 9.87293181e-01 -1.58718589e-01 7.78355416e-03 4.19668136e+01] [ 1.58713590e-01 9.87323862e-01 1.25973239e-03 3.38455127e+00] [-7.88483171e-03 -8.36936962e-06 9.99968914e-01 -6.22225358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94 meters 0.014941265999736289 Centerline is valid? [True, True] Translation: X:42.02, Y:3.40, Z:-0.62 [[ 9.87764618e-01 -1.55765554e-01 7.62570170e-03 4.20249230e+01] [ 1.55760671e-01 9.87794053e-01 1.23364804e-03 3.39670228e+00] [-7.72478266e-03 -3.07694692e-05 9.99970163e-01 -6.24774745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.0 meters 0.018459287637941565 Centerline is valid? [True, True] Translation: X:42.08, Y:3.41, Z:-0.63 [[ 9.88087567e-01 -1.53771245e-01 6.11260256e-03 4.20818658e+01] [ 1.53768056e-01 9.88106473e-01 9.91125832e-04 3.40820628e+00] [-6.19230881e-03 -3.93960995e-05 9.99980827e-01 -6.29806627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.059999999999995 meters 0.014436913919479828 Centerline is valid? [True, True] Translation: X:42.14, Y:3.42, Z:-0.63 [[ 9.88619372e-01 -1.50272202e-01 7.07125970e-03 4.21394406e+01] [ 1.50267848e-01 9.88644658e-01 1.14614932e-03 3.41912792e+00] [-7.16319751e-03 -7.05224433e-05 9.99974341e-01 -6.25735070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12 meters 0.017478777605780735 Centerline is valid? [True, True] Translation: X:42.20, Y:3.43, Z:-0.63 [[ 9.88702098e-01 -1.49769674e-01 6.09971917e-03 4.21980123e+01] [ 1.49766419e-01 9.88720911e-01 9.89589009e-04 3.42812438e+00] [-6.17913032e-03 -6.48756334e-05 9.99980907e-01 -6.30212815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18 meters 0.01748213414821669 Centerline is valid? [True, True] Translation: X:42.26, Y:3.44, Z:-0.63 [[ 9.88569078e-01 -1.50611915e-01 6.87228873e-03 4.22553339e+01] [ 1.50607778e-01 9.88592963e-01 1.11858910e-03 3.43555298e+00] [-6.96236912e-03 -7.07824602e-05 9.99975760e-01 -6.31173766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.239999999999995 meters 0.01793919004313918 Centerline is valid? [True, True] Translation: X:42.31, Y:3.44, Z:-0.63 [[ 9.88447248e-01 -1.51428058e-01 6.44841122e-03 4.23126993e+01] [ 1.51424440e-01 9.88468280e-01 1.04839771e-03 3.44381597e+00] [-6.53280677e-03 -5.98387677e-05 9.99978659e-01 -6.32525232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.3 meters 0.017545624736447312 Centerline is valid? [True, True] Translation: X:42.37, Y:3.45, Z:-0.63 [[ 9.88495678e-01 -1.51131197e-01 5.97131264e-03 4.23707471e+01] [ 1.51128079e-01 9.88513712e-01 9.72629894e-04 3.45373465e+00] [-6.04971914e-03 -5.90074404e-05 9.99981699e-01 -6.34027110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36 meters 0.01740516290357713 Centerline is valid? [True, True] Translation: X:42.43, Y:3.46, Z:-0.64 [[ 9.88560025e-01 -1.50726992e-01 5.51831422e-03 4.24278523e+01] [ 1.50724308e-01 9.88575425e-01 9.01503245e-04 3.46410296e+00] [-5.59115069e-03 -5.94459805e-05 9.99984368e-01 -6.36305105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42 meters 0.018290494347705296 Centerline is valid? [True, True] Translation: X:42.49, Y:3.47, Z:-0.64 [[ 9.88507494e-01 -1.51091077e-01 4.94175504e-03 4.24852632e+01] [ 1.51088937e-01 9.88519845e-01 8.05663432e-04 3.47316296e+00] [-5.00675148e-03 -4.97598231e-05 9.99987465e-01 -6.38256166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48 meters 0.01828793258905767 Centerline is valid? [True, True] Translation: X:42.54, Y:3.48, Z:-0.64 [[ 9.88474098e-01 -1.51340141e-01 3.88824222e-03 4.25424409e+01] [ 1.51338809e-01 9.88481745e-01 6.36288967e-04 3.48273843e+00] [-3.93975252e-03 -4.05132151e-05 9.99992238e-01 -6.40444502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54 meters 0.017805808737140348 Centerline is valid? [True, True] Translation: X:42.60, Y:3.49, Z:-0.64 [[ 9.88342326e-01 -1.52208519e-01 3.46610681e-03 4.25997934e+01] [ 1.52207473e-01 9.88348403e-01 5.65050481e-04 3.49052479e+00] [-3.51172662e-03 -3.08959468e-05 9.99993833e-01 -6.41151015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.6 meters 0.018315912203667125 Centerline is valid? [True, True] Translation: X:42.66, Y:3.50, Z:-0.64 [[ 9.88101893e-01 -1.53748661e-01 3.99979062e-03 4.26574624e+01] [ 1.53747264e-01 9.88109988e-01 6.56079033e-04 3.49892151e+00] [-4.05310433e-03 -3.33160695e-05 9.99991786e-01 -6.41911055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66 meters 0.017295478356411147 Centerline is valid? [True, True] Translation: X:42.72, Y:3.50, Z:-0.64 [[ 9.87466819e-01 -1.57697141e-01 6.39481720e-03 4.27167087e+01] [ 1.57693654e-01 9.87487525e-01 1.04893933e-03 3.50436896e+00] [-6.48021694e-03 -2.73706935e-05 9.99979003e-01 -6.39800665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72 meters 0.017104522272854937 Centerline is valid? [True, True] Translation: X:42.78, Y:3.51, Z:-0.64 [[ 9.86928546e-01 -1.60910190e-01 8.94184336e-03 4.27755212e+01] [ 1.60903472e-01 9.86969053e-01 1.47044814e-03 3.51134935e+00] [-9.06193276e-03 -1.24536018e-05 9.99958940e-01 -6.38372306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78 meters 0.01675910007644972 Centerline is valid? [True, True] Translation: X:42.83, Y:3.52, Z:-0.64 [[ 9.86402101e-01 -1.64027630e-01 1.02874186e-02 4.28331087e+01] [ 1.64018877e-01 9.86455745e-01 1.69465365e-03 3.51915593e+00] [-1.04260532e-02 1.57209209e-05 9.99945647e-01 -6.37615107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.839999999999996 meters 0.014696584121295264 Centerline is valid? [True, True] Translation: X:42.89, Y:3.53, Z:-0.64 [[ 9.86251119e-01 -1.64921736e-01 1.04666666e-02 4.28905845e+01] [ 1.64912691e-01 9.86306656e-01 1.72736217e-03 3.52885302e+00] [-1.06082225e-02 2.24732824e-05 9.99943731e-01 -6.37910274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.9 meters 0.018607090268586927 Centerline is valid? [True, True] Translation: X:42.95, Y:3.54, Z:-0.64 [[ 9.85975471e-01 -1.66733004e-01 7.24400300e-03 4.29480885e+01] [ 1.66728703e-01 9.86002082e-01 1.19780672e-03 3.53827087e+00] [-7.34231595e-03 2.67751825e-05 9.99973044e-01 -6.43532661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96 meters 0.016903637435890666 Centerline is valid? [True, True] Translation: X:43.01, Y:3.55, Z:-0.64 [[ 9.85732426e-01 -1.68156102e-01 7.42356886e-03 4.30057686e+01] [ 1.68151632e-01 9.85760378e-01 1.22671145e-03 3.54819096e+00] [-7.52413906e-03 3.90759700e-05 9.99971693e-01 -6.43856548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.019999999999996 meters 0.017036662144545786 Centerline is valid? [True, True] Translation: X:43.06, Y:3.56, Z:-0.64 [[ 9.85511068e-01 -1.69418354e-01 8.08429171e-03 4.30631638e+01] [ 1.69413073e-01 9.85544225e-01 1.33867672e-03 3.55797700e+00] [-8.19422341e-03 5.03039699e-05 9.99966426e-01 -6.44410763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08 meters 0.01569930250174054 Centerline is valid? [True, True] Translation: X:43.12, Y:3.57, Z:-0.64 [[ 9.85238318e-01 -1.70940097e-01 9.21624494e-03 4.31208344e+01] [ 1.70933269e-01 9.85281421e-01 1.52939921e-03 3.56738220e+00] [-9.34203056e-03 6.85401653e-05 9.99956360e-01 -6.43463900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14 meters 0.017482481771998692 Centerline is valid? [True, True] Translation: X:43.18, Y:3.58, Z:-0.65 [[ 9.85028848e-01 -1.72204417e-01 7.98790458e-03 4.31781498e+01] [ 1.72199303e-01 9.85061234e-01 1.32872570e-03 3.57559512e+00] [-8.09738757e-03 6.66784601e-05 9.99967213e-01 -6.46301302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.199999999999996 meters 0.01700950359499129 Centerline is valid? [True, True] Translation: X:43.24, Y:3.59, Z:-0.65 [[ 9.85009967e-01 -1.72380881e-01 6.34013363e-03 4.32364508e+01] [ 1.72377670e-01 9.85030369e-01 1.05353682e-03 3.58593121e+00] [-6.42683378e-03 5.51532016e-05 9.99979346e-01 -6.49528941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26 meters 0.017242763217970136 Centerline is valid? [True, True] Translation: X:43.29, Y:3.60, Z:-0.65 [[ 9.85301690e-01 -1.70753166e-01 4.89246568e-03 4.32938230e+01] [ 1.70751234e-01 9.85313836e-01 8.13027675e-04 3.59707748e+00] [-4.95944118e-03 3.43170086e-05 9.99987701e-01 -6.52231655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32 meters 0.01639571205978856 Centerline is valid? [True, True] Translation: X:43.35, Y:3.61, Z:-0.65 [[ 9.85642926e-01 -1.68759359e-01 5.31996233e-03 4.33514083e+01] [ 1.68757034e-01 9.85657282e-01 8.86341943e-04 3.60876941e+00] [-5.39323811e-03 2.41643950e-05 9.99985456e-01 -6.52948541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.379999999999995 meters 0.017908563651910216 Centerline is valid? [True, True] Translation: X:43.41, Y:3.62, Z:-0.65 [[ 9.86281985e-01 -1.64961239e-01 5.96963162e-03 4.34076575e+01] [ 1.64958220e-01 9.86300051e-01 9.97920999e-04 3.62222985e+00] [-6.05246625e-03 5.08304050e-07 9.99981684e-01 -6.54407534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44 meters 0.016528665066111704 Centerline is valid? [True, True] Translation: X:43.46, Y:3.63, Z:-0.65 [[ 9.86594264e-01 -1.63051520e-01 6.77936926e-03 4.34648988e+01] [ 1.63047588e-01 9.86617556e-01 1.13240370e-03 3.63447311e+00] [-6.87328488e-03 -1.18631863e-05 9.99976379e-01 -6.53999768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.5 meters 0.016113708026727108 Centerline is valid? [True, True] Translation: X:43.52, Y:3.65, Z:-0.65 [[ 9.86898979e-01 -1.61162505e-01 7.55323788e-03 4.35216887e+01] [ 1.61157548e-01 9.86927883e-01 1.26434133e-03 3.64621855e+00] [-7.65826548e-03 -3.05158693e-05 9.99970675e-01 -6.54901409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.559999999999995 meters 0.01773081963811113 Centerline is valid? [True, True] Translation: X:43.58, Y:3.66, Z:-0.66 [[ 9.87026290e-01 -1.60421604e-01 6.63419586e-03 4.35797534e+01] [ 1.60417752e-01 9.87048584e-01 1.11217701e-03 3.65645243e+00] [-6.72669085e-03 -3.35051612e-05 9.99977375e-01 -6.56415227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62 meters 0.017320519430681875 Centerline is valid? [True, True] Translation: X:43.64, Y:3.67, Z:-0.66 [[ 9.87408930e-01 -1.58072573e-01 6.05525238e-03 4.36376830e+01] [ 1.58069312e-01 9.87427496e-01 1.01634368e-03 3.66816235e+00] [-6.13977876e-03 -4.63972505e-05 9.99981150e-01 -6.57379365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68 meters 0.01779577785366906 Centerline is valid? [True, True] Translation: X:43.69, Y:3.68, Z:-0.66 [[ 9.87874439e-01 -1.55155159e-01 5.56509119e-03 4.36948902e+01] [ 1.55152344e-01 9.87890112e-01 9.36736685e-04 3.68027888e+00] [-5.64303809e-03 -6.19412871e-05 9.99984076e-01 -6.58924300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.739999999999995 meters 0.015690299446881373 Centerline is valid? [True, True] Translation: X:43.75, Y:3.69, Z:-0.66 [[ 9.87982860e-01 -1.54459155e-01 5.67783414e-03 4.37525848e+01] [ 1.54456219e-01 9.87999173e-01 9.54764112e-04 3.69011234e+00] [-5.75716749e-03 -6.63137873e-05 9.99983425e-01 -6.58617858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.8 meters 0.018353914656530343 Centerline is valid? [True, True] Translation: X:43.81, Y:3.70, Z:-0.66 [[ 9.87611440e-01 -1.56823717e-01 5.47407435e-03 4.38116667e+01] [ 1.56821016e-01 9.87626609e-01 9.21921585e-04 3.69707707e+00] [-5.55092066e-03 -5.20504019e-05 9.99984592e-01 -6.60844416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86 meters 0.01814120251609909 Centerline is valid? [True, True] Translation: X:43.87, Y:3.70, Z:-0.66 [[ 9.87247530e-01 -1.59079973e-01 5.98965717e-03 4.38698077e+01] [ 1.59076771e-01 9.87265699e-01 1.01031991e-03 3.70417865e+00] [-6.07410474e-03 -4.46205192e-05 9.99981551e-01 -6.61029557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92 meters 0.016103933015470077 Centerline is valid? [True, True] Translation: X:43.93, Y:3.71, Z:-0.66 [[ 9.86773981e-01 -1.61949785e-01 7.02686800e-03 4.39275228e+01] [ 1.61945423e-01 9.86799000e-01 1.18907593e-03 3.71124066e+00] [-7.12667691e-03 -3.53800737e-05 9.99974604e-01 -6.60630650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98 meters 0.01409542782803501 Centerline is valid? [True, True] Translation: X:43.99, Y:3.72, Z:-0.66 [[ 9.86472754e-01 -1.63713696e-01 8.32658288e-03 4.39861362e+01] [ 1.63707636e-01 9.86507894e-01 1.40896048e-03 3.72030301e+00] [-8.44490587e-03 -2.67759253e-05 9.99964341e-01 -6.59694838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04 meters 0.016544816119906602 Centerline is valid? [True, True] Translation: X:44.04, Y:3.73, Z:-0.66 [[ 9.86144504e-01 -1.65698606e-01 7.93660367e-03 4.40433862e+01] [ 1.65693151e-01 9.86176441e-01 1.34454245e-03 3.73030605e+00] [-8.04968036e-03 -1.08722797e-05 9.99967601e-01 -6.62525741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.1 meters 0.016493788719344087 Centerline is valid? [True, True] Translation: X:44.10, Y:3.74, Z:-0.66 [[ 9.85877465e-01 -1.67288667e-01 7.75416115e-03 4.41005724e+01] [ 1.67283492e-01 9.85907958e-01 1.31580440e-03 3.74057064e+00] [-7.86500835e-03 -7.87523675e-08 9.99969070e-01 -6.63942808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16 meters 0.01791373611935888 Centerline is valid? [True, True] Translation: X:44.16, Y:3.75, Z:-0.67 [[ 9.85574667e-01 -1.69085443e-01 7.25869085e-03 4.41581281e+01] [ 1.69080944e-01 9.85601397e-01 1.23352734e-03 3.75007035e+00] [-7.36274736e-03 1.15729996e-05 9.99972895e-01 -6.67073678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22 meters 0.016795304246108974 Centerline is valid? [True, True] Translation: X:44.22, Y:3.76, Z:-0.67 [[ 9.85224656e-01 -1.71162638e-01 5.97729597e-03 4.42156977e+01] [ 1.71159611e-01 9.85242788e-01 1.01813226e-03 3.75830825e+00] [-6.06335395e-03 1.99826430e-05 9.99981618e-01 -6.68268568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28 meters 0.014310101661338307 Centerline is valid? [True, True] Translation: X:44.27, Y:3.76, Z:-0.67 [[ 9.84531378e-01 -1.75074150e-01 6.85616664e-03 4.42743116e+01] [ 1.75070260e-01 9.84555250e-01 1.16814168e-03 3.76498116e+00] [-6.95478627e-03 5.02387401e-05 9.99975814e-01 -6.65765289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.339999999999996 meters 0.017780395836296915 Centerline is valid? [True, True] Translation: X:44.33, Y:3.77, Z:-0.67 [[ 9.83737705e-01 -1.79437144e-01 7.90188503e-03 4.43322248e+01] [ 1.79432098e-01 9.83769436e-01 1.34876646e-03 3.77334891e+00] [-8.01565178e-03 9.10193850e-05 9.99967870e-01 -6.67753822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.4 meters 0.017444143831103646 Centerline is valid? [True, True] Translation: X:44.39, Y:3.78, Z:-0.67 [[ 9.83309931e-01 -1.81674923e-01 9.78783201e-03 4.43899722e+01] [ 1.81667259e-01 9.83358635e-01 1.67396575e-03 3.78341969e+00] [-9.92906672e-03 1.32101472e-04 9.99950697e-01 -6.66903182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46 meters 0.017633382124996155 Centerline is valid? [True, True] Translation: X:44.45, Y:3.79, Z:-0.67 [[ 9.82998267e-01 -1.83286822e-01 1.09703506e-02 4.44483934e+01] [ 1.83277257e-01 9.83059466e-01 1.87953887e-03 3.79345098e+00] [-1.11290017e-02 1.63032310e-04 9.99938057e-01 -6.67262684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.519999999999996 meters 0.01700115415536551 Centerline is valid? [True, True] Translation: X:44.51, Y:3.80, Z:-0.67 [[ 9.82899692e-01 -1.83781504e-01 1.15131934e-02 4.45051652e+01] [ 1.83770968e-01 9.82967104e-01 1.97555009e-03 3.80410506e+00] [-1.16801600e-02 1.74023126e-04 9.99931769e-01 -6.68352919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58 meters 0.018883425654720613 Centerline is valid? [True, True] Translation: X:44.56, Y:3.81, Z:-0.67 [[ 9.82914392e-01 -1.83709294e-01 1.14102395e-02 4.45608912e+01] [ 1.83698898e-01 9.82980604e-01 1.96152546e-03 3.81444469e+00] [-1.15763945e-02 1.68036815e-04 9.99932977e-01 -6.71495031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64 meters 0.01613433615628468 Centerline is valid? [True, True] Translation: X:44.62, Y:3.83, Z:-0.67 [[ 9.83023843e-01 -1.83187841e-01 1.03120401e-02 4.46174318e+01] [ 1.83179309e-01 9.83077918e-01 1.77404050e-03 3.82777897e+00] [-1.04625216e-02 1.45028263e-04 9.99945256e-01 -6.71760637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.699999999999996 meters 0.017779132678425954 Centerline is valid? [True, True] Translation: X:44.67, Y:3.84, Z:-0.68 [[ 9.83081811e-01 -1.82965324e-01 8.59324856e-03 4.46738790e+01] [ 1.82959374e-01 9.83119360e-01 1.48017986e-03 3.83964607e+00] [-8.71901062e-03 1.17077476e-04 9.99961982e-01 -6.76074255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76 meters 0.014670613321813297 Centerline is valid? [True, True] Translation: X:44.73, Y:3.85, Z:-0.67 [[ 9.83285490e-01 -1.81816972e-01 9.60383020e-03 4.47307604e+01] [ 1.81809443e-01 9.83332383e-01 1.65861709e-03 3.85021729e+00] [-9.74532197e-03 1.15172900e-04 9.99952507e-01 -6.73776346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82 meters 0.017128628097443543 Centerline is valid? [True, True] Translation: X:44.79, Y:3.86, Z:-0.68 [[ 9.83456136e-01 -1.80834361e-01 1.06283457e-02 4.47880923e+01] [ 1.80825079e-01 9.83513559e-01 1.83594320e-03 3.86302444e+00] [-1.07851237e-02 1.16301841e-04 9.99941832e-01 -6.76143095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.879999999999995 meters 0.017309881076972965 Centerline is valid? [True, True] Translation: X:44.85, Y:3.88, Z:-0.68 [[ 9.83702686e-01 -1.79516918e-01 1.01341950e-02 4.48455708e+01] [ 1.79508383e-01 9.83754882e-01 1.75301733e-03 3.87500341e+00] [-1.02842601e-02 9.47251121e-05 9.99947111e-01 -6.78499784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94 meters 0.018122026800955145 Centerline is valid? [True, True] Translation: X:44.90, Y:3.89, Z:-0.68 [[ 9.83736433e-01 -1.79350247e-01 9.80401695e-03 4.49032900e+01] [ 1.79342229e-01 9.83785282e-01 1.69808973e-03 3.88503453e+00] [-9.94960040e-03 8.78015206e-05 9.99950498e-01 -6.80393932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.0 meters 0.016516130065904373 Centerline is valid? [True, True] Translation: X:44.96, Y:3.90, Z:-0.68 [[ 9.83909703e-01 -1.78411177e-01 9.54713075e-03 4.49603230e+01] [ 1.78403505e-01 9.83956019e-01 1.65617473e-03 3.89532969e+00] [-9.68943684e-03 7.37151946e-05 9.99953054e-01 -6.80507365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.059999999999995 meters 0.017317538858426657 Centerline is valid? [True, True] Translation: X:45.02, Y:3.91, Z:-0.68 [[ 9.84322489e-01 -1.76118162e-01 9.57244017e-03 4.50184598e+01] [ 1.76110311e-01 9.84369032e-01 1.66356810e-03 3.90586152e+00] [-9.71579822e-03 4.83179260e-05 9.99952799e-01 -6.81857119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12 meters 0.016570280245430072 Centerline is valid? [True, True] Translation: X:45.08, Y:3.92, Z:-0.68 [[ 9.84717509e-01 -1.73864345e-01 1.01299913e-02 4.50763437e+01] [ 1.73855406e-01 9.84769612e-01 1.76315178e-03 3.91723793e+00] [-1.02822568e-02 2.49473309e-05 9.99947136e-01 -6.82069629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18 meters 0.017046956864309983 Centerline is valid? [True, True] Translation: X:45.13, Y:3.93, Z:-0.68 [[ 9.85445890e-01 -1.69641563e-01 1.08691390e-02 4.51319443e+01] [ 1.69630975e-01 9.85505829e-01 1.89544353e-03 3.92923178e+00] [-1.10331458e-02 -2.41143969e-05 9.99939133e-01 -6.83456510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.239999999999995 meters 0.01675758846847172 Centerline is valid? [True, True] Translation: X:45.19, Y:3.94, Z:-0.68 [[ 9.86274417e-01 -1.64691376e-01 1.18120755e-02 4.51890714e+01] [ 1.64678501e-01 9.86345144e-01 2.06118409e-03 3.94202769e+00] [-1.19902426e-02 -8.76982523e-05 9.99928111e-01 -6.84427582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.3 meters 0.018591355112743554 Centerline is valid? [True, True] Translation: X:45.25, Y:3.95, Z:-0.69 [[ 9.86751984e-01 -1.61821577e-01 1.15887559e-02 4.52470493e+01] [ 1.61808953e-01 9.86820025e-01 2.02504737e-03 3.95447180e+00] [-1.17637128e-02 -1.23055049e-04 9.99930798e-01 -6.86493183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36 meters 0.017598534278624074 Centerline is valid? [True, True] Translation: X:45.30, Y:3.97, Z:-0.69 [[ 9.87152933e-01 -1.59429086e-01 1.05571832e-02 4.53040940e+01] [ 1.59418442e-01 9.87209373e-01 1.84760431e-03 3.96622595e+00] [-1.07167121e-02 -1.40858316e-04 9.99942564e-01 -6.87943952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42 meters 0.01578899060457325 Centerline is valid? [True, True] Translation: X:45.36, Y:3.98, Z:-0.69 [[ 9.87350149e-01 -1.58244657e-01 9.91523792e-03 4.53615279e+01] [ 1.58235202e-01 9.87399923e-01 1.73588015e-03 3.97780150e+00] [-1.00649989e-02 -1.44981847e-04 9.99949336e-01 -6.88037301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48 meters 0.018001530617130033 Centerline is valid? [True, True] Translation: X:45.42, Y:3.99, Z:-0.69 [[ 9.87323661e-01 -1.58499067e-01 8.36866506e-03 4.54192539e+01] [ 1.58492328e-01 9.87359120e-01 1.46654106e-03 3.98723109e+00] [-8.49532316e-03 -1.21581477e-04 9.99963907e-01 -6.92604509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54 meters 0.01726348772958742 Centerline is valid? [True, True] Translation: X:45.48, Y:4.00, Z:-0.69 [[ 9.87252256e-01 -1.58928905e-01 8.63628208e-03 4.54764991e+01] [ 1.58921716e-01 9.87290022e-01 1.51676885e-03 3.99791983e+00] [-8.76757354e-03 -1.24940696e-04 9.99961556e-01 -6.92998787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.6 meters 0.018404206030815058 Centerline is valid? [True, True] Translation: X:45.54, Y:4.01, Z:-0.69 [[ 9.87043845e-01 -1.60186833e-01 9.19926594e-03 4.55355469e+01] [ 1.60178730e-01 9.87086705e-01 1.61574197e-03 4.00520595e+00] [-9.33929369e-03 -1.21281433e-04 9.99956380e-01 -6.94109662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66 meters 0.01575118115167161 Centerline is valid? [True, True] Translation: X:45.59, Y:4.02, Z:-0.69 [[ 9.86818364e-01 -1.61419399e-01 1.15452799e-02 4.55925380e+01] [ 1.61406673e-01 9.86885889e-01 2.03183611e-03 4.01538098e+00] [-1.17218516e-02 -1.41567966e-04 9.99931287e-01 -6.90950867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72 meters 0.017705036957291986 Centerline is valid? [True, True] Translation: X:45.65, Y:4.02, Z:-0.69 [[ 9.86421749e-01 -1.63850977e-01 1.11799174e-02 4.56513013e+01] [ 1.63839196e-01 9.86485096e-01 1.96785039e-03 4.02154063e+00] [-1.13512561e-02 -1.09421749e-04 9.99935566e-01 -6.93876990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78 meters 0.017338227593237616 Centerline is valid? [True, True] Translation: X:45.71, Y:4.03, Z:-0.69 [[ 9.86169586e-01 -1.65295650e-01 1.21200295e-02 4.57096399e+01] [ 1.65281871e-01 9.86244056e-01 2.13681994e-03 4.03174520e+00] [-1.23065141e-02 -1.04045681e-04 9.99924267e-01 -6.94177857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.839999999999996 meters 0.015225035999017401 Centerline is valid? [True, True] Translation: X:45.77, Y:4.04, Z:-0.69 [[ 9.86156205e-01 -1.65449611e-01 1.10618972e-02 4.57665980e+01] [ 1.65438115e-01 9.86218240e-01 1.95261673e-03 4.04195359e+00] [-1.12325044e-02 -9.55256845e-05 9.99936909e-01 -6.94215989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.9 meters 0.01537277536636282 Centerline is valid? [True, True] Translation: X:45.82, Y:4.05, Z:-0.70 [[ 9.86163960e-01 -1.65514569e-01 9.25051013e-03 4.58244185e+01] [ 1.65506513e-01 9.86207342e-01 1.63507526e-03 4.05237005e+00] [-9.39354979e-03 -8.14326203e-05 9.99955876e-01 -6.96943238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96 meters 0.014424621702669296 Centerline is valid? [True, True] Translation: X:45.88, Y:4.06, Z:-0.70 [[ 9.86088843e-01 -1.65958212e-01 9.30939653e-03 4.58816835e+01] [ 1.65950052e-01 9.86132783e-01 1.64770698e-03 4.06362353e+00] [-9.45375161e-03 -7.98906375e-05 9.99955309e-01 -6.96689445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.019999999999996 meters 0.016592640183735866 Centerline is valid? [True, True] Translation: X:45.94, Y:4.07, Z:-0.70 [[ 9.85894529e-01 -1.67120985e-01 9.08596268e-03 4.59386020e+01] [ 1.67113237e-01 9.85936393e-01 1.61072678e-03 4.07363758e+00] [-9.22736752e-03 -6.96220815e-05 9.99957425e-01 -6.99485091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08 meters 0.016177286246541193 Centerline is valid? [True, True] Translation: X:45.99, Y:4.09, Z:-0.70 [[ 9.86037387e-01 -1.66245157e-01 9.63428778e-03 4.59947859e+01] [ 1.66236363e-01 9.86084449e-01 1.71217996e-03 4.08558611e+00] [-9.78486298e-03 -8.67044980e-05 9.99952123e-01 -6.99327924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14 meters 0.01715109496377146 Centerline is valid? [True, True] Translation: X:46.05, Y:4.10, Z:-0.70 [[ 9.86591553e-01 -1.62926273e-01 9.59880000e-03 4.60519054e+01] [ 1.62917386e-01 9.86638239e-01 1.70590727e-03 4.10092579e+00] [-9.74848024e-03 -1.19222296e-04 9.99952475e-01 -7.01183445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.199999999999996 meters 0.017149452790010636 Centerline is valid? [True, True] Translation: X:46.11, Y:4.11, Z:-0.70 [[ 9.87075394e-01 -1.60017557e-01 8.74912794e-03 4.61089867e+01] [ 1.60010043e-01 9.87114159e-01 1.55676466e-03 4.11457034e+00] [-8.88549774e-03 -1.36695753e-04 9.99960514e-01 -7.02227555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26 meters 0.019155600659467354 Centerline is valid? [True, True] Translation: X:46.17, Y:4.13, Z:-0.70 [[ 9.87880233e-01 -1.55082032e-01 6.49683696e-03 4.61667613e+01] [ 1.55077765e-01 9.87901586e-01 1.15854196e-03 4.13001957e+00] [-6.59790458e-03 -1.36985743e-04 9.99978224e-01 -7.04325227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32 meters 0.018932060326300196 Centerline is valid? [True, True] Translation: X:46.22, Y:4.14, Z:-0.71 [[ 9.88186945e-01 -1.53133268e-01 6.06332940e-03 4.62240115e+01] [ 1.53129526e-01 9.88205537e-01 1.07949483e-03 4.14423083e+00] [-6.15712225e-03 -1.38267939e-04 9.99981035e-01 -7.05049561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.379999999999995 meters 0.017199290673730515 Centerline is valid? [True, True] Translation: X:46.28, Y:4.16, Z:-0.70 [[ 9.88331653e-01 -1.52169922e-01 6.69759310e-03 4.62813726e+01] [ 1.52165319e-01 9.88354334e-01 1.19451109e-03 4.15630305e+00] [-6.80136382e-03 -1.61431727e-04 9.99976857e-01 -7.04728980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44 meters 0.016320090092144794 Centerline is valid? [True, True] Translation: X:46.34, Y:4.16, Z:-0.70 [[ 9.87857396e-01 -1.55202410e-01 7.06942502e-03 4.63396157e+01] [ 1.55197345e-01 9.87882680e-01 1.26286816e-03 4.16359080e+00] [-7.17976272e-03 -1.50377659e-04 9.99974214e-01 -7.04532634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.5 meters 0.016620682370450342 Centerline is valid? [True, True] Translation: X:46.40, Y:4.17, Z:-0.70 [[ 9.87419754e-01 -1.57937815e-01 7.60767522e-03 4.63983534e+01] [ 1.57932012e-01 9.87449050e-01 1.36132375e-03 4.17172471e+00] [-7.72719617e-03 -1.42702507e-04 9.99970135e-01 -7.04980180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.559999999999995 meters 0.017594054654372075 Centerline is valid? [True, True] Translation: X:46.46, Y:4.18, Z:-0.71 [[ 9.86792184e-01 -1.61830925e-01 7.20676918e-03 4.64565601e+01] [ 1.61825810e-01 9.86818494e-01 1.29125222e-03 4.18053317e+00] [-7.32073765e-03 -1.07956342e-04 9.99973197e-01 -7.08198679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62 meters 0.015535538234222724 Centerline is valid? [True, True] Translation: X:46.51, Y:4.19, Z:-0.71 [[ 9.86594947e-01 -1.63058571e-01 6.50482349e-03 4.65143014e+01] [ 1.63054423e-01 9.86616387e-01 1.16648986e-03 4.19048279e+00] [-6.60797161e-03 -9.02127610e-05 9.99978163e-01 -7.08616750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68 meters 0.01733833533837627 Centerline is valid? [True, True] Translation: X:46.57, Y:4.20, Z:-0.71 [[ 9.86351042e-01 -1.64580715e-01 4.98105410e-03 4.65716667e+01] [ 1.64578300e-01 9.86363617e-01 8.93671894e-04 4.19889371e+00] [-5.06021170e-03 -6.17007852e-05 9.99987195e-01 -7.12952345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.739999999999995 meters 0.016761603858200906 Centerline is valid? [True, True] Translation: X:46.63, Y:4.21, Z:-0.71 [[ 9.86237294e-01 -1.65272246e-01 4.59181056e-03 4.66287448e+01] [ 1.65270197e-01 9.86247982e-01 8.24859948e-04 4.20812814e+00] [-4.66499035e-03 -5.46182078e-05 9.99989117e-01 -7.13327981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.8 meters 0.015337140589285564 Centerline is valid? [True, True] Translation: X:46.69, Y:4.22, Z:-0.71 [[ 9.86232808e-01 -1.65291119e-01 4.86760471e-03 4.66857715e+01] [ 1.65288808e-01 9.86244819e-01 8.76038215e-04 4.21720908e+00] [-4.94545126e-03 -5.94170480e-05 9.99987769e-01 -7.11556159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86 meters 0.01654715935956974 Centerline is valid? [True, True] Translation: X:46.74, Y:4.23, Z:-0.71 [[ 9.86171679e-01 -1.65648854e-01 5.08690417e-03 4.67416052e+01] [ 1.65646317e-01 9.86184797e-01 9.18835762e-04 4.22720323e+00] [-5.16883165e-03 -6.35028638e-05 9.99986639e-01 -7.13499074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92 meters 0.01657500442061501 Centerline is valid? [True, True] Translation: X:46.80, Y:4.24, Z:-0.71 [[ 9.86101565e-01 -1.65997669e-01 6.96259114e-03 4.68003266e+01] [ 1.65992921e-01 9.86126141e-01 1.25840145e-03 4.23661316e+00] [-7.07488484e-03 -8.51708037e-05 9.99974969e-01 -7.12784094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98 meters 0.014932624828544938 Centerline is valid? [True, True] Translation: X:46.86, Y:4.25, Z:-0.71 [[ 9.86051118e-01 -1.66245617e-01 8.09856195e-03 4.68582464e+01] [ 1.66239185e-01 9.86084370e-01 1.46573238e-03 4.24549146e+00] [-8.22953694e-03 -9.89887136e-05 9.99966132e-01 -7.10277743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04 meters 0.01661319046203134 Centerline is valid? [True, True] Translation: X:46.91, Y:4.25, Z:-0.71 [[ 9.85890619e-01 -1.67237694e-01 7.15829364e-03 4.69142813e+01] [ 1.67232674e-01 9.85916602e-01 1.29843153e-03 4.25405554e+00] [-7.27462724e-03 -8.30108787e-05 9.99973536e-01 -7.13882004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.1 meters 0.014764054186805113 Centerline is valid? [True, True] Translation: X:46.97, Y:4.26, Z:-0.71 [[ 9.86011803e-01 -1.66564087e-01 6.09339608e-03 4.69726491e+01] [ 1.66560441e-01 9.86030628e-01 1.10457876e-03 4.26340676e+00] [-6.19225831e-03 -7.42089550e-05 9.99980825e-01 -7.12364461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16 meters 0.015092172609527802 Centerline is valid? [True, True] Translation: X:47.03, Y:4.28, Z:-0.71 [[ 9.86227147e-01 -1.65287244e-01 6.01180338e-03 4.70294111e+01] [ 1.65283652e-01 9.86245466e-01 1.09279851e-03 4.27564016e+00] [-6.10973948e-03 -8.40947325e-05 9.99981332e-01 -7.14158538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22 meters 0.015216363484096513 Centerline is valid? [True, True] Translation: X:47.09, Y:4.29, Z:-0.71 [[ 9.86323122e-01 -1.64705964e-01 6.21648831e-03 4.70870655e+01] [ 1.64702117e-01 9.86342708e-01 1.12920775e-03 4.28670982e+00] [-6.31757517e-03 -8.98949289e-05 9.99980040e-01 -7.14557935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28 meters 0.016184979220195676 Centerline is valid? [True, True] Translation: X:47.14, Y:4.30, Z:-0.72 [[ 9.86263859e-01 -1.65017182e-01 7.27532701e-03 4.71442637e+01] [ 1.65011895e-01 9.86290686e-01 1.32529191e-03 4.29735599e+00] [-7.39428321e-03 -1.06572016e-04 9.99972656e-01 -7.15291921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.339999999999996 meters 0.01547421631144648 Centerline is valid? [True, True] Translation: X:47.20, Y:4.31, Z:-0.71 [[ 9.86166447e-01 -1.65573387e-01 7.82251967e-03 4.72011620e+01] [ 1.65567296e-01 9.86197466e-01 1.42441969e-03 4.30818367e+00] [-7.95039507e-03 -1.09561481e-04 9.99968389e-01 -7.14944171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.4 meters 0.018282059952920766 Centerline is valid? [True, True] Translation: X:47.26, Y:4.32, Z:-0.72 [[ 9.85976566e-01 -1.66745060e-01 6.80408960e-03 4.72578429e+01] [ 1.66740470e-01 9.86000039e-01 1.24033600e-03 4.31845371e+00] [-6.91565252e-03 -8.84251302e-05 9.99976083e-01 -7.20003946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46 meters 0.017123844521103427 Centerline is valid? [True, True] Translation: X:47.32, Y:4.33, Z:-0.72 [[ 9.85995359e-01 -1.66636183e-01 6.74789133e-03 4.73151327e+01] [ 1.66631654e-01 9.86018445e-01 1.23186639e-03 4.32770548e+00] [-6.85881883e-03 -9.02022535e-05 9.99976474e-01 -7.19346768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.519999999999996 meters 0.015364417103165976 Centerline is valid? [True, True] Translation: X:47.37, Y:4.34, Z:-0.72 [[ 9.85993815e-01 -1.66622359e-01 7.29285709e-03 4.73725834e+01] [ 1.66617050e-01 9.86020780e-01 1.33389708e-03 4.33864171e+00] [-7.41316571e-03 -1.00099933e-04 9.99972517e-01 -7.18062281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58 meters 0.017661420679187703 Centerline is valid? [True, True] Translation: X:47.43, Y:4.35, Z:-0.72 [[ 9.85990248e-01 -1.66716104e-01 5.38242595e-03 4.74306134e+01] [ 1.66713209e-01 9.86004937e-01 9.85288010e-04 4.34997562e+00] [-5.47136194e-03 -7.41628666e-05 9.99985029e-01 -7.23210888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64 meters 0.015420444909886187 Centerline is valid? [True, True] Translation: X:47.49, Y:4.36, Z:-0.72 [[ 9.86056064e-01 -1.66326487e-01 5.37935651e-03 4.74886006e+01] [ 1.66323582e-01 9.86070735e-01 9.86109513e-04 4.36176884e+00] [-5.46844216e-03 -7.76454219e-05 9.99985045e-01 -7.22171427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.699999999999996 meters 0.015534314362324721 Centerline is valid? [True, True] Translation: X:47.55, Y:4.37, Z:-0.72 [[ 9.85938707e-01 -1.66998787e-01 6.02260260e-03 4.75467069e+01] [ 1.66995147e-01 9.85957097e-01 1.10594749e-03 4.37120710e+00] [-6.12271967e-03 -8.46510362e-05 9.99981252e-01 -7.22581030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76 meters 0.015940648365250682 Centerline is valid? [True, True] Translation: X:47.61, Y:4.38, Z:-0.72 [[ 9.85783695e-01 -1.67861408e-01 7.28384666e-03 4.76052210e+01] [ 1.67856086e-01 9.85810599e-01 1.34026565e-03 4.38074676e+00] [-7.40547213e-03 -9.85740318e-05 9.99972574e-01 -7.22348781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82 meters 0.01670644355100388 Centerline is valid? [True, True] Translation: X:47.66, Y:4.39, Z:-0.72 [[ 9.85641373e-01 -1.68703729e-01 7.08059226e-03 4.76629449e+01] [ 1.68698712e-01 9.85666801e-01 1.30428636e-03 4.39067168e+00] [-7.19914270e-03 -9.10718004e-05 9.99974082e-01 -7.24207974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.879999999999995 meters 0.017695567740463287 Centerline is valid? [True, True] Translation: X:47.72, Y:4.40, Z:-0.73 [[ 9.85614288e-01 -1.68917317e-01 5.60501540e-03 4.77196325e+01] [ 1.68914162e-01 9.85630222e-01 1.03512591e-03 4.40218376e+00] [-5.69932326e-03 -7.34684057e-05 9.99983756e-01 -7.27799890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94 meters 0.018458562550470587 Centerline is valid? [True, True] Translation: X:47.78, Y:4.41, Z:-0.73 [[ 9.85636335e-01 -1.68811137e-01 4.88011483e-03 4.77782281e+01] [ 1.68808750e-01 9.85648414e-01 8.99876038e-04 4.41177049e+00] [-4.96198654e-03 -6.31444362e-05 9.99987687e-01 -7.29396770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.0 meters 0.01700563253384388 Centerline is valid? [True, True] Translation: X:47.83, Y:4.42, Z:-0.73 [[ 9.85616464e-01 -1.68915485e-01 5.26742515e-03 4.78338052e+01] [ 1.68912690e-01 9.85630536e-01 9.74198940e-04 4.42273692e+00] [-5.35629236e-03 -7.04515633e-05 9.99985652e-01 -7.28548247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.059999999999995 meters 0.018136193251566044 Centerline is valid? [True, True] Translation: X:47.89, Y:4.43, Z:-0.73 [[ 9.85613971e-01 -1.68897557e-01 6.22213445e-03 4.78911211e+01] [ 1.68893659e-01 9.85633608e-01 1.15054570e-03 4.43471362e+00] [-6.32706918e-03 -8.31148655e-05 9.99979980e-01 -7.30064581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12 meters 0.016873554694065568 Centerline is valid? [True, True] Translation: X:47.95, Y:4.44, Z:-0.73 [[ 9.85556214e-01 -1.69224543e-01 6.48099797e-03 4.79480630e+01] [ 1.69220309e-01 9.85577519e-01 1.20030148e-03 4.44408102e+00] [-6.59064637e-03 -8.62481089e-05 9.99978278e-01 -7.29180486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18 meters 0.015106329199897031 Centerline is valid? [True, True] Translation: X:48.01, Y:4.46, Z:-0.73 [[ 9.85641615e-01 -1.68687980e-01 7.41432278e-03 4.80052721e+01] [ 1.68682401e-01 9.85669495e-01 1.37602055e-03 4.45600210e+00] [-7.54018993e-03 -1.05597348e-04 9.99971567e-01 -7.26785019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.239999999999995 meters 0.016469567071985595 Centerline is valid? [True, True] Translation: X:48.06, Y:4.47, Z:-0.73 [[ 9.85579581e-01 -1.69069866e-01 6.94766854e-03 4.80622500e+01] [ 1.69064964e-01 9.85604064e-01 1.29119286e-03 4.46710849e+00] [-7.06595215e-03 -9.79659907e-05 9.99975031e-01 -7.30006132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.3 meters 0.01825585944912116 Centerline is valid? [True, True] Translation: X:48.12, Y:4.48, Z:-0.73 [[ 9.85458333e-01 -1.69830263e-01 5.43659001e-03 4.81192358e+01] [ 1.69827270e-01 9.85473326e-01 1.01100423e-03 4.47749078e+00] [-5.52931355e-03 -7.30213024e-05 9.99984711e-01 -7.32920016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36 meters 0.014854796755891601 Centerline is valid? [True, True] Translation: X:48.18, Y:4.49, Z:-0.73 [[ 9.85305116e-01 -1.70695698e-01 6.06689953e-03 4.81774275e+01] [ 1.70691971e-01 9.85323791e-01 1.13080254e-03 4.48737847e+00] [-6.17088357e-03 -7.86144878e-05 9.99980957e-01 -7.29414418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.419999999999995 meters 0.01570377714004658 Centerline is valid? [True, True] Translation: X:48.24, Y:4.50, Z:-0.73 [[ 9.84891697e-01 -1.73055673e-01 6.33086015e-03 4.82351533e+01] [ 1.73051651e-01 9.84912042e-01 1.18181551e-03 4.49723918e+00] [-6.43986028e-03 -6.83944855e-05 9.99979262e-01 -7.31927548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48 meters 0.017056900607275684 Centerline is valid? [True, True] Translation: X:48.29, Y:4.51, Z:-0.73 [[ 9.84591477e-01 -1.74737356e-01 6.81758039e-03 4.82934958e+01] [ 1.74732718e-01 9.84615078e-01 1.27474998e-03 4.50729887e+00] [-6.93543889e-03 -6.38536193e-05 9.99975948e-01 -7.33424618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54 meters 0.014292749806725603 Centerline is valid? [True, True] Translation: X:48.35, Y:4.52, Z:-0.73 [[ 9.84510710e-01 -1.75164313e-01 7.49174405e-03 4.83506363e+01] [ 1.75158709e-01 9.84539211e-01 1.40274829e-03 4.51737874e+00] [-7.62162722e-03 -6.87764942e-05 9.99970953e-01 -7.29720979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.6 meters 0.015273855545383706 Centerline is valid? [True, True] Translation: X:48.41, Y:4.53, Z:-0.73 [[ 9.84299459e-01 -1.76352442e-01 7.37507387e-03 4.84070771e+01] [ 1.76347029e-01 9.84327086e-01 1.38306237e-03 4.52938207e+00] [-7.50339140e-03 -6.07751825e-05 9.99971847e-01 -7.32143927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66 meters 0.01714252505794425 Centerline is valid? [True, True] Translation: X:48.46, Y:4.54, Z:-0.74 [[ 9.84169897e-01 -1.77082760e-01 7.16314058e-03 4.84638124e+01] [ 1.77077658e-01 9.84195963e-01 1.34535904e-03 4.54099157e+00] [-7.28817393e-03 -5.56297122e-05 9.99973439e-01 -7.35412882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72 meters 0.01423949431352379 Centerline is valid? [True, True] Translation: X:48.52, Y:4.55, Z:-0.73 [[ 9.84254499e-01 -1.76600246e-01 7.44544541e-03 4.85212756e+01] [ 1.76594702e-01 9.84282657e-01 1.40079084e-03 4.55216791e+00] [-7.57580279e-03 -6.39084739e-05 9.99971301e-01 -7.32098998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78 meters 0.01648019870864973 Centerline is valid? [True, True] Translation: X:48.58, Y:4.56, Z:-0.74 [[ 9.84105015e-01 -1.77443135e-01 7.15907832e-03 4.85773387e+01] [ 1.77438012e-01 9.84131054e-01 1.34959029e-03 4.56334259e+00] [-7.28494682e-03 -5.78459476e-05 9.99973463e-01 -7.36250759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.839999999999996 meters 0.01663440595644855 Centerline is valid? [True, True] Translation: X:48.63, Y:4.57, Z:-0.74 [[ 9.84134423e-01 -1.77276155e-01 7.25268852e-03 4.86339717e+01] [ 1.77270887e-01 9.84161146e-01 1.36801241e-03 4.57457203e+00] [-7.38033022e-03 -6.06175810e-05 9.99972763e-01 -7.36818412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.9 meters 0.019056862073632334 Centerline is valid? [True, True] Translation: X:48.69, Y:4.59, Z:-0.74 [[ 9.84514500e-01 -1.75179727e-01 6.57741310e-03 4.86897897e+01] [ 1.75175326e-01 9.84536469e-01 1.24382111e-03 4.58857206e+00] [-6.69359531e-03 -7.23594284e-05 9.99977595e-01 -7.40769083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96 meters 0.01716477215536459 Centerline is valid? [True, True] Translation: X:48.75, Y:4.60, Z:-0.74 [[ 9.84956624e-01 -1.72677344e-01 6.55623215e-03 4.87472089e+01] [ 1.72672921e-01 9.84978440e-01 1.23899054e-03 4.60103639e+00] [-6.67169291e-03 -8.82681831e-05 9.99977740e-01 -7.39490121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.019999999999996 meters 0.017566303476954225 Centerline is valid? [True, True] Translation: X:48.80, Y:4.61, Z:-0.74 [[ 9.84996753e-01 -1.72473367e-01 5.85954366e-03 4.88045687e+01] [ 1.72469825e-01 9.85014178e-01 1.10845514e-03 4.61281161e+00] [-5.96291258e-03 -8.12302428e-05 9.99982218e-01 -7.41465207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08 meters 0.018553354619360793 Centerline is valid? [True, True] Translation: X:48.86, Y:4.62, Z:-0.74 [[ 9.85143065e-01 -1.71660564e-01 5.07871484e-03 4.88626935e+01] [ 1.71657887e-01 9.85156153e-01 9.61526842e-04 4.62453328e+00] [-5.16838341e-03 -7.54400408e-05 9.99986641e-01 -7.42670267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14 meters 0.019617877996742798 Centerline is valid? [True, True] Translation: X:48.92, Y:4.64, Z:-0.74 [[ 9.84939228e-01 -1.72807967e-01 5.66772452e-03 4.89211357e+01] [ 1.72804641e-01 9.84955532e-01 1.07516738e-03 4.63537426e+00] [-5.76825411e-03 -7.95654300e-05 9.99983360e-01 -7.43710236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.199999999999996 meters 0.018923446318321366 Centerline is valid? [True, True] Translation: X:48.98, Y:4.64, Z:-0.74 [[ 9.84335661e-01 -1.76154025e-01 7.28457786e-03 4.89786919e+01] [ 1.76148593e-01 9.84362612e-01 1.38577585e-03 4.64329357e+00] [-7.41477608e-03 -8.09004498e-05 9.99972507e-01 -7.42778230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26 meters 0.017486675298195076 Centerline is valid? [True, True] Translation: X:49.04, Y:4.65, Z:-0.74 [[ 9.83101979e-01 -1.82899446e-01 7.63484351e-03 4.90382222e+01] [ 1.82893684e-01 9.83131625e-01 1.45210246e-03 4.64855070e+00] [-7.77164484e-03 -3.12001522e-05 9.99969800e-01 -7.42555687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32 meters 0.017258164116064165 Centerline is valid? [True, True] Translation: X:49.10, Y:4.66, Z:-0.74 [[ 9.82179303e-01 -1.87791688e-01 7.62218569e-03 4.90960604e+01] [ 1.87786070e-01 9.82208879e-01 1.45257660e-03 4.65539447e+00] [-7.75936027e-03 4.64962570e-06 9.99969896e-01 -7.43516141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.379999999999995 meters 0.017665696503347185 Centerline is valid? [True, True] Translation: X:49.15, Y:4.66, Z:-0.74 [[ 9.81096410e-01 -1.93375678e-01 7.46206893e-03 4.91539401e+01] [ 1.93370452e-01 9.81124786e-01 1.42239363e-03 4.66173417e+00] [-7.59627712e-03 4.74383566e-05 9.99971147e-01 -7.44609995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44 meters 0.017842150944454477 Centerline is valid? [True, True] Translation: X:49.21, Y:4.67, Z:-0.74 [[ 9.80335527e-01 -1.97206749e-01 7.19391339e-03 4.92118221e+01] [ 1.97201996e-01 9.80361919e-01 1.37118702e-03 4.67102905e+00] [-7.32304607e-03 7.44307323e-05 9.99973183e-01 -7.44492713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.5 meters 0.01723541754016009 Centerline is valid? [True, True] Translation: X:49.27, Y:4.68, Z:-0.74 [[ 9.79993423e-01 -1.98864283e-01 8.11717878e-03 4.92692969e+01] [ 1.98858269e-01 9.80027034e-01 1.54954531e-03 4.68098776e+00] [-8.26320386e-03 9.56239105e-05 9.99965855e-01 -7.43498126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.559999999999995 meters 0.0167549043536079 Centerline is valid? [True, True] Translation: X:49.33, Y:4.69, Z:-0.74 [[ 9.79630558e-01 -2.00541561e-01 1.03465959e-02 4.93266163e+01] [ 2.00531838e-01 9.79685186e-01 1.97938209e-03 4.69270606e+00] [-1.05333551e-02 1.35758705e-04 9.99944513e-01 -7.42231449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62 meters 0.017550296122924778 Centerline is valid? [True, True] Translation: X:49.38, Y:4.70, Z:-0.74 [[ 9.79548619e-01 -2.00960971e-01 9.95944694e-03 4.93839024e+01] [ 2.00951956e-01 9.79599240e-01 1.90809361e-03 4.70477247e+00] [-1.01397190e-02 1.32299876e-04 9.99948583e-01 -7.44383214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68 meters 0.017200945024958763 Centerline is valid? [True, True] Translation: X:49.44, Y:4.72, Z:-0.75 [[ 9.79651054e-01 -2.00529689e-01 8.46494807e-03 4.94395460e+01] [ 2.00523136e-01 9.79687620e-01 1.62463263e-03 4.71705235e+00] [-8.61879191e-03 1.05844862e-04 9.99962852e-01 -7.46123954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.739999999999995 meters 0.016670609372133143 Centerline is valid? [True, True] Translation: X:49.50, Y:4.73, Z:-0.75 [[ 9.79810185e-01 -1.99747137e-01 8.54881709e-03 4.94966099e+01] [ 1.99740421e-01 9.79847474e-01 1.64098049e-03 4.73231107e+00] [-8.70431798e-03 9.96949260e-05 9.99962112e-01 -7.45620059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.8 meters 0.014101098044578864 Centerline is valid? [True, True] Translation: X:49.55, Y:4.75, Z:-0.74 [[ 9.80162435e-01 -1.98065202e-01 7.19556604e-03 4.95530580e+01] [ 1.98060391e-01 9.80188845e-01 1.38219179e-03 4.74653185e+00] [-7.32677766e-03 7.03841573e-05 9.99973156e-01 -7.44624511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86 meters 0.016081798166897074 Centerline is valid? [True, True] Translation: X:49.61, Y:4.76, Z:-0.75 [[ 9.80137856e-01 -1.98222412e-01 6.13667223e-03 4.96093280e+01] [ 1.98218909e-01 9.80157065e-01 1.17996435e-03 4.75959078e+00] [-6.24879802e-03 5.98767456e-05 9.99980474e-01 -7.48801689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.919999999999995 meters 0.018463312392943788 Centerline is valid? [True, True] Translation: X:49.67, Y:4.77, Z:-0.75 [[ 9.79962144e-01 -1.99130038e-01 4.62866794e-03 4.96669184e+01] [ 1.99128052e-01 9.79973074e-01 8.90687107e-04 4.77395332e+00] [-4.71333251e-03 4.88579843e-05 9.99988891e-01 -7.52446392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98 meters 0.01717763944123211 Centerline is valid? [True, True] Translation: X:49.72, Y:4.79, Z:-0.75 [[ 9.79710713e-01 -2.00316794e-01 6.33253572e-03 4.97239852e+01] [ 2.00313084e-01 9.79731176e-01 1.22127923e-03 4.78633174e+00] [-6.44882541e-03 7.19894122e-05 9.99979204e-01 -7.50915143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04 meters 0.014365861473246474 Centerline is valid? [True, True] Translation: X:49.78, Y:4.80, Z:-0.75 [[ 9.79444714e-01 -2.01557685e-01 7.90893902e-03 4.97811685e+01] [ 2.01551911e-01 9.79476641e-01 1.52872666e-03 4.79855088e+00] [-8.05474763e-03 9.67585312e-05 9.99967555e-01 -7.45957583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.1 meters 0.015837365512124973 Centerline is valid? [True, True] Translation: X:49.84, Y:4.81, Z:-0.75 [[ 9.79309831e-01 -2.02184863e-01 8.57538324e-03 4.98374460e+01] [ 2.02178073e-01 9.79347369e-01 1.66045041e-03 4.81422946e+00] [-8.73399696e-03 1.07659046e-04 9.99961852e-01 -7.48901427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16 meters 0.016905942492638628 Centerline is valid? [True, True] Translation: X:49.89, Y:4.83, Z:-0.75 [[ 9.79321021e-01 -2.02158244e-01 7.89818764e-03 4.98938802e+01] [ 2.02152467e-01 9.79352865e-01 1.53131513e-03 4.82867486e+00] [-8.04468068e-03 9.69890207e-05 9.99967636e-01 -7.51641972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22 meters 0.016932499997040003 Centerline is valid? [True, True] Translation: X:49.95, Y:4.84, Z:-0.75 [[ 9.79473179e-01 -2.01480929e-01 6.14219873e-03 4.99503900e+01] [ 2.01477417e-01 9.79492435e-01 1.19173042e-03 4.84422093e+00] [-6.25634814e-03 7.02463520e-05 9.99980426e-01 -7.54221026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28 meters 0.017725755603845095 Centerline is valid? [True, True] Translation: X:50.01, Y:4.86, Z:-0.76 [[ 9.79474849e-01 -2.01489500e-01 5.56792991e-03 5.00069338e+01] [ 2.01486607e-01 9.79490672e-01 1.08150495e-03 4.85969549e+00] [-5.67164730e-03 6.25564095e-05 9.99983914e-01 -7.55533878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.339999999999996 meters 0.017434037008912273 Centerline is valid? [True, True] Translation: X:50.06, Y:4.87, Z:-0.76 [[ 9.79476123e-01 -2.01453127e-01 6.56977327e-03 5.00640773e+01] [ 2.01449078e-01 9.79498153e-01 1.27919333e-03 4.87257068e+00] [-6.69277828e-03 7.05354490e-05 9.99977601e-01 -7.55547541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.4 meters 0.015754537735526816 Centerline is valid? [True, True] Translation: X:50.12, Y:4.89, Z:-0.75 [[ 9.79363568e-01 -2.01937618e-01 8.25830661e-03 5.01211929e+01] [ 2.01931213e-01 9.79398382e-01 1.61082672e-03 4.88558254e+00] [-8.41345864e-03 9.00248725e-05 9.99964602e-01 -7.52795082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46 meters 0.014233293412444208 Centerline is valid? [True, True] Translation: X:50.18, Y:4.90, Z:-0.75 [[ 9.79311422e-01 -2.02204546e-01 7.90315710e-03 5.01776190e+01] [ 2.02198672e-01 9.79343308e-01 1.54371813e-03 4.89925187e+00] [-8.05205084e-03 8.62270727e-05 9.99967578e-01 -7.52009853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.519999999999996 meters 0.018696015044587472 Centerline is valid? [True, True] Translation: X:50.23, Y:4.91, Z:-0.76 [[ 9.79156530e-01 -2.03004066e-01 6.46824189e-03 5.02346236e+01] [ 2.03000139e-01 9.79177892e-01 1.26486098e-03 4.91488032e+00] [-6.59033138e-03 7.45571162e-05 9.99978281e-01 -7.58059072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58 meters 0.01407163551569597 Centerline is valid? [True, True] Translation: X:50.29, Y:4.93, Z:-0.76 [[ 9.79428949e-01 -2.01650459e-01 7.48505133e-03 5.02916678e+01] [ 2.01645142e-01 9.79457547e-01 1.46625260e-03 4.92940414e+00] [-7.62696053e-03 7.32339983e-05 9.99970912e-01 -7.55349920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64 meters 0.016525301744579494 Centerline is valid? [True, True] Translation: X:50.35, Y:4.95, Z:-0.76 [[ 9.79350234e-01 -2.02121684e-01 4.46587754e-03 5.03482480e+01] [ 2.02119798e-01 9.79360415e-01 8.74428713e-04 4.94520916e+00] [-4.55044468e-03 4.62702988e-05 9.99989646e-01 -7.60784622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.699999999999996 meters 0.0169249409538054 Centerline is valid? [True, True] Translation: X:50.41, Y:4.96, Z:-0.76 [[ 9.79327713e-01 -2.02238797e-01 4.08658455e-03 5.04051734e+01] [ 2.02237217e-01 9.79336238e-01 8.00506834e-04 4.95743841e+00] [-4.16403388e-03 4.25009598e-05 9.99991329e-01 -7.62144336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76 meters 0.013870070817717545 Centerline is valid? [True, True] Translation: X:50.46, Y:4.97, Z:-0.76 [[ 9.79561023e-01 -2.01075970e-01 5.35316648e-03 5.04623533e+01] [ 2.01073224e-01 9.79575649e-01 1.05189284e-03 4.97214021e+00] [-5.45534190e-03 4.59852166e-05 9.99985118e-01 -7.58250965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82 meters 0.015840205102651727 Centerline is valid? [True, True] Translation: X:50.52, Y:4.99, Z:-0.76 [[ 9.79477322e-01 -2.01452042e-01 6.42260962e-03 5.05185495e+01] [ 2.01448072e-01 9.79498378e-01 1.26592505e-03 4.98622876e+00] [-6.54595889e-03 5.38774487e-05 9.99978574e-01 -7.60913879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.879999999999995 meters 0.01818397618851468 Centerline is valid? [True, True] Translation: X:50.57, Y:5.00, Z:-0.76 [[ 9.79796010e-01 -1.99915506e-01 5.79385102e-03 5.05742616e+01] [ 1.99912256e-01 9.79813140e-01 1.14065066e-03 5.00183353e+00] [-5.90492511e-03 4.06568622e-05 9.99982565e-01 -7.63948536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94 meters 0.016028661154317777 Centerline is valid? [True, True] Translation: X:50.63, Y:5.02, Z:-0.77 [[ 9.80590732e-01 -1.96016219e-01 4.41110214e-03 5.06300308e+01] [ 1.96014295e-01 9.80600654e-01 8.68568620e-04 5.01907073e+00] [-4.49578318e-03 1.29287382e-05 9.99989894e-01 -7.65054156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.0 meters 0.018825705995094647 Centerline is valid? [True, True] Translation: X:50.69, Y:5.04, Z:-0.77 [[ 9.81145870e-01 -1.93251551e-01 2.57284037e-03 5.06868306e+01] [ 1.93250889e-01 9.81149243e-01 5.06041414e-04 5.03531370e+00] [-2.62213367e-03 7.03244876e-07 9.99996562e-01 -7.69814774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.059999999999995 meters 0.015972607475881296 Centerline is valid? [True, True] Translation: X:50.74, Y:5.05, Z:-0.77 [[ 9.82377631e-01 -1.86887340e-01 2.70423045e-03 5.07436232e+01] [ 1.86886581e-01 9.82381353e-01 5.32806492e-04 5.05302946e+00] [-2.75616036e-03 -1.80327952e-05 9.99996202e-01 -7.68474051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12 meters 0.016836368033280584 Centerline is valid? [True, True] Translation: X:50.80, Y:5.07, Z:-0.77 [[ 9.83416048e-01 -1.81346988e-01 2.47924111e-03 5.08002882e+01] [ 1.81346332e-01 9.83419173e-01 4.88712802e-04 5.07006977e+00] [-2.52675983e-03 -3.10067304e-05 9.99996807e-01 -7.68987884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18 meters 0.018924386904585477 Centerline is valid? [True, True] Translation: X:50.86, Y:5.08, Z:-0.77 [[ 9.83905019e-01 -1.78675771e-01 2.42553760e-03 5.08573017e+01] [ 1.78675134e-01 9.83908008e-01 4.78660126e-04 5.08493707e+00] [-2.47203084e-03 -3.75728434e-05 9.99996944e-01 -7.71106315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.239999999999995 meters 0.01948419001745021 Centerline is valid? [True, True] Translation: X:50.91, Y:5.10, Z:-0.77 [[ 9.84427972e-01 -1.75769047e-01 2.60956338e-03 5.09148672e+01] [ 1.75768297e-01 9.84431430e-01 5.15916761e-04 5.09771794e+00] [-2.65961841e-03 -4.92043792e-05 9.99996462e-01 -7.71087137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.3 meters 0.020228745136619746 Centerline is valid? [True, True] Translation: X:50.97, Y:5.11, Z:-0.77 [[ 9.84573433e-01 -1.74958179e-01 2.18882599e-03 5.09728281e+01] [ 1.74957649e-01 9.84575865e-01 4.32719569e-04 5.10835979e+00] [-2.23077307e-03 -4.30923409e-05 9.99997511e-01 -7.71796182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36 meters 0.020929444695375245 Centerline is valid? [True, True] Translation: X:51.03, Y:5.12, Z:-0.77 [[ 9.84561550e-01 -1.75026351e-01 2.08100674e-03 5.10300374e+01] [ 1.75025873e-01 9.84563748e-01 4.11278703e-04 5.11916708e+00] [-2.12086841e-03 -4.06991753e-05 9.99997750e-01 -7.73133951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.419999999999995 meters 0.020607909162303963 Centerline is valid? [True, True] Translation: X:51.09, Y:5.13, Z:-0.77 [[ 9.84496820e-01 -1.75398448e-01 1.18154451e-03 5.10879924e+01] [ 1.75398295e-01 9.84497529e-01 2.32420922e-04 5.12770372e+00] [-1.20399392e-03 -2.15767658e-05 9.99999275e-01 -7.73716309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48 meters 0.018855885613010683 Centerline is valid? [True, True] Translation: X:51.15, Y:5.13, Z:-0.78 [[ 9.84165807e-01 -1.77248861e-01 7.10510118e-04 5.11455221e+01] [ 1.77248806e-01 9.84166064e-01 1.40806641e-04 5.13495253e+00] [-7.24217763e-04 -1.26400117e-05 9.99999738e-01 -7.75217568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54 meters 0.02014842097121437 Centerline is valid? [True, True] Translation: X:51.20, Y:5.14, Z:-0.78 [[ 9.83497083e-01 -1.80923903e-01 -1.72057297e-04 5.12041672e+01] [ 1.80923899e-01 9.83497098e-01 -3.82623247e-05 5.14142601e+00] [ 1.76140421e-04 6.50160774e-06 9.99999984e-01 -7.77719627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.6 meters 0.017468581102822973 Centerline is valid? [True, True] Translation: X:51.26, Y:5.14, Z:-0.78 [[ 9.82275532e-01 -1.87434843e-01 1.72009577e-03 5.12648698e+01] [ 1.87434533e-01 9.82277038e-01 3.41514440e-04 5.14173576e+00] [-1.75362228e-03 -1.30559315e-05 9.99998462e-01 -7.75460629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66 meters 0.017069888825740027 Centerline is valid? [True, True] Translation: X:51.32, Y:5.15, Z:-0.77 [[ 9.81428652e-01 -1.91798252e-01 3.35139133e-03 5.13238493e+01] [ 1.91797084e-01 9.81434374e-01 6.69321828e-04 5.14597976e+00] [-3.41754541e-03 -1.41045343e-05 9.99994160e-01 -7.74653078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72 meters 0.015930399006008168 Centerline is valid? [True, True] Translation: X:51.38, Y:5.15, Z:-0.77 [[ 9.80400046e-01 -1.96952855e-01 5.03220667e-03 5.13833774e+01] [ 1.96950275e-01 9.80412960e-01 1.00822796e-03 5.14895864e+00] [-5.13221402e-03 2.62775366e-06 9.99986830e-01 -7.72933437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78 meters 0.016235894231022438 Centerline is valid? [True, True] Translation: X:51.44, Y:5.15, Z:-0.77 [[ 9.79707173e-01 -2.00364070e-01 5.30044997e-03 5.14418090e+01] [ 2.00361250e-01 9.79721511e-01 1.06324470e-03 5.15314844e+00] [-5.40600089e-03 2.03363210e-05 9.99985387e-01 -7.73097110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.839999999999996 meters 0.013550150092634149 Centerline is valid? [True, True] Translation: X:51.50, Y:5.16, Z:-0.77 [[ 9.79490619e-01 -2.01408661e-01 5.71655671e-03 5.14990326e+01] [ 2.01405387e-01 9.79507300e-01 1.14874984e-03 5.16101235e+00] [-5.83077719e-03 2.61556193e-05 9.99983001e-01 -7.71927634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.9 meters 0.017278376633557045 Centerline is valid? [True, True] Translation: X:51.56, Y:5.17, Z:-0.78 [[ 9.78924093e-01 -2.04200005e-01 3.15876013e-03 5.15576645e+01] [ 2.04199021e-01 9.78929189e-01 6.34172989e-04 5.16787374e+00] [-3.22170062e-03 2.42085093e-05 9.99994810e-01 -7.79139086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96 meters 0.014187578244451854 Centerline is valid? [True, True] Translation: X:51.61, Y:5.17, Z:-0.78 [[ 9.78596585e-01 -2.05745467e-01 4.18640894e-03 5.16149079e+01] [ 2.05743738e-01 9.78605539e-01 8.44212698e-04 5.17419654e+00] [-4.27053592e-03 3.51837628e-05 9.99990881e-01 -7.76927855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.019999999999996 meters 0.014554564563788114 Centerline is valid? [True, True] Translation: X:51.67, Y:5.18, Z:-0.78 [[ 9.77920129e-01 -2.08889919e-01 6.10101914e-03 5.16735596e+01] [ 2.08886304e-01 9.77939158e-01 1.23086316e-03 5.17962402e+00] [-6.22354043e-03 7.07334748e-05 9.99980631e-01 -7.75215656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08 meters 0.016061043922094377 Centerline is valid? [True, True] Translation: X:51.73, Y:5.19, Z:-0.78 [[ 9.77493324e-01 -2.10817990e-01 7.91054653e-03 5.17312242e+01] [ 2.10811942e-01 9.77525327e-01 1.60013832e-03 5.18693533e+00] [-8.07009752e-03 1.03513155e-04 9.99967431e-01 -7.76499882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14 meters 0.016741054536827157 Centerline is valid? [True, True] Translation: X:51.79, Y:5.20, Z:-0.78 [[ 9.77312914e-01 -2.11641068e-01 8.21749548e-03 5.17880248e+01] [ 2.11634576e-01 9.77347454e-01 1.66166636e-03 5.19724975e+00] [-8.38302513e-03 1.15138184e-04 9.99964855e-01 -7.78674594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.199999999999996 meters 0.018640830525040685 Centerline is valid? [True, True] Translation: X:51.85, Y:5.21, Z:-0.78 [[ 9.77120001e-01 -2.12617558e-01 5.50257286e-03 5.18465354e+01] [ 2.12614660e-01 9.77135491e-01 1.11316985e-03 5.20630073e+00] [-5.61343868e-03 8.22271374e-05 9.99984241e-01 -7.82462992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26 meters 0.01637698976676591 Centerline is valid? [True, True] Translation: X:51.91, Y:5.22, Z:-0.78 [[ 9.76841697e-01 -2.13893956e-01 5.44744621e-03 5.19051583e+01] [ 2.13891128e-01 9.76856882e-01 1.10338340e-03 5.21531822e+00] [-5.55738236e-03 8.73295035e-05 9.99984554e-01 -7.81505057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32 meters 0.016627925247416537 Centerline is valid? [True, True] Translation: X:51.96, Y:5.23, Z:-0.78 [[ 9.76641434e-01 -2.14789832e-01 6.06938830e-03 5.19621096e+01] [ 2.14786328e-01 9.76660288e-01 1.23107795e-03 5.22514916e+00] [-6.19215355e-03 1.01299891e-04 9.99980823e-01 -7.81936084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.379999999999995 meters 0.016695248950298495 Centerline is valid? [True, True] Translation: X:52.02, Y:5.24, Z:-0.78 [[ 9.76481210e-01 -2.15486875e-01 7.06070586e-03 5.20189573e+01] [ 2.15482131e-01 9.76506729e-01 1.43489762e-03 5.23548224e+00] [-7.20402839e-03 1.20305381e-04 9.99974043e-01 -7.82245382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44 meters 0.01727522348638483 Centerline is valid? [True, True] Translation: X:52.08, Y:5.25, Z:-0.78 [[ 9.76306757e-01 -2.16236482e-01 8.17928910e-03 5.20757445e+01] [ 2.16230116e-01 9.76341008e-01 1.66537960e-03 5.24552437e+00] [-8.34589119e-03 1.42687279e-04 9.99965162e-01 -7.83282808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.5 meters 0.015307495412850196 Centerline is valid? [True, True] Translation: X:52.13, Y:5.25, Z:-0.78 [[ 9.76210890e-01 -2.16636209e-01 9.00286188e-03 5.21333727e+01] [ 2.16628485e-01 9.76252389e-01 1.83613842e-03 5.25468487e+00] [-9.18683950e-03 1.57818007e-04 9.99957788e-01 -7.80813362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.559999999999995 meters 0.015256039063566356 Centerline is valid? [True, True] Translation: X:52.19, Y:5.26, Z:-0.78 [[ 9.76313602e-01 -2.16199635e-01 8.33474075e-03 5.21907892e+01] [ 2.16192981e-01 9.76349168e-01 1.70202035e-03 5.26448303e+00] [-8.50559337e-03 1.40206829e-04 9.99963817e-01 -7.82089602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62 meters 0.017664849896529007 Centerline is valid? [True, True] Translation: X:52.25, Y:5.28, Z:-0.79 [[ 9.76576701e-01 -2.15075808e-01 6.35170052e-03 5.22481925e+01] [ 2.15071914e-01 9.76597352e-01 1.29792294e-03 5.27543953e+00] [-6.48220573e-03 9.85510916e-05 9.99978985e-01 -7.88062188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68 meters 0.01823939549405386 Centerline is valid? [True, True] Translation: X:52.30, Y:5.29, Z:-0.79 [[ 9.77404013e-01 -2.11329497e-01 4.60864743e-03 5.23048435e+01] [ 2.11327395e-01 9.77414877e-01 9.43965502e-04 5.28723320e+00] [-4.70404832e-03 5.12977871e-05 9.99988935e-01 -7.91685691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.739999999999995 meters 0.01679856400751997 Centerline is valid? [True, True] Translation: X:52.36, Y:5.30, Z:-0.79 [[ 9.78142609e-01 -2.07896615e-01 4.00425555e-03 5.23625634e+01] [ 2.07895005e-01 9.78150805e-01 8.18571184e-04 5.30027740e+00] [-4.08694397e-03 3.17853771e-05 9.99991648e-01 -7.92223729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.8 meters 0.015145016368132785 Centerline is valid? [True, True] Translation: X:52.42, Y:5.31, Z:-0.79 [[ 9.79344820e-01 -2.02136290e-01 4.96428316e-03 5.24201739e+01] [ 2.02133732e-01 9.79357402e-01 1.01702405e-03 5.31365893e+00] [-5.06738492e-03 7.43184844e-06 9.99987161e-01 -7.89754239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86 meters 0.013898294418452499 Centerline is valid? [True, True] Translation: X:52.48, Y:5.33, Z:-0.79 [[ 9.80519010e-01 -1.96263678e-01 7.93979699e-03 5.24761944e+01] [ 1.96256908e-01 9.80551155e-01 1.63056963e-03 5.32915235e+00] [-8.10539870e-03 -4.05645098e-05 9.99967150e-01 -7.85975726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.919999999999995 meters 0.01809624717780321 Centerline is valid? [True, True] Translation: X:52.53, Y:5.34, Z:-0.79 [[ 9.81229887e-01 -1.92637177e-01 8.87842567e-03 5.25323613e+01] [ 1.92628525e-01 9.81270050e-01 1.82771940e-03 5.34390659e+00] [-9.06421991e-03 -8.31748648e-05 9.99958916e-01 -7.90681399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98 meters 0.016920344098887725 Centerline is valid? [True, True] Translation: X:52.59, Y:5.36, Z:-0.79 [[ 9.81951428e-01 -1.88995811e-01 7.20940258e-03 5.25901773e+01] [ 1.88990014e-01 9.81977889e-01 1.48330462e-03 5.35730009e+00] [-7.35981228e-03 -9.40280014e-05 9.99972912e-01 -7.91037484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04 meters 0.018473438091232128 Centerline is valid? [True, True] Translation: X:52.65, Y:5.37, Z:-0.80 [[ 9.82418670e-01 -1.86630281e-01 4.76390479e-03 5.26475706e+01] [ 1.86627722e-01 9.82430218e-01 9.80073285e-04 5.37136488e+00] [-4.86311538e-03 -7.37655945e-05 9.99988172e-01 -7.95254529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.1 meters 0.019077978506245867 Centerline is valid? [True, True] Translation: X:52.71, Y:5.38, Z:-0.80 [[ 9.82549078e-01 -1.85961088e-01 3.97268328e-03 5.27052779e+01] [ 1.85959302e-01 9.82557108e-01 8.17676576e-04 5.38331497e+00] [-4.05544422e-03 -6.46499573e-05 9.99991775e-01 -7.96680003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16 meters 0.019450563134425412 Centerline is valid? [True, True] Translation: X:52.76, Y:5.39, Z:-0.80 [[ 9.82422692e-01 -1.86624751e-01 4.10567929e-03 5.27618579e+01] [ 1.86622845e-01 9.82431269e-01 8.45857778e-04 5.39469847e+00] [-4.19140571e-03 -6.47763255e-05 9.99991214e-01 -7.97241911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22 meters 0.017227254371362674 Centerline is valid? [True, True] Translation: X:52.82, Y:5.40, Z:-0.79 [[ 9.81884705e-01 -1.89355802e-01 6.84149850e-03 5.28198680e+01] [ 1.89350541e-01 9.81908535e-01 1.41470787e-03 5.40335075e+00] [-6.98560891e-03 -9.36385763e-05 9.99975596e-01 -7.93835192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28 meters 0.01784245393359604 Centerline is valid? [True, True] Translation: X:52.88, Y:5.41, Z:-0.79 [[ 9.81370399e-01 -1.91956341e-01 8.05620054e-03 5.28778334e+01] [ 1.91949110e-01 9.81403462e-01 1.66867600e-03 5.41323756e+00] [-8.22669604e-03 -9.12087028e-05 9.99966156e-01 -7.94499568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.339999999999996 meters 0.015576211383080124 Centerline is valid? [True, True] Translation: X:52.94, Y:5.42, Z:-0.79 [[ 9.80891474e-01 -1.94328887e-01 9.39145321e-03 5.29360458e+01] [ 1.94319141e-01 9.80936428e-01 1.94812266e-03 5.42265403e+00] [-9.59099507e-03 -8.59577798e-05 9.99954002e-01 -7.91535869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.4 meters 0.01666003813777601 Centerline is valid? [True, True] Translation: X:52.99, Y:5.44, Z:-0.80 [[ 9.80746173e-01 -1.95157159e-01 7.11521477e-03 5.29933068e+01] [ 1.95151581e-01 9.80771981e-01 1.47683030e-03 5.43600934e+00] [-7.26661730e-03 -5.98502574e-05 9.99973596e-01 -7.95798490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46 meters 0.01445502916996998 Centerline is valid? [True, True] Translation: X:53.05, Y:5.45, Z:-0.80 [[ 9.80813958e-01 -1.94888428e-01 4.74138930e-03 5.30506806e+01] [ 1.94885948e-01 9.80825417e-01 9.84102737e-04 5.44994267e+00] [-4.84226538e-03 -4.11915507e-05 9.99988275e-01 -7.96572177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.519999999999996 meters 0.018307343575707898 Centerline is valid? [True, True] Translation: X:53.11, Y:5.46, Z:-0.80 [[ 9.80721563e-01 -1.95389404e-01 2.86306003e-03 5.31070541e+01] [ 1.95388498e-01 9.80725742e-01 5.95489413e-04 5.46320755e+00] [-2.92422900e-03 -2.46003097e-05 9.99995724e-01 -8.03534229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58 meters 0.017546003816159665 Centerline is valid? [True, True] Translation: X:53.16, Y:5.48, Z:-0.80 [[ 9.80625127e-01 -1.95856638e-01 3.81288339e-03 5.31646662e+01] [ 1.95855039e-01 9.80632539e-01 7.91974202e-04 5.47529133e+00] [-3.89415093e-03 -2.98573753e-05 9.99992417e-01 -8.01648828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64 meters 0.014401181274969485 Centerline is valid? [True, True] Translation: X:53.22, Y:5.49, Z:-0.80 [[ 9.80507128e-01 -1.96399189e-01 5.75590720e-03 5.32219727e+01] [ 1.96395533e-01 9.80524021e-01 1.19906207e-03 5.48899134e+00] [-5.87930010e-03 -4.52544394e-05 9.99982716e-01 -7.97874483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.699999999999996 meters 0.014441185829273872 Centerline is valid? [True, True] Translation: X:53.28, Y:5.50, Z:-0.80 [[ 9.80488817e-01 -1.96511845e-01 4.97745698e-03 5.32791397e+01] [ 1.96509109e-01 9.80501450e-01 1.03767604e-03 5.50134247e+00] [-5.08431942e-03 -3.93141202e-05 9.99987074e-01 -7.99788368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76 meters 0.01640090864615045 Centerline is valid? [True, True] Translation: X:53.34, Y:5.51, Z:-0.80 [[ 9.80488195e-01 -1.96529107e-01 4.38297747e-03 5.33363432e+01] [ 1.96526983e-01 9.80497990e-01 9.14438732e-04 5.51355077e+00] [-4.47721443e-03 -3.52230443e-05 9.99989977e-01 -8.03456835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82 meters 0.014949208096084353 Centerline is valid? [True, True] Translation: X:53.39, Y:5.53, Z:-0.80 [[ 9.80764609e-01 -1.95123824e-01 5.24167604e-03 5.33929947e+01] [ 1.95120756e-01 9.80778615e-01 1.09535202e-03 5.52766273e+00] [-5.35465304e-03 -5.15227069e-05 9.99985662e-01 -8.02180159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.879999999999995 meters 0.018810249321305577 Centerline is valid? [True, True] Translation: X:53.45, Y:5.54, Z:-0.81 [[ 9.80924333e-01 -1.94317626e-01 5.30215862e-03 5.34495430e+01] [ 1.94314456e-01 9.80938661e-01 1.11157195e-03 5.54112301e+00] [-5.41709040e-03 -6.00819033e-05 9.99985326e-01 -8.06948391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94 meters 0.01922464408519238 Centerline is valid? [True, True] Translation: X:53.51, Y:5.55, Z:-0.81 [[ 9.81035134e-01 -1.93704605e-01 6.97079152e-03 5.35059438e+01] [ 1.93699114e-01 9.81059896e-01 1.46086151e-03 5.55317442e+00] [-7.12173960e-03 -8.29203196e-05 9.99974637e-01 -8.06592256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.0 meters 0.01869772719663543 Centerline is valid? [True, True] Translation: X:53.56, Y:5.57, Z:-0.81 [[ 9.81173201e-01 -1.92959917e-01 8.10056827e-03 5.35625289e+01] [ 1.92952451e-01 9.81206634e-01 1.70071594e-03 5.56652290e+00] [-8.27650133e-03 -1.05672399e-04 9.99965744e-01 -8.06494958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.059999999999995 meters 0.018166441456756416 Centerline is valid? [True, True] Translation: X:53.62, Y:5.58, Z:-0.81 [[ 9.81476701e-01 -1.91444383e-01 7.24798086e-03 5.36190188e+01] [ 1.91438340e-01 9.81503457e-01 1.52497475e-03 5.58062738e+00] [-7.40586612e-03 -1.09185760e-04 9.99972570e-01 -8.07267826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12 meters 0.01569630704591481 Centerline is valid? [True, True] Translation: X:53.68, Y:5.59, Z:-0.81 [[ 9.81744282e-01 -1.90129388e-01 5.38344052e-03 5.36774626e+01] [ 1.90126043e-01 9.81759038e-01 1.13122928e-03 5.59116723e+00] [-5.50032131e-03 -8.70456361e-05 9.99984869e-01 -8.05767571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18 meters 0.018349364385909384 Centerline is valid? [True, True] Translation: X:53.74, Y:5.60, Z:-0.81 [[ 9.81720483e-01 -1.90290239e-01 3.81020725e-03 5.37354819e+01] [ 1.90288565e-01 9.81727875e-01 8.00497868e-04 5.60222593e+00] [-3.89291360e-03 -6.08262820e-05 9.99992421e-01 -8.10572023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.239999999999995 meters 0.018892137463302434 Centerline is valid? [True, True] Translation: X:53.79, Y:5.62, Z:-0.81 [[ 9.81809797e-01 -1.89828978e-01 3.80554612e-03 5.37915055e+01] [ 1.89827293e-01 9.81817170e-01 8.02392044e-04 5.61514098e+00] [-3.88866778e-03 -6.53998521e-05 9.99992437e-01 -8.12118813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.3 meters 0.018573652211704667 Centerline is valid? [True, True] Translation: X:53.85, Y:5.62, Z:-0.81 [[ 9.81980076e-01 -1.88949461e-01 3.63757815e-03 5.38497386e+01] [ 1.88947922e-01 9.81986811e-01 7.65327781e-04 5.62441118e+00] [-3.71666204e-03 -6.42237999e-05 9.99993091e-01 -8.11659433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36 meters 0.018078182558522303 Centerline is valid? [True, True] Translation: X:53.91, Y:5.63, Z:-0.81 [[ 9.81413466e-01 -1.91874103e-01 3.45498565e-03 5.39069412e+01] [ 1.91872725e-01 9.81419546e-01 7.29084467e-04 5.63311865e+00] [-3.53068288e-03 -5.26158025e-05 9.99993766e-01 -8.12876709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.419999999999995 meters 0.017233179834453598 Centerline is valid? [True, True] Translation: X:53.96, Y:5.64, Z:-0.81 [[ 9.81096819e-01 -1.93471215e-01 4.23326502e-03 5.39647214e+01] [ 1.93469162e-01 9.81105950e-01 8.93074930e-04 5.64367771e+00] [-4.32606579e-03 -5.71867377e-05 9.99990641e-01 -8.12959245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48 meters 0.015671417407694257 Centerline is valid? [True, True] Translation: X:54.02, Y:5.65, Z:-0.81 [[ 9.80934803e-01 -1.94275980e-01 4.87399347e-03 5.40213398e+01] [ 1.94273251e-01 9.80946910e-01 1.03173060e-03 5.65458748e+00] [-4.98156931e-03 -6.51738962e-05 9.99987590e-01 -8.11689085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54 meters 0.017171049298548104 Centerline is valid? [True, True] Translation: X:54.08, Y:5.66, Z:-0.81 [[ 9.80618130e-01 -1.95891352e-01 3.82912878e-03 5.40788484e+01] [ 1.95889689e-01 9.80625605e-01 8.08330529e-04 5.66434099e+00] [-3.91328668e-03 -4.25767279e-05 9.99992342e-01 -8.14843114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.599999999999994 meters 0.018373300616316268 Centerline is valid? [True, True] Translation: X:54.14, Y:5.68, Z:-0.82 [[ 9.80529545e-01 -1.96339235e-01 3.56589517e-03 5.41359323e+01] [ 1.96337793e-01 9.80536029e-01 7.53545329e-04 5.67615576e+00] [-3.64443920e-03 -3.87534711e-05 9.99993358e-01 -8.15957446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66 meters 0.01911545630360959 Centerline is valid? [True, True] Translation: X:54.19, Y:5.69, Z:-0.82 [[ 9.80793431e-01 -1.94997420e-01 4.50032546e-03 5.41926861e+01] [ 1.94995095e-01 9.80803754e-01 9.53886658e-04 5.69051446e+00] [-4.59994154e-03 -5.80243768e-05 9.99989419e-01 -8.15766972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72 meters 0.01925368585366671 Centerline is valid? [True, True] Translation: X:54.25, Y:5.70, Z:-0.82 [[ 9.80951398e-01 -1.94175968e-01 5.48158265e-03 5.42492738e+01] [ 1.94172495e-01 9.80966711e-01 1.16381790e-03 5.70483084e+00] [-5.60323557e-03 -7.72762173e-05 9.99984299e-01 -8.16441583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78 meters 0.015980640049529666 Centerline is valid? [True, True] Translation: X:54.31, Y:5.72, Z:-0.81 [[ 9.81155164e-01 -1.93143290e-01 5.49668890e-03 5.43054245e+01] [ 1.93139763e-01 9.81170557e-01 1.17055643e-03 5.71801788e+00] [-5.61927442e-03 -8.68682932e-05 9.99984208e-01 -8.14305070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.839999999999996 meters 0.01821123822053904 Centerline is valid? [True, True] Translation: X:54.36, Y:5.73, Z:-0.82 [[ 9.81075084e-01 -1.93567555e-01 4.82496004e-03 5.43618569e+01] [ 1.93564850e-01 9.81086946e-01 1.02582498e-03 5.73065068e+00] [-4.93227175e-03 -7.24686565e-05 9.99987834e-01 -8.18121935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.9 meters 0.01983466860840055 Centerline is valid? [True, True] Translation: X:54.42, Y:5.75, Z:-0.82 [[ 9.81428308e-01 -1.91775527e-01 4.54129254e-03 5.44189997e+01] [ 1.91773106e-01 9.81438812e-01 9.66854711e-04 5.74529187e+00] [-4.64241982e-03 -7.80008088e-05 9.99989221e-01 -8.19253219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96 meters 0.01748340468417762 Centerline is valid? [True, True] Translation: X:54.48, Y:5.76, Z:-0.82 [[ 9.82296347e-01 -1.87284785e-01 4.27739436e-03 5.44762376e+01] [ 1.87282581e-01 9.82305655e-01 9.13906001e-04 5.76220171e+00] [-4.37286935e-03 -9.66450732e-05 9.99990434e-01 -8.17144799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.019999999999996 meters 0.018751298253628906 Centerline is valid? [True, True] Translation: X:54.53, Y:5.78, Z:-0.82 [[ 9.82618735e-01 -1.85594445e-01 3.88887897e-03 5.45328605e+01] [ 1.85592618e-01 9.82626426e-01 8.28591044e-04 5.77730096e+00] [-3.97509714e-03 -9.24418543e-05 9.99992095e-01 -8.19825819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08 meters 0.021505503962271723 Centerline is valid? [True, True] Translation: X:54.59, Y:5.79, Z:-0.82 [[ 9.82737651e-01 -1.84956154e-01 4.23447601e-03 5.45896013e+01] [ 1.84953976e-01 9.82746768e-01 9.03642792e-04 5.79183174e+00] [-4.32855191e-03 -1.04860618e-04 9.99990626e-01 -8.22650169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14 meters 0.022851700787416777 Centerline is valid? [True, True] Translation: X:54.65, Y:5.81, Z:-0.82 [[ 9.82619700e-01 -1.85507344e-01 6.74907890e-03 5.46457412e+01] [ 1.85501787e-01 9.82642863e-01 1.44563504e-03 5.80712374e+00] [-6.90011013e-03 -1.68543268e-04 9.99976180e-01 -8.22687032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.199999999999996 meters 0.019655719318868954 Centerline is valid? [True, True] Translation: X:54.70, Y:5.82, Z:-0.82 [[ 9.82519753e-01 -1.85943283e-01 8.94596894e-03 5.47036276e+01] [ 1.85933536e-01 9.82560455e-01 1.91645853e-03 5.81771130e+00] [-9.14630790e-03 -2.19602716e-04 9.99958148e-01 -8.20036606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26 meters 0.019890707625753495 Centerline is valid? [True, True] Translation: X:54.76, Y:5.83, Z:-0.82 [[ 9.82405380e-01 -1.86527206e-01 9.34186795e-03 5.47605001e+01] [ 1.86516581e-01 9.82449770e-01 2.00370739e-03 5.83136779e+00] [-9.55166196e-03 -2.26039656e-04 9.99954356e-01 -8.22102030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32 meters 0.020214442421250943 Centerline is valid? [True, True] Translation: X:54.82, Y:5.84, Z:-0.83 [[ 9.82130526e-01 -1.87979491e-01 9.12909503e-03 5.48181260e+01] [ 1.87969381e-01 9.82172931e-01 1.96091870e-03 5.84410064e+00] [-9.33496253e-03 -2.09887780e-04 9.99956406e-01 -8.25197989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.379999999999995 meters 0.020901325539414567 Centerline is valid? [True, True] Translation: X:54.87, Y:5.86, Z:-0.83 [[ 9.81720000e-01 -1.90119397e-01 8.96979271e-03 5.48743951e+01] [ 1.90109698e-01 9.81760958e-01 1.92970819e-03 5.85718605e+00] [-9.17306724e-03 -1.89188545e-04 9.99957909e-01 -8.28010600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44 meters 0.015771377921373037 Centerline is valid? [True, True] Translation: X:54.93, Y:5.86, Z:-0.82 [[ 9.80654628e-01 -1.95481357e-01 1.01753891e-02 5.49331731e+01] [ 1.95469144e-01 9.80707405e-01 2.19100724e-03 5.86313861e+00] [-1.04073805e-02 -1.59646810e-04 9.99945829e-01 -8.24858323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.5 meters 0.017587072140261614 Centerline is valid? [True, True] Translation: X:54.99, Y:5.87, Z:-0.83 [[ 9.79518438e-01 -2.01064771e-01 1.07976043e-02 5.49903163e+01] [ 2.01051347e-01 9.79577943e-01 2.32579190e-03 5.87104953e+00] [-1.10447298e-02 -1.07283166e-04 9.99938999e-01 -8.28734433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.559999999999995 meters 0.01609539461554346 Centerline is valid? [True, True] Translation: X:55.05, Y:5.88, Z:-0.83 [[ 9.77871815e-01 -2.08875898e-01 1.17291453e-02 5.50497139e+01] [ 2.08860611e-01 9.77942155e-01 2.52712039e-03 5.87588870e+00] [-1.19982802e-02 -2.14433414e-05 9.99928018e-01 -8.28779059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62 meters 0.015777113475115876 Centerline is valid? [True, True] Translation: X:55.11, Y:5.88, Z:-0.83 [[ 9.76662697e-01 -2.14365023e-01 1.33271708e-02 5.51074629e+01] [ 2.14345742e-01 9.76753620e-01 2.87541899e-03 5.88288642e+00] [-1.36337515e-02 4.83078510e-05 9.99907055e-01 -8.28928136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68 meters 0.014443952807658336 Centerline is valid? [True, True] Translation: X:55.17, Y:5.89, Z:-0.83 [[ 9.76103376e-01 -2.16914823e-01 1.30444766e-02 5.51653690e+01] [ 2.16896527e-01 9.76190531e-01 2.81830153e-03 5.89237030e+00] [-1.33452259e-02 7.83480369e-05 9.99910945e-01 -8.27693949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.739999999999995 meters 0.014470245221680113 Centerline is valid? [True, True] Translation: X:55.22, Y:5.90, Z:-0.83 [[ 9.75895680e-01 -2.17849363e-01 1.30106478e-02 5.52220998e+01] [ 2.17831202e-01 9.75982401e-01 2.81429426e-03 5.90400849e+00] [-1.33112555e-02 8.76674408e-05 9.99911397e-01 -8.29258971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.8 meters 0.016933638235698687 Centerline is valid? [True, True] Translation: X:55.28, Y:5.92, Z:-0.83 [[ 9.75483883e-01 -2.19738498e-01 1.20907357e-02 5.52802042e+01] [ 2.19722917e-01 9.75558805e-01 2.61873158e-03 5.91526605e+00] [-1.23706598e-02 1.02081266e-04 9.99923475e-01 -8.34117521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86 meters 0.017048095565766697 Centerline is valid? [True, True] Translation: X:55.34, Y:5.93, Z:-0.83 [[ 9.75296757e-01 -2.20584422e-01 1.17791546e-02 5.53369950e+01] [ 2.20569654e-01 9.75367880e-01 2.55470571e-03 5.92582269e+00] [-1.20525373e-02 1.06527850e-04 9.99927360e-01 -8.34892807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.919999999999995 meters 0.016144968309150187 Centerline is valid? [True, True] Translation: X:55.39, Y:5.94, Z:-0.83 [[ 9.75336725e-01 -2.20376471e-01 1.23484438e-02 5.53932085e+01] [ 2.20360209e-01 9.75414886e-01 2.67928284e-03 5.93717771e+00] [-1.26353068e-02 1.07902712e-04 9.99920166e-01 -8.34238115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98 meters 0.015269646683678766 Centerline is valid? [True, True] Translation: X:55.45, Y:5.95, Z:-0.84 [[ 9.75980788e-01 -2.17532568e-01 1.18778547e-02 5.54504515e+01] [ 2.17517298e-01 9.76053061e-01 2.57824879e-03 5.95306380e+00] [-1.21542695e-02 6.73175802e-05 9.99926132e-01 -8.36181347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04 meters 0.01638564044146381 Centerline is valid? [True, True] Translation: X:55.51, Y:5.97, Z:-0.84 [[ 9.76553914e-01 -2.15004015e-01 1.07576045e-02 5.55062118e+01] [ 2.14991314e-01 9.76613164e-01 2.33722049e-03 5.96785860e+00] [-1.10085299e-02 3.03697066e-05 9.99939404e-01 -8.39710524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.099999999999994 meters 0.01749185315811733 Centerline is valid? [True, True] Translation: X:55.56, Y:5.98, Z:-0.84 [[ 9.77632799e-01 -2.10031410e-01 1.09962272e-02 5.55619377e+01] [ 2.10017787e-01 9.77694638e-01 2.39234003e-03 5.98430539e+00] [-1.12534189e-02 -2.94267937e-05 9.99936678e-01 -8.40938618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16 meters 0.016492448957058918 Centerline is valid? [True, True] Translation: X:55.62, Y:6.00, Z:-0.84 [[ 9.78786238e-01 -2.04577084e-01 1.12123128e-02 5.56171835e+01] [ 2.04562518e-01 9.78850452e-01 2.44318895e-03 6.00216818e+00] [-1.14749979e-02 -9.77407854e-05 9.99934155e-01 -8.40441745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22 meters 0.017280836741821553 Centerline is valid? [True, True] Translation: X:55.67, Y:6.02, Z:-0.84 [[ 9.79448558e-01 -2.01423832e-01 1.04384678e-02 5.56729298e+01] [ 2.01411013e-01 9.79504172e-01 2.27600253e-03 6.01863648e+00] [-1.06829640e-02 -1.26805020e-04 9.99942927e-01 -8.42648822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28 meters 0.015610842127252913 Centerline is valid? [True, True] Translation: X:55.73, Y:6.03, Z:-0.84 [[ 9.80042040e-01 -1.98592522e-01 8.86624492e-03 5.57308003e+01] [ 1.98583161e-01 9.80082136e-01 1.93274547e-03 6.03102551e+00] [-9.07347705e-03 -1.33484870e-04 9.99958826e-01 -8.42533545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.339999999999996 meters 0.018337435056323317 Centerline is valid? [True, True] Translation: X:55.79, Y:6.04, Z:-0.85 [[ 9.80026917e-01 -1.98648482e-01 9.27485172e-03 5.57861755e+01] [ 1.98638210e-01 9.80070793e-01 2.02514649e-03 6.04496480e+00] [-9.49230356e-03 -1.42358122e-04 9.99954937e-01 -8.45841827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.4 meters 0.017857907851554913 Centerline is valid? [True, True] Translation: X:55.84, Y:6.06, Z:-0.85 [[ 9.79905650e-01 -1.99204774e-01 1.01180153e-02 5.58430057e+01] [ 1.99192571e-01 9.79957874e-01 2.20995867e-03 6.05610369e+00] [-1.03554631e-02 -1.50117492e-04 9.99946369e-01 -8.45028707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46 meters 0.016930826605041208 Centerline is valid? [True, True] Translation: X:55.90, Y:6.07, Z:-0.84 [[ 9.79592260e-01 -2.00577843e-01 1.29434484e-02 5.59000810e+01] [ 2.00557925e-01 9.79677752e-01 2.83221015e-03 6.06866581e+00] [-1.32484870e-02 -1.78499987e-04 9.99912219e-01 -8.41881560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.519999999999996 meters 0.01778154214697939 Centerline is valid? [True, True] Translation: X:55.96, Y:6.08, Z:-0.84 [[ 9.79229568e-01 -2.02335330e-01 1.30332943e-02 5.59582843e+01] [ 2.02315245e-01 9.79316287e-01 2.85525403e-03 6.08064511e+00] [-1.33414362e-02 -1.59115028e-04 9.99910986e-01 -8.43551366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58 meters 0.017449909002116983 Centerline is valid? [True, True] Translation: X:56.02, Y:6.09, Z:-0.85 [[ 9.78777543e-01 -2.04528812e-01 1.27470076e-02 5.60162688e+01] [ 2.04509749e-01 9.78860536e-01 2.79535427e-03 6.09115328e+00] [-1.30492731e-02 -1.29142669e-04 9.99914846e-01 -8.45697502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64 meters 0.016146696379105797 Centerline is valid? [True, True] Translation: X:56.07, Y:6.10, Z:-0.85 [[ 9.78490443e-01 -2.05931906e-01 1.21861550e-02 5.60725687e+01] [ 2.05914556e-01 9.78566318e-01 2.67531328e-03 6.10376098e+00] [-1.24758931e-02 -1.08461800e-04 9.99922167e-01 -8.46829917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.699999999999996 meters 0.01642537932737693 Centerline is valid? [True, True] Translation: X:56.13, Y:6.12, Z:-0.85 [[ 9.78358848e-01 -2.06622932e-01 1.09967671e-02 5.61289777e+01] [ 2.06608815e-01 9.78420643e-01 2.41708071e-03 6.11673963e+00] [-1.12588882e-02 -9.27432826e-05 9.99936612e-01 -8.49027497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76 meters 0.01672708724599667 Centerline is valid? [True, True] Translation: X:56.19, Y:6.13, Z:-0.85 [[ 9.78295895e-01 -2.06999176e-01 9.40653625e-03 5.61853069e+01] [ 2.06988843e-01 9.78341114e-01 2.06974737e-03 6.12981735e+00] [-9.63123715e-03 -7.77773099e-05 9.99953616e-01 -8.52077742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82 meters 0.014392798129912825 Centerline is valid? [True, True] Translation: X:56.24, Y:6.14, Z:-0.85 [[ 9.78581607e-01 -2.05627104e-01 9.77412736e-03 5.62428624e+01] [ 2.05615846e-01 9.78630413e-01 2.15387978e-03 6.14281453e+00] [-1.00081544e-02 -9.80316648e-05 9.99949912e-01 -8.49197760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.879999999999995 meters 0.01771374067037983 Centerline is valid? [True, True] Translation: X:56.30, Y:6.16, Z:-0.85 [[ 9.78718709e-01 -2.04928210e-01 1.06825619e-02 5.62987015e+01] [ 2.04914679e-01 9.78777000e-01 2.35781679e-03 6.15735174e+00] [-1.09390290e-02 -1.18625663e-04 9.99940160e-01 -8.53802792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94 meters 0.01497316313059936 Centerline is valid? [True, True] Translation: X:56.36, Y:6.17, Z:-0.85 [[ 9.79004541e-01 -2.03523278e-01 1.13306960e-02 5.63560105e+01] [ 2.03507956e-01 9.79070097e-01 2.50143896e-03 6.17072546e+00] [-1.16026467e-02 -1.43033321e-04 9.99932677e-01 -8.50001553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.0 meters 0.01942574701434317 Centerline is valid? [True, True] Translation: X:56.41, Y:6.19, Z:-0.86 [[ 9.79478412e-01 -2.01266812e-01 1.06635561e-02 5.64116031e+01] [ 2.01253074e-01 9.79536443e-01 2.35724906e-03 6.18574693e+00] [-1.09197779e-02 -1.62801111e-04 9.99940364e-01 -8.56035540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.059999999999995 meters 0.01819550245634263 Centerline is valid? [True, True] Translation: X:56.47, Y:6.20, Z:-0.86 [[ 9.79976724e-01 -1.98810733e-01 1.09504632e-02 5.64685817e+01] [ 1.98796087e-01 9.80037884e-01 2.42108151e-03 6.20073632e+00] [-1.12132058e-02 -1.95694293e-04 9.99937111e-01 -8.55425222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12 meters 0.02115543702978136 Centerline is valid? [True, True] Translation: X:56.52, Y:6.22, Z:-0.86 [[ 9.80390553e-01 -1.96851905e-01 9.14831142e-03 5.65242999e+01] [ 1.96841575e-01 9.80433217e-01 2.02513196e-03 6.21622875e+00] [-9.36795948e-03 -1.84652220e-04 9.99956103e-01 -8.59612409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18 meters 0.020831505246476104 Centerline is valid? [True, True] Translation: X:56.58, Y:6.23, Z:-0.86 [[ 9.80183579e-01 -1.97882143e-01 9.09990800e-03 5.65805082e+01] [ 1.97871958e-01 9.80225804e-01 2.01518814e-03 6.22860308e+00] [-9.31873439e-03 -1.74637702e-04 9.99956564e-01 -8.60608407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.239999999999995 meters 0.019982847798615897 Centerline is valid? [True, True] Translation: X:56.64, Y:6.24, Z:-0.86 [[ 9.79923153e-01 -1.99122449e-01 1.00431660e-02 5.66374077e+01] [ 1.99110099e-01 9.79974600e-01 2.22504594e-03 6.24101140e+00] [-1.02851042e-02 -1.80678244e-04 9.99947091e-01 -8.60591082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.3 meters 0.019819210098214947 Centerline is valid? [True, True] Translation: X:56.70, Y:6.25, Z:-0.86 [[ 9.79585520e-01 -2.00730583e-01 1.09289629e-02 5.66951039e+01] [ 2.00716053e-01 9.79646467e-01 2.42174768e-03 6.25291505e+00] [-1.11926387e-02 -1.78690654e-04 9.99937344e-01 -8.61119808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36 meters 0.019255571756692198 Centerline is valid? [True, True] Translation: X:56.75, Y:6.27, Z:-0.86 [[ 9.79598400e-01 -2.00731066e-01 9.69607153e-03 5.67515773e+01] [ 2.00719606e-01 9.79646372e-01 2.15091500e-03 6.26583236e+00] [-9.93047675e-03 -1.60841233e-04 9.99950679e-01 -8.62572982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.419999999999995 meters 0.018344011573797274 Centerline is valid? [True, True] Translation: X:56.81, Y:6.27, Z:-0.86 [[ 9.79536398e-01 -2.01086585e-01 8.52230009e-03 5.68090306e+01] [ 2.01077748e-01 9.79573461e-01 1.89024069e-03 6.27365394e+00] [-8.72832104e-03 -1.37914654e-04 9.99961898e-01 -8.64583914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48 meters 0.019769377073313193 Centerline is valid? [True, True] Translation: X:56.87, Y:6.29, Z:-0.87 [[ 9.79633243e-01 -2.00677055e-01 6.88688523e-03 5.68661718e+01] [ 2.00671263e-01 9.79657443e-01 1.52902830e-03 6.28753171e+00] [-7.05362928e-03 -1.15886987e-04 9.99975116e-01 -8.67759973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54 meters 0.019054475669814473 Centerline is valid? [True, True] Translation: X:56.92, Y:6.30, Z:-0.87 [[ 9.79525473e-01 -2.01230820e-01 6.00042970e-03 5.69227986e+01] [ 2.01226430e-01 9.79543847e-01 1.33288275e-03 6.29868071e+00] [-6.14590107e-03 -9.81475561e-05 9.99981109e-01 -8.69485633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.599999999999994 meters 0.016433845577493906 Centerline is valid? [True, True] Translation: X:56.98, Y:6.31, Z:-0.87 [[ 9.79191698e-01 -2.02841780e-01 6.23150682e-03 5.69797839e+01] [ 2.02837055e-01 9.79211521e-01 1.38767442e-03 6.30980562e+00] [-6.38344162e-03 -9.48187795e-05 9.99979621e-01 -8.67562276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66 meters 0.017383832735660944 Centerline is valid? [True, True] Translation: X:57.04, Y:6.32, Z:-0.87 [[ 9.78819666e-01 -2.04629178e-01 6.24193191e-03 5.70380339e+01] [ 2.04624476e-01 9.78839564e-01 1.38980243e-03 6.31893737e+00] [-6.39424404e-03 -8.31139031e-05 9.99979553e-01 -8.69440473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72 meters 0.015831024904688264 Centerline is valid? [True, True] Translation: X:57.10, Y:6.33, Z:-0.87 [[ 9.78417292e-01 -2.06497030e-01 7.65373846e-03 5.70963588e+01] [ 2.06489993e-01 9.78447223e-01 1.70705093e-03 6.32950489e+00] [-7.84128009e-03 -8.97877417e-05 9.99969253e-01 -8.67968150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78 meters 0.01726302360028338 Centerline is valid? [True, True] Translation: X:57.15, Y:6.34, Z:-0.87 [[ 9.78200105e-01 -2.07511322e-01 7.97526774e-03 5.71543779e+01] [ 2.07503697e-01 9.78232612e-01 1.78104339e-03 6.34190061e+00] [-8.17125366e-03 -8.73192940e-05 9.99966611e-01 -8.69868307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.839999999999996 meters 0.015317930424826627 Centerline is valid? [True, True] Translation: X:57.21, Y:6.36, Z:-0.87 [[ 9.78010960e-01 -2.08334843e-01 9.54751131e-03 5.72123446e+01] [ 2.08323917e-01 9.78057556e-01 2.13603717e-03 6.35500282e+00] [-9.78302655e-03 -1.00092810e-04 9.99952140e-01 -8.67486891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.9 meters 0.014418695351920837 Centerline is valid? [True, True] Translation: X:57.27, Y:6.37, Z:-0.87 [[ 9.77581561e-01 -2.10341453e-01 9.52710159e-03 5.72704898e+01] [ 2.10330661e-01 9.77627980e-01 2.13223594e-03 6.36657410e+00] [-9.76245869e-03 -8.05929698e-05 9.99952343e-01 -8.67047630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96 meters 0.017329435583787866 Centerline is valid? [True, True] Translation: X:57.33, Y:6.38, Z:-0.87 [[ 9.77291093e-01 -2.11687309e-01 9.51854136e-03 5.73270061e+01] [ 2.11676568e-01 9.77337443e-01 2.13364051e-03 6.37848325e+00] [-9.75449149e-03 -7.03356955e-05 9.99952421e-01 -8.71509252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.019999999999996 meters 0.014282348126480581 Centerline is valid? [True, True] Translation: X:57.38, Y:6.39, Z:-0.87 [[ 9.77272176e-01 -2.11739280e-01 1.02747654e-02 5.73834763e+01] [ 2.11726766e-01 9.77326185e-01 2.30325683e-03 6.39141804e+00] [-1.05294872e-02 -7.54659708e-05 9.99944561e-01 -8.67999255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08 meters 0.014658046233357525 Centerline is valid? [True, True] Translation: X:57.44, Y:6.41, Z:-0.87 [[ 9.77198595e-01 -2.12019080e-01 1.14374957e-02 5.74394659e+01] [ 2.12003546e-01 9.77265523e-01 2.56784117e-03 6.40554805e+00] [-1.17219015e-02 -8.45011395e-05 9.99931293e-01 -8.69828428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14 meters 0.015438631090904202 Centerline is valid? [True, True] Translation: X:57.50, Y:6.42, Z:-0.87 [[ 9.77107287e-01 -2.12435023e-01 1.15200392e-02 5.74950551e+01] [ 2.12419248e-01 9.77175191e-01 2.59021693e-03 6.41810294e+00] [-1.18073493e-02 -8.38417780e-05 9.99930287e-01 -8.70970478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.199999999999996 meters 0.014402397485833553 Centerline is valid? [True, True] Translation: X:57.55, Y:6.43, Z:-0.87 [[ 9.77084087e-01 -2.12490009e-01 1.24371432e-02 5.75511656e+01] [ 2.12471594e-01 9.77163235e-01 2.79899455e-03 6.43161863e+00] [-1.27478775e-02 -9.23133943e-05 9.99918738e-01 -8.70120423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26 meters 0.015757454786826205 Centerline is valid? [True, True] Translation: X:57.61, Y:6.45, Z:-0.87 [[ 9.77212024e-01 -2.11945370e-01 1.16541961e-02 5.76084004e+01] [ 2.11929122e-01 9.77281510e-01 2.62613606e-03 6.44666074e+00] [-1.19460278e-02 -9.64281879e-05 9.99928639e-01 -8.74618878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32 meters 0.016020991249790027 Centerline is valid? [True, True] Translation: X:57.66, Y:6.46, Z:-0.88 [[ 9.77201680e-01 -2.12011198e-01 1.13193566e-02 5.76648957e+01] [ 2.11995843e-01 9.77267232e-01 2.55340224e-03 6.45956083e+00] [-1.16033861e-02 -9.55324245e-05 9.99932674e-01 -8.76006556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.379999999999995 meters 0.015448025895143535 Centerline is valid? [True, True] Translation: X:57.72, Y:6.47, Z:-0.88 [[ 9.77219189e-01 -2.11972004e-01 1.05131360e-02 5.77218444e+01] [ 2.11958726e-01 9.77275734e-01 2.37434513e-03 6.47293612e+00] [-1.07775274e-02 -9.19047214e-05 9.99941917e-01 -8.76344027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44 meters 0.014524962133942977 Centerline is valid? [True, True] Translation: X:57.78, Y:6.49, Z:-0.88 [[ 9.77430940e-01 -2.11011883e-01 1.01362173e-02 5.77787473e+01] [ 2.10999456e-01 9.77483491e-01 2.29231092e-03 6.48705227e+00] [-1.03916900e-02 -1.01839273e-04 9.99946000e-01 -8.77114354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.5 meters 0.016689724966106077 Centerline is valid? [True, True] Translation: X:57.84, Y:6.50, Z:-0.88 [[ 9.77559920e-01 -2.10439091e-01 9.59128623e-03 5.78356410e+01] [ 2.10427905e-01 9.77606965e-01 2.17225291e-03 6.49983999e+00] [-9.83363515e-03 -1.05233116e-04 9.99951643e-01 -8.81240366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.559999999999995 meters 0.014681907865844885 Centerline is valid? [True, True] Translation: X:57.89, Y:6.51, Z:-0.88 [[ 9.77762869e-01 -2.09389226e-01 1.16586305e-02 5.78922621e+01] [ 2.09372615e-01 9.77832364e-01 2.64123859e-03 6.51329824e+00] [-1.19532331e-02 -1.41507074e-04 9.99928548e-01 -8.78192264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62 meters 0.0181092260822801 Centerline is valid? [True, True] Translation: X:57.95, Y:6.53, Z:-0.88 [[ 9.77488482e-01 -2.10727976e-01 1.04875415e-02 5.79487353e+01] [ 2.10714582e-01 9.77544734e-01 2.37860628e-03 6.52525313e+00] [-1.07532798e-02 -1.15182322e-04 9.99942175e-01 -8.83910673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68 meters 0.014339344643953103 Centerline is valid? [True, True] Translation: X:58.01, Y:6.54, Z:-0.88 [[ 9.77351815e-01 -2.11329206e-01 1.11084037e-02 5.80054657e+01] [ 2.11314177e-01 9.77414934e-01 2.52304679e-03 6.53732259e+00] [-1.13907132e-02 -1.18541167e-04 9.99935117e-01 -8.80876719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.739999999999995 meters 0.01698312014062221 Centerline is valid? [True, True] Translation: X:58.06, Y:6.55, Z:-0.89 [[ 9.77160508e-01 -2.12262542e-01 1.00972897e-02 5.80621454e+01] [ 2.12250147e-01 9.77212670e-01 2.29605070e-03 6.54896404e+00] [-1.03545650e-02 -1.00458847e-04 9.99946385e-01 -8.85213371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.8 meters 0.01640323801278257 Centerline is valid? [True, True] Translation: X:58.12, Y:6.56, Z:-0.89 [[ 9.77151904e-01 -2.12289685e-01 1.03559827e-02 5.81184599e+01] [ 2.12276614e-01 9.77206774e-01 2.35809258e-03 6.56341746e+00] [-1.06205352e-02 -1.05881706e-04 9.99943595e-01 -8.86129921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86 meters 0.014347686387861668 Centerline is valid? [True, True] Translation: X:58.17, Y:6.58, Z:-0.88 [[ 9.77120002e-01 -2.12405262e-01 1.09775463e-02 5.81742345e+01] [ 2.12390539e-01 9.77181657e-01 2.50350722e-03 6.57666705e+00] [-1.12588150e-02 -1.14700005e-04 9.99936611e-01 -8.84230855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.919999999999995 meters 0.014168752737543007 Centerline is valid? [True, True] Translation: X:58.23, Y:6.59, Z:-0.89 [[ 9.76854062e-01 -2.13677998e-01 9.89213804e-03 5.82307820e+01] [ 2.13666095e-01 9.76904143e-01 2.25720146e-03 6.58801587e+00] [-1.01459849e-02 -9.13419076e-05 9.99948524e-01 -8.86115298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98 meters 0.014363191551842515 Centerline is valid? [True, True] Translation: X:58.29, Y:6.60, Z:-0.89 [[ 9.76718528e-01 -2.14356528e-01 8.49686170e-03 5.82859369e+01] [ 2.14347746e-01 9.76755483e-01 1.94177940e-03 6.60069553e+00] [-8.71558935e-03 -7.52887654e-05 9.99962016e-01 -8.88995542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04 meters 0.015265876901213078 Centerline is valid? [True, True] Translation: X:58.34, Y:6.61, Z:-0.89 [[ 9.76496097e-01 -2.15407527e-01 7.41411487e-03 5.83431402e+01] [ 2.15400874e-01 9.76524242e-01 1.69388122e-03 6.61265869e+00] [-7.60493766e-03 -5.70615819e-05 9.99971080e-01 -8.91676358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.099999999999994 meters 0.013977099243189548 Centerline is valid? [True, True] Translation: X:58.40, Y:6.62, Z:-0.89 [[ 9.76296130e-01 -2.16325121e-01 7.02208293e-03 5.84002560e+01] [ 2.16319164e-01 9.76321381e-01 1.60601302e-03 6.62451061e+00] [-7.20323066e-03 -4.89331841e-05 9.99974055e-01 -8.89713705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16 meters 0.016430947564890594 Centerline is valid? [True, True] Translation: X:58.46, Y:6.64, Z:-0.89 [[ 9.75908541e-01 -2.18077483e-01 6.68811770e-03 5.84569481e+01] [ 2.18072109e-01 9.75931458e-01 1.53143510e-03 6.63677189e+00] [-6.86111597e-03 -3.60486629e-05 9.99976462e-01 -8.94012547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22 meters 0.014188356971552886 Centerline is valid? [True, True] Translation: X:58.51, Y:6.65, Z:-0.89 [[ 9.75693772e-01 -2.18955857e-01 8.94406256e-03 5.85147958e+01] [ 2.18946243e-01 9.75734765e-01 2.05231775e-03 6.64875570e+00] [-9.17639977e-03 -4.41647586e-05 9.99957895e-01 -8.90113732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28 meters 0.014356083243893411 Centerline is valid? [True, True] Translation: X:58.57, Y:6.66, Z:-0.89 [[ 9.75311648e-01 -2.20580377e-01 1.05587435e-02 5.85724839e+01] [ 2.20567036e-01 9.75368800e-01 2.42626329e-03 6.66148040e+00] [-1.08338551e-02 -3.74520831e-05 9.99941311e-01 -8.90033948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.339999999999996 meters 0.013650210484989015 Centerline is valid? [True, True] Translation: X:58.63, Y:6.67, Z:-0.89 [[ 9.75042341e-01 -2.21632378e-01 1.30966199e-02 5.86285248e+01] [ 2.21611885e-01 9.75130293e-01 3.01411639e-03 6.67444915e+00] [-1.34389366e-02 -3.65244878e-05 9.99909693e-01 -8.87512960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.4 meters 0.0166591943397236 Centerline is valid? [True, True] Translation: X:58.69, Y:6.69, Z:-0.89 [[ 9.74674523e-01 -2.23287410e-01 1.23412826e-02 5.86853719e+01] [ 2.23269338e-01 9.74752652e-01 2.84086916e-03 6.68839319e+00] [-1.26640282e-02 -1.34928090e-05 9.99919808e-01 -8.92688617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46 meters 0.01637006961123795 Centerline is valid? [True, True] Translation: X:58.74, Y:6.70, Z:-0.90 [[ 9.74962044e-01 -2.22060705e-01 1.17497229e-02 5.87416965e+01] [ 2.22044196e-01 9.75032842e-01 2.70795837e-03 6.70440872e+00] [-1.20576968e-02 -3.11988655e-05 9.99927303e-01 -8.95283651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.519999999999996 meters 0.014102516716673483 Centerline is valid? [True, True] Translation: X:58.80, Y:6.72, Z:-0.89 [[ 9.75580385e-01 -2.19355199e-01 1.12342898e-02 5.87983659e+01] [ 2.19339888e-01 9.75645065e-01 2.59246848e-03 6.72023336e+00] [-1.15293508e-02 -6.50335295e-05 9.99933533e-01 -8.94607602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58 meters 0.01831332373417586 Centerline is valid? [True, True] Translation: X:58.85, Y:6.74, Z:-0.90 [[ 9.75988495e-01 -2.17658692e-01 8.43508888e-03 5.88545350e+01] [ 2.17649986e-01 9.76024943e-01 1.94778815e-03 6.73725267e+00] [-8.65681017e-03 -6.51218400e-05 9.99962527e-01 -9.01517995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64 meters 0.017200002570372287 Centerline is valid? [True, True] Translation: X:58.91, Y:6.75, Z:-0.90 [[ 9.76559061e-01 -2.15076176e-01 8.63937117e-03 5.89109361e+01] [ 2.15066922e-01 9.76597271e-01 1.99725623e-03 6.75318187e+00] [-8.86674855e-03 -9.23957025e-05 9.99960685e-01 -9.01863792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.699999999999996 meters 0.017650824778730007 Centerline is valid? [True, True] Translation: X:58.97, Y:6.77, Z:-0.90 [[ 9.76567843e-01 -2.15005246e-01 9.38045526e-03 5.89677267e+01] [ 2.14994309e-01 9.76612888e-01 2.17117489e-03 6.76660871e+00] [-9.62788750e-03 -1.03555081e-04 9.99953645e-01 -9.02665144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76 meters 0.016272230207955787 Centerline is valid? [True, True] Translation: X:59.02, Y:6.78, Z:-0.90 [[ 9.76138562e-01 -2.16809664e-01 1.21275514e-02 5.90246369e+01] [ 2.16791452e-01 9.76213889e-01 2.81248336e-03 6.77919575e+00] [-1.24488576e-02 -1.16223992e-04 9.99922503e-01 -9.00216206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82 meters 0.017929571699426806 Centerline is valid? [True, True] Translation: X:59.08, Y:6.79, Z:-0.90 [[ 9.75729698e-01 -2.18591241e-01 1.30163883e-02 5.90823264e+01] [ 2.18570407e-01 9.75816509e-01 3.01966612e-03 6.79341212e+00] [-1.33616791e-02 -1.01380629e-04 9.99910724e-01 -9.02291724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.879999999999995 meters 0.015141082055493738 Centerline is valid? [True, True] Translation: X:59.14, Y:6.81, Z:-0.90 [[ 9.75806977e-01 -2.18167618e-01 1.42700794e-02 5.91389607e+01] [ 2.18142476e-01 9.75911305e-01 3.31426726e-03 6.80740322e+00] [-1.46493976e-02 -1.21174675e-04 9.99892684e-01 -9.00667518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94 meters 0.017551964867333347 Centerline is valid? [True, True] Translation: X:59.19, Y:6.82, Z:-0.91 [[ 9.75706261e-01 -2.18685418e-01 1.31901596e-02 5.91937635e+01] [ 2.18663934e-01 9.75795407e-01 3.06722312e-03 6.82158794e+00] [-1.35416542e-02 -1.08496603e-04 9.99908302e-01 -9.05148304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.0 meters 0.01498066717731196 Centerline is valid? [True, True] Translation: X:59.25, Y:6.84, Z:-0.91 [[ 9.75680028e-01 -2.18816970e-01 1.29467214e-02 5.92504436e+01] [ 2.18796251e-01 9.75765916e-01 3.01301957e-03 6.83566926e+00] [-1.32922692e-02 -1.07048923e-04 9.99911648e-01 -9.05403692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.059999999999995 meters 0.013769727336591408 Centerline is valid? [True, True] Translation: X:59.31, Y:6.85, Z:-0.90 [[ 9.75506265e-01 -2.19557339e-01 1.34945239e-02 5.93069977e+01] [ 2.19534843e-01 9.75599592e-01 3.14464126e-03 6.84858006e+00] [-1.38556810e-02 -1.05099072e-04 9.99904000e-01 -9.04682473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12 meters 0.01365806562273917 Centerline is valid? [True, True] Translation: X:59.36, Y:6.86, Z:-0.91 [[ 9.75221241e-01 -2.20777964e-01 1.41641140e-02 5.93630243e+01] [ 2.20753245e-01 9.75324090e-01 3.30509682e-03 6.86140946e+00] [-1.45442942e-02 -9.64264910e-05 9.99894222e-01 -9.05620090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18 meters 0.014434509974245597 Centerline is valid? [True, True] Translation: X:59.42, Y:6.87, Z:-0.91 [[ 9.74805467e-01 -2.22587039e-01 1.44676326e-02 5.94212807e+01] [ 2.22561428e-01 9.74912819e-01 3.37722245e-03 6.87295859e+00] [-1.48564064e-02 -7.21979287e-05 9.99889635e-01 -9.08190449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.239999999999995 meters 0.013326164868037303 Centerline is valid? [True, True] Translation: X:59.48, Y:6.88, Z:-0.91 [[ 9.74244639e-01 -2.25015316e-01 1.46796258e-02 5.94777073e+01] [ 2.24989192e-01 9.74355226e-01 3.42888774e-03 6.88410088e+00] [-1.50747224e-02 -3.78183484e-05 9.99886369e-01 -9.08478768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.3 meters 0.013200978479791193 Centerline is valid? [True, True] Translation: X:59.53, Y:6.89, Z:-0.91 [[ 9.73600608e-01 -2.27824171e-01 1.40713914e-02 5.95344448e+01] [ 2.27800444e-01 9.73702289e-01 3.28795170e-03 6.89461264e+00] [-1.44504208e-02 4.31743225e-06 9.99895587e-01 -9.10351293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36 meters 0.013680733677577935 Centerline is valid? [True, True] Translation: X:59.59, Y:6.90, Z:-0.91 [[ 9.72756571e-01 -2.31434954e-01 1.35098079e-02 5.95916654e+01] [ 2.31413374e-01 9.72850379e-01 3.16079174e-03 6.90464273e+00] [-1.38745395e-02 5.16693056e-05 9.99903743e-01 -9.11879712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.419999999999995 meters 0.013808073648525425 Centerline is valid? [True, True] Translation: X:59.65, Y:6.92, Z:-0.91 [[ 9.72280623e-01 -2.33480055e-01 1.25480624e-02 5.96477090e+01] [ 2.33461596e-01 9.72361588e-01 2.93682754e-03 6.91811132e+00] [-1.28869445e-02 7.40701534e-05 9.99916957e-01 -9.14218232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48 meters 0.014913314989829392 Centerline is valid? [True, True] Translation: X:59.71, Y:6.93, Z:-0.92 [[ 9.71667762e-01 -2.36079557e-01 1.13226341e-02 5.97053229e+01] [ 2.36064700e-01 9.71733725e-01 2.65037376e-03 6.92987103e+00] [-1.16282845e-02 9.75914807e-05 9.99932384e-01 -9.17372728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54 meters 0.016256772773442396 Centerline is valid? [True, True] Translation: X:59.76, Y:6.94, Z:-0.92 [[ 9.70714003e-01 -2.39980516e-01 1.11209957e-02 5.97624547e+01] [ 2.39966403e-01 9.70777695e-01 2.60625823e-03 6.94130969e+00] [-1.14214658e-02 1.38733988e-04 9.99934763e-01 -9.19088764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.599999999999994 meters 0.01719641884216256 Centerline is valid? [True, True] Translation: X:59.82, Y:6.95, Z:-0.92 [[ 9.69755018e-01 -2.43781956e-01 1.20649119e-02 5.98188472e+01] [ 2.43765617e-01 9.69830046e-01 2.82932038e-03 6.95402022e+00] [-1.23906513e-02 1.97263045e-04 9.99923213e-01 -9.19265839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66 meters 0.01643794748815107 Centerline is valid? [True, True] Translation: X:59.88, Y:6.97, Z:-0.92 [[ 9.69234151e-01 -2.45810865e-01 1.27349326e-02 5.98762968e+01] [ 2.45792824e-01 9.69317782e-01 2.98730794e-03 6.96740987e+00] [-1.30785094e-02 2.34754168e-04 9.99914445e-01 -9.17857053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72 meters 0.019935540726984804 Centerline is valid? [True, True] Translation: X:59.93, Y:6.98, Z:-0.92 [[ 9.68063648e-01 -2.50463497e-01 1.09913695e-02 5.99329664e+01] [ 2.50450326e-01 9.68126011e-01 2.58105401e-03 6.98102411e+00] [-1.12874905e-02 2.54167520e-04 9.99936262e-01 -9.22539538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78 meters 0.020208235045502176 Centerline is valid? [True, True] Translation: X:59.99, Y:7.00, Z:-0.92 [[ 9.67540517e-01 -2.52506682e-01 1.02822321e-02 5.99895818e+01] [ 2.52495266e-01 9.67595116e-01 2.41508400e-03 6.99523586e+00] [-1.05588625e-02 2.59523318e-04 9.99944220e-01 -9.22872661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.839999999999996 meters 0.024508625479774185 Centerline is valid? [True, True] Translation: X:60.05, Y:7.01, Z:-0.93 [[ 9.66510208e-01 -2.56531223e-01 7.05335565e-03 6.00456777e+01] [ 2.56525956e-01 9.66535922e-01 1.65701898e-03 7.00954505e+00] [-7.24239872e-03 2.07843039e-04 9.99973752e-01 -9.29153689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.9 meters 0.024291039317508922 Centerline is valid? [True, True] Translation: X:60.10, Y:7.03, Z:-0.93 [[ 9.66271027e-01 -2.57462611e-01 5.77115324e-03 6.01006864e+01] [ 2.57459102e-01 9.66288245e-01 1.35572196e-03 7.02616583e+00] [-5.92564525e-03 1.75841077e-04 9.99982428e-01 -9.30016421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96 meters 0.01977829861147585 Centerline is valid? [True, True] Translation: X:60.16, Y:7.05, Z:-0.93 [[ 9.66012207e-01 -2.58444909e-01 5.16193159e-03 6.01553444e+01] [ 2.58442122e-01 9.66025984e-01 1.21148287e-03 7.05000640e+00] [-5.29966162e-03 1.63753308e-04 9.99985943e-01 -9.28909762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02 meters 0.029346288334575428 Centerline is valid? [True, True] Translation: X:60.21, Y:7.06, Z:-0.93 [[ 9.65075775e-01 -2.61903478e-01 5.94275474e-03 6.02136136e+01] [ 2.61899827e-01 9.65094050e-01 1.39823946e-03 7.05631388e+00] [-6.10152102e-03 2.06999408e-04 9.99981364e-01 -9.33164914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08 meters 0.025525780534930285 Centerline is valid? [True, True] Translation: X:60.27, Y:7.08, Z:-0.93 [[ 9.64591233e-01 -2.63678010e-01 6.13681172e-03 6.02689558e+01] [ 2.63674158e-01 9.64610728e-01 1.44308732e-03 7.07989562e+00] [-6.30014481e-03 2.26129280e-04 9.99980128e-01 -9.31315322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14 meters 0.01937924259114598 Centerline is valid? [True, True] Translation: X:60.32, Y:7.10, Z:-0.93 [[ 9.64848691e-01 -2.62672275e-01 8.38327911e-03 6.03241002e+01] [ 2.62665015e-01 9.64885065e-01 1.97530993e-03 7.10478905e+00] [-8.60775996e-03 2.96118933e-04 9.99962909e-01 -9.26239014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.2 meters 0.018570416417619362 Centerline is valid? [True, True] Translation: X:60.38, Y:7.13, Z:-0.93 [[ 9.65679293e-01 -2.59601383e-01 8.40385281e-03 6.03802308e+01] [ 2.59593967e-01 9.65715822e-01 1.98062158e-03 7.12563790e+00] [-8.62990572e-03 2.68944245e-04 9.99962726e-01 -9.26845469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25999999999999 meters 0.017291044558790446 Centerline is valid? [True, True] Translation: X:60.44, Y:7.15, Z:-0.93 [[ 9.67221104e-01 -2.53824669e-01 7.50826922e-03 6.04358940e+01] [ 2.53818553e-01 9.67250226e-01 1.77242055e-03 7.14930726e+00] [-7.71225917e-03 1.91415470e-04 9.99970242e-01 -9.28978522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32 meters 0.018518397248092126 Centerline is valid? [True, True] Translation: X:60.49, Y:7.17, Z:-0.93 [[ 9.68609021e-01 -2.48487028e-01 7.12462710e-03 6.04918472e+01] [ 2.48481386e-01 9.68635213e-01 1.68056435e-03 7.16997746e+00] [-7.31876313e-03 1.42527431e-04 9.99973207e-01 -9.32168450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38 meters 0.014145199023194912 Centerline is valid? [True, True] Translation: X:60.55, Y:7.20, Z:-0.93 [[ 9.71328905e-01 -2.37613739e-01 7.73756642e-03 6.05470433e+01] [ 2.37606710e-01 9.71359721e-01 1.82870271e-03 7.19572675e+00] [-7.95048525e-03 6.22259022e-05 9.99968392e-01 -9.30663773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44 meters 0.016093404056195706 Centerline is valid? [True, True] Translation: X:60.60, Y:7.22, Z:-0.93 [[ 9.73618310e-01 -2.28096331e-01 6.28096082e-03 6.06007898e+01] [ 2.28091506e-01 9.73638569e-01 1.48372887e-03 7.21830836e+00] [-6.45381882e-03 -1.19517790e-05 9.99979174e-01 -9.34078538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.5 meters 0.014017944812484638 Centerline is valid? [True, True] Translation: X:60.66, Y:7.24, Z:-0.93 [[ 9.75552054e-01 -2.19608886e-01 8.37419363e-03 6.06561119e+01] [ 2.19599986e-01 9.75587991e-01 1.97925468e-03 7.23991491e+00] [-8.60442466e-03 -9.18931629e-05 9.99962977e-01 -9.31973845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56 meters 0.01758271131339627 Centerline is valid? [True, True] Translation: X:60.71, Y:7.26, Z:-0.94 [[ 9.76315366e-01 -2.16140625e-01 9.56743969e-03 6.07118991e+01] [ 2.16128802e-01 9.76362233e-01 2.26525710e-03 7.25746555e+00] [-9.83090087e-03 -1.43806032e-04 9.99951665e-01 -9.35000613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62 meters 0.01710897199361911 Centerline is valid? [True, True] Translation: X:60.77, Y:7.27, Z:-0.94 [[ 9.76645712e-01 -2.14626570e-01 9.92919880e-03 6.07692685e+01] [ 2.14613756e-01 9.76696170e-01 2.35111137e-03 7.27246338e+00] [-1.02024214e-02 -1.65260192e-04 9.99947940e-01 -9.35301965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67999999999999 meters 0.015415838227510477 Centerline is valid? [True, True] Translation: X:60.83, Y:7.28, Z:-0.94 [[ 9.76735930e-01 -2.14228249e-01 9.65302543e-03 6.08268887e+01] [ 2.14216094e-01 9.76783615e-01 2.28815256e-03 7.28496698e+00] [-9.91910398e-03 -1.67087416e-04 9.99950791e-01 -9.35141631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74 meters 0.017124001484618116 Centerline is valid? [True, True] Translation: X:60.88, Y:7.29, Z:-0.94 [[ 9.76317087e-01 -2.16199279e-01 7.92574888e-03 6.08835091e+01] [ 2.16191129e-01 9.76349249e-01 1.88128530e-03 7.29467481e+00] [-8.14503149e-03 -1.23254383e-04 9.99966821e-01 -9.39806310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.8 meters 0.01887651633014798 Centerline is valid? [True, True] Translation: X:60.94, Y:7.30, Z:-0.94 [[ 9.75864285e-01 -2.18278362e-01 6.59199425e-03 6.09426559e+01] [ 2.18272779e-01 9.75886545e-01 1.56370050e-03 7.30220152e+00] [-6.77436048e-03 -8.71065709e-05 9.99977050e-01 -9.42795981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86 meters 0.016486707193152466 Centerline is valid? [True, True] Translation: X:61.00, Y:7.31, Z:-0.94 [[ 9.75409921e-01 -2.20335434e-01 5.27094074e-03 6.10005188e+01] [ 2.20331892e-01 9.75424161e-01 1.25062957e-03 7.30953548e+00] [-5.41696095e-03 -5.85201461e-05 9.99985326e-01 -9.44212192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92 meters 0.014309439618659643 Centerline is valid? [True, True] Translation: X:61.06, Y:7.32, Z:-0.94 [[ 9.75057183e-01 -2.21889466e-01 5.34359654e-03 6.10591785e+01] [ 2.21885839e-01 9.75071824e-01 1.26980484e-03 7.31701968e+00] [-5.49214674e-03 -5.24639328e-05 9.99984917e-01 -9.42482028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98 meters 0.015299933756492525 Centerline is valid? [True, True] Translation: X:61.12, Y:7.32, Z:-0.94 [[ 9.74171939e-01 -2.25726073e-01 6.06403291e-03 6.11188852e+01] [ 2.25721462e-01 9.74190812e-01 1.44335568e-03 7.32245177e+00] [-6.23332816e-03 -3.72942257e-05 9.99980572e-01 -9.42909693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03999999999999 meters 0.013217671693778427 Centerline is valid? [True, True] Translation: X:61.18, Y:7.33, Z:-0.94 [[ 9.73668115e-01 -2.27829230e-01 8.01525044e-03 6.11765458e+01] [ 2.27821210e-01 9.73701104e-01 1.91192620e-03 7.32948922e+00] [-8.24005088e-03 -3.55375184e-05 9.99966050e-01 -9.39467826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.1 meters 0.013147939132961304 Centerline is valid? [True, True] Translation: X:61.23, Y:7.34, Z:-0.94 [[ 9.73383015e-01 -2.29037861e-01 8.19532323e-03 6.12333707e+01] [ 2.29029525e-01 9.73417514e-01 1.95436072e-03 7.34096739e+00] [-8.42509377e-03 -2.53705467e-05 9.99964508e-01 -9.40460264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16 meters 0.013193160092388481 Centerline is valid? [True, True] Translation: X:61.29, Y:7.35, Z:-0.94 [[ 9.72704903e-01 -2.31916568e-01 7.73804006e-03 6.12916640e+01] [ 2.31909210e-01 9.72735681e-01 1.84738070e-03 7.34715422e+00] [-7.95550586e-03 -2.43350731e-06 9.99968354e-01 -9.41390808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22 meters 0.015315616781797256 Centerline is valid? [True, True] Translation: X:61.35, Y:7.35, Z:-0.95 [[ 9.71819474e-01 -2.35657208e-01 5.70875479e-03 6.13500228e+01] [ 2.35653254e-01 9.71836241e-01 1.36522689e-03 7.35398945e+00] [-5.86970036e-03 1.85325651e-05 9.99982773e-01 -9.45299345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28 meters 0.013352807380115416 Centerline is valid? [True, True] Translation: X:61.41, Y:7.36, Z:-0.94 [[ 9.71569910e-01 -2.36681809e-01 5.79922801e-03 6.14071348e+01] [ 2.36677754e-01 9.71587217e-01 1.38562332e-03 7.36324914e+00] [-5.96240764e-03 2.63183324e-05 9.99982224e-01 -9.43393352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34 meters 0.01333027641968627 Centerline is valid? [True, True] Translation: X:61.47, Y:7.37, Z:-0.94 [[ 9.71353763e-01 -2.37590445e-01 4.75883796e-03 6.14651902e+01] [ 2.37587721e-01 9.71365420e-01 1.13799517e-03 7.37187383e+00] [-4.89294741e-03 2.52455794e-05 9.99988029e-01 -9.44288992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39999999999999 meters 0.016218780655567804 Centerline is valid? [True, True] Translation: X:61.52, Y:7.38, Z:-0.95 [[ 9.70939789e-01 -2.39284970e-01 4.31626634e-03 6.15238487e+01] [ 2.39282742e-01 9.70949382e-01 1.03295214e-03 7.38070832e+00] [-4.43804605e-03 2.98737123e-05 9.99990151e-01 -9.47688142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46 meters 0.013737626192275386 Centerline is valid? [True, True] Translation: X:61.58, Y:7.39, Z:-0.94 [[ 9.71231316e-01 -2.38033355e-01 7.06069126e-03 6.15820192e+01] [ 2.38027329e-01 9.71256980e-01 1.69410497e-03 7.38966022e+00] [-7.26099915e-03 3.52696848e-05 9.99973638e-01 -9.44811081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52 meters 0.016701055893812405 Centerline is valid? [True, True] Translation: X:61.64, Y:7.40, Z:-0.95 [[ 9.71619521e-01 -2.36467213e-01 6.22606319e-03 6.16392373e+01] [ 2.36462490e-01 9.71639468e-01 1.49471597e-03 7.40150205e+00] [-6.40294005e-03 1.99351867e-05 9.99979501e-01 -9.47413992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58 meters 0.013359481567979621 Centerline is valid? [True, True] Translation: X:61.70, Y:7.42, Z:-0.95 [[ 9.73408737e-01 -2.28999137e-01 5.90138963e-03 6.16967108e+01] [ 2.28994745e-01 9.73426625e-01 1.41858649e-03 7.41600715e+00] [-6.06942488e-03 -2.94772725e-05 9.99981580e-01 -9.45947889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64 meters 0.01518452741661741 Centerline is valid? [True, True] Translation: X:61.75, Y:7.43, Z:-0.95 [[ 9.75218771e-01 -2.21224346e-01 2.85242864e-03 6.17536361e+01] [ 2.21223283e-01 9.75222942e-01 6.86880744e-04 7.43207841e+00] [-2.93370860e-03 -3.88353661e-05 9.99995696e-01 -9.50624823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.7 meters 0.02000481452381064 Centerline is valid? [True, True] Translation: X:61.81, Y:7.44, Z:-0.96 [[ 9.75903003e-01 -2.18202172e-01 -1.06826542e-03 6.18108198e+01] [ 2.18202020e-01 9.75903587e-01 -2.58434214e-04 7.44459883e+00] [ 1.09891496e-03 1.91090529e-05 9.99999396e-01 -9.56852016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75999999999999 meters 0.017119551772977772 Centerline is valid? [True, True] Translation: X:61.87, Y:7.45, Z:-0.96 [[ 9.75063354e-01 -2.21922278e-01 -1.39937349e-03 6.18694416e+01] [ 2.21922016e-01 9.75064358e-01 -3.41580654e-04 7.45202097e+00] [ 1.44028357e-03 2.25109930e-05 9.99998963e-01 -9.55199723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82 meters 0.017114829634477267 Centerline is valid? [True, True] Translation: X:61.93, Y:7.47, Z:-0.96 [[ 9.74660885e-01 -2.23685587e-01 -9.57761170e-04 6.19253019e+01] [ 2.23685466e-01 9.74661356e-01 -2.32617303e-04 7.46571087e+00] [ 9.85525939e-04 1.24857329e-05 9.99999514e-01 -9.55376511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88 meters 0.014933862305781026 Centerline is valid? [True, True] Translation: X:61.98, Y:7.48, Z:-0.95 [[ 9.74707400e-01 -2.23484833e-01 -1.16158998e-04 6.19811148e+01] [ 2.23484831e-01 9.74707407e-01 -3.25444736e-05 7.48273524e+00] [ 1.20494232e-04 5.76156537e-06 9.99999993e-01 -9.52743330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94 meters 0.015442742758813348 Centerline is valid? [True, True] Translation: X:62.04, Y:7.50, Z:-0.95 [[ 9.75552182e-01 -2.19765927e-01 -9.36830312e-04 6.20378414e+01] [ 2.19765807e-01 9.75552631e-01 -2.30677580e-04 7.50047266e+00] [ 9.64622348e-04 1.91547465e-05 9.99999535e-01 -9.52955471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.0 meters 0.015838468535960454 Centerline is valid? [True, True] Translation: X:62.09, Y:7.52, Z:-0.95 [[ 9.76402631e-01 -2.15941230e-01 -2.69968339e-03 6.20941351e+01] [ 2.15940245e-01 9.76406361e-01 -6.54483990e-04 7.51745224e+00] [ 2.77731811e-03 5.60695982e-05 9.99996142e-01 -9.53941952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06 meters 0.015421200396411436 Centerline is valid? [True, True] Translation: X:62.15, Y:7.53, Z:-0.96 [[ 9.76484180e-01 -2.15550797e-01 -4.06214206e-03 6.21507192e+01] [ 2.15548562e-01 9.76492625e-01 -9.85345520e-04 7.53194568e+00] [ 4.17904378e-03 8.65854320e-05 9.99991264e-01 -9.55063835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12 meters 0.01685913938132159 Centerline is valid? [True, True] Translation: X:62.21, Y:7.54, Z:-0.96 [[ 9.75640686e-01 -2.19305979e-01 -5.48995529e-03 6.22075416e+01] [ 2.19301957e-01 9.75656127e-01 -1.33168100e-03 7.54444200e+00] [ 5.64835412e-03 9.52842250e-05 9.99984043e-01 -9.56667325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17999999999999 meters 0.016209664408758737 Centerline is valid? [True, True] Translation: X:62.26, Y:7.55, Z:-0.96 [[ 9.74509965e-01 -2.24299763e-01 -4.46601129e-03 6.22645228e+01] [ 2.24297150e-01 9.74520197e-01 -1.08395243e-03 7.55390339e+00] [ 4.59534848e-03 5.46088421e-05 9.99989440e-01 -9.56084040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24 meters 0.012806544980849963 Centerline is valid? [True, True] Translation: X:62.33, Y:7.56, Z:-0.95 [[ 9.72198226e-01 -2.34159334e-01 -1.21856652e-04 6.23252463e+01] [ 2.34159332e-01 9.72198234e-01 -2.98105832e-05 7.55843333e+00] [ 1.25449248e-04 4.47923842e-07 9.99999992e-01 -9.51440495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.3 meters 0.013446634954579473 Centerline is valid? [True, True] Translation: X:62.38, Y:7.56, Z:-0.95 [[ 9.69539319e-01 -2.44934970e-01 6.08561331e-04 6.23846926e+01] [ 2.44934928e-01 9.69539509e-01 1.43852974e-04 7.56482057e+00] [-6.25258878e-04 9.58681174e-06 9.99999804e-01 -9.50862596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36 meters 0.017561827851703064 Centerline is valid? [True, True] Translation: X:62.44, Y:7.57, Z:-0.95 [[ 9.67402664e-01 -2.53232431e-01 -2.32823369e-03 6.24427338e+01] [ 2.53231802e-01 9.67405465e-01 -5.66111059e-04 7.57208791e+00] [ 2.39570367e-03 -4.19254640e-05 9.99997129e-01 -9.54136908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42 meters 0.016561118073822493 Centerline is valid? [True, True] Translation: X:62.50, Y:7.58, Z:-0.95 [[ 9.66660367e-01 -2.56059249e-01 -1.18106098e-03 6.24994186e+01] [ 2.56059088e-01 9.66661089e-01 -2.88124316e-04 7.58220723e+00] [ 1.21546259e-03 -2.39030412e-05 9.99999261e-01 -9.54043792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48 meters 0.015861314128845668 Centerline is valid? [True, True] Translation: X:62.55, Y:7.60, Z:-0.96 [[ 9.67462092e-01 -2.53011144e-01 -1.56891937e-03 6.25542547e+01] [ 2.53010856e-01 9.67463364e-01 -3.82432174e-04 7.59981969e+00] [ 1.61463161e-03 -2.69650011e-05 9.99998696e-01 -9.56929656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53999999999999 meters 0.01402742562496816 Centerline is valid? [True, True] Translation: X:62.61, Y:7.62, Z:-0.96 [[ 9.68418989e-01 -2.49320592e-01 -1.97562131e-03 6.26103442e+01] [ 2.49320123e-01 9.68421004e-01 -4.84325831e-04 7.62000042e+00] [ 2.03398558e-03 -2.35318165e-05 9.99997931e-01 -9.56744674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.6 meters 0.014439715244582424 Centerline is valid? [True, True] Translation: X:62.67, Y:7.64, Z:-0.96 [[ 9.70030482e-01 -2.42979572e-01 -1.33823810e-03 6.26665953e+01] [ 2.42979349e-01 9.70031405e-01 -3.29318831e-04 7.63968279e+00] [ 1.37815073e-03 -5.71491755e-06 9.99999050e-01 -9.57575782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66 meters 0.011959250334330306 Centerline is valid? [True, True] Translation: X:62.72, Y:7.66, Z:-0.96 [[ 9.71914844e-01 -2.35322446e-01 2.20945765e-03 6.27217106e+01] [ 2.35321839e-01 9.71917356e-01 5.34756089e-04 7.65995091e+00] [-2.27325035e-03 1.96255079e-07 9.99997416e-01 -9.56905432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72 meters 0.011936704417383124 Centerline is valid? [True, True] Translation: X:62.78, Y:7.68, Z:-0.96 [[ 9.73083491e-01 -2.30422595e-01 3.73469210e-03 6.27772578e+01] [ 2.30420812e-01 9.73090657e-01 9.06795470e-04 7.67774468e+00] [-3.84314016e-03 -2.18369148e-05 9.99992615e-01 -9.56160652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78 meters 0.012815642438418474 Centerline is valid? [True, True] Translation: X:62.83, Y:7.70, Z:-0.96 [[ 9.74381545e-01 -2.24862196e-01 4.19496602e-03 6.28326874e+01] [ 2.24859878e-01 9.74390574e-01 1.02251875e-03 7.69667634e+00] [-4.31746116e-03 -5.30438548e-05 9.99990678e-01 -9.57517005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84 meters 0.015752163089232274 Centerline is valid? [True, True] Translation: X:62.89, Y:7.71, Z:-0.96 [[ 9.74354688e-01 -2.25005862e-01 2.30302625e-03 6.28894801e+01] [ 2.25005169e-01 9.74357410e-01 5.58850505e-04 7.71269474e+00] [-2.36971533e-03 -2.63257978e-05 9.99997192e-01 -9.62201678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89999999999999 meters 0.01193310213101315 Centerline is valid? [True, True] Translation: X:62.95, Y:7.72, Z:-0.96 [[ 9.73462607e-01 -2.28827280e-01 2.93758295e-03 6.29472317e+01] [ 2.28826165e-01 9.73467039e-01 7.14681538e-04 7.72401218e+00] [-3.02317881e-03 -2.35199103e-05 9.99995430e-01 -9.62902812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96 meters 0.011602372918826667 Centerline is valid? [True, True] Translation: X:63.01, Y:7.73, Z:-0.96 [[ 9.72738706e-01 -2.31879708e-01 3.34831072e-03 6.30050034e+01] [ 2.31878273e-01 9.72744468e-01 8.16052709e-04 7.73447619e+00] [-3.44627680e-03 -1.74055501e-05 9.99994061e-01 -9.63633559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02 meters 0.01158488725208035 Centerline is valid? [True, True] Translation: X:63.06, Y:7.75, Z:-0.96 [[ 9.72469988e-01 -2.33006424e-01 3.18248780e-03 6.30613550e+01] [ 2.33005133e-01 9.72475196e-01 7.75859186e-04 7.74730110e+00] [-3.27567062e-03 -1.29637810e-05 9.99994635e-01 -9.64816173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08 meters 0.011516612950374434 Centerline is valid? [True, True] Translation: X:63.12, Y:7.76, Z:-0.97 [[ 9.71654814e-01 -2.36379386e-01 3.42170625e-03 6.31193949e+01] [ 2.36377908e-01 9.71660839e-01 8.35977839e-04 7.75865324e+00] [-3.52234589e-03 -3.46612930e-06 9.99993797e-01 -9.67185690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14 meters 0.011659270081310494 Centerline is valid? [True, True] Translation: X:63.18, Y:7.77, Z:-0.97 [[ 9.70970468e-01 -2.39180923e-01 2.97273637e-03 6.31772193e+01] [ 2.39179820e-01 9.70975018e-01 7.26173139e-04 7.76843784e+00] [-3.06013951e-03 5.92587817e-06 9.99995318e-01 -9.68243531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.2 meters 0.011707754150033136 Centerline is valid? [True, True] Translation: X:63.23, Y:7.78, Z:-0.97 [[ 9.70604252e-01 -2.40667365e-01 2.57001418e-03 6.32337182e+01] [ 2.40666545e-01 9.70607655e-01 6.27958260e-04 7.78018952e+00] [-2.64560449e-03 9.01747630e-06 9.99996500e-01 -9.68977383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25999999999999 meters 0.014202992783041086 Centerline is valid? [True, True] Translation: X:63.29, Y:7.79, Z:-0.97 [[ 9.70420153e-01 -2.41415859e-01 1.76325439e-03 6.32907267e+01] [ 2.41415475e-01 9.70421755e-01 4.30459305e-04 7.79420068e+00] [-1.81502012e-03 7.95051159e-06 9.99998353e-01 -9.71074739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32 meters 0.011658047378249518 Centerline is valid? [True, True] Translation: X:63.35, Y:7.81, Z:-0.97 [[ 9.70902706e-01 -2.39438872e-01 4.11846122e-03 6.33466212e+01] [ 2.39436727e-01 9.70911441e-01 1.01347569e-03 7.80999667e+00] [-4.24132660e-03 2.12458922e-06 9.99991006e-01 -9.70899628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38 meters 0.01168413701924211 Centerline is valid? [True, True] Translation: X:63.40, Y:7.83, Z:-0.97 [[ 9.71694824e-01 -2.36107416e-01 7.90296927e-03 6.34032076e+01] [ 2.36099400e-01 9.71726961e-01 1.94561955e-03 7.82764608e+00] [-8.13890352e-03 -2.46621351e-05 9.99966878e-01 -9.68901529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44 meters 0.01200375070057625 Centerline is valid? [True, True] Translation: X:63.46, Y:7.84, Z:-0.97 [[ 9.72380848e-01 -2.33171084e-01 1.03311317e-02 6.34588073e+01] [ 2.33157182e-01 9.72435726e-01 2.54705973e-03 7.84378336e+00] [-1.06402622e-02 -6.79345451e-05 9.99943389e-01 -9.67703948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.5 meters 0.014454080213039268 Centerline is valid? [True, True] Translation: X:63.51, Y:7.86, Z:-0.97 [[ 9.73359630e-01 -2.28925006e-01 1.28207904e-02 6.35145128e+01] [ 2.28903160e-01 9.73444051e-01 3.16592663e-03 7.86292209e+00] [-1.32050819e-02 -1.46865733e-04 9.99912798e-01 -9.67889100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56 meters 0.013459848081545987 Centerline is valid? [True, True] Translation: X:63.57, Y:7.88, Z:-0.97 [[ 9.73994244e-01 -2.26230019e-01 1.24576008e-02 6.35703021e+01] [ 2.26209132e-01 9.74073891e-01 3.07946012e-03 7.88288498e+00] [-1.28312900e-02 -1.81353382e-04 9.99917659e-01 -9.71110724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62 meters 0.013685065251143068 Centerline is valid? [True, True] Translation: X:63.63, Y:7.90, Z:-0.97 [[ 9.74130197e-01 -2.25751116e-01 1.03340730e-02 6.36269271e+01] [ 2.25736694e-01 9.74184997e-01 2.55661212e-03 7.89995134e+00] [-1.06444569e-02 -1.57693603e-04 9.99943334e-01 -9.74837015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67999999999999 meters 0.017525928847746165 Centerline is valid? [True, True] Translation: X:63.68, Y:7.91, Z:-0.98 [[ 9.73872745e-01 -2.26852928e-01 1.04702194e-02 6.36839338e+01] [ 2.26838156e-01 9.73929015e-01 2.59312384e-03 7.91476305e+00] [-1.07855082e-02 -1.50327368e-04 9.99941823e-01 -9.77158472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74 meters 0.015321483613489324 Centerline is valid? [True, True] Translation: X:63.74, Y:7.93, Z:-0.98 [[ 9.73081889e-01 -2.30149843e-01 1.19452031e-02 6.37399912e+01] [ 2.30130813e-01 9.73155194e-01 2.96255855e-03 7.92853069e+00] [-1.23063688e-02 -1.33852761e-04 9.99924265e-01 -9.78902221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.8 meters 0.012943328096816345 Centerline is valid? [True, True] Translation: X:63.80, Y:7.94, Z:-0.98 [[ 9.72463196e-01 -2.32763624e-01 1.16802472e-02 6.37965474e+01] [ 2.32745605e-01 9.72533334e-01 2.89789837e-03 7.94115358e+00] [-1.20339550e-02 -9.95733132e-05 9.99927584e-01 -9.79671359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86 meters 0.013370746343754417 Centerline is valid? [True, True] Translation: X:63.85, Y:7.95, Z:-0.98 [[ 9.71501080e-01 -2.36718020e-01 1.22568780e-02 6.38548532e+01] [ 2.36698482e-01 9.71578394e-01 3.04173264e-03 7.95029657e+00] [-1.26285508e-02 -5.38621238e-05 9.99920255e-01 -9.79765274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92 meters 0.014768861584836 Centerline is valid? [True, True] Translation: X:63.91, Y:7.96, Z:-0.98 [[ 9.70977193e-01 -2.38809360e-01 1.31673703e-02 6.39118242e+01] [ 2.38786955e-01 9.71066470e-01 3.27133866e-03 7.96168159e+00] [-1.35676181e-02 -3.21989722e-05 9.99907955e-01 -9.80440398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98 meters 0.014403514397732532 Centerline is valid? [True, True] Translation: X:63.97, Y:7.98, Z:-0.98 [[ 9.71081431e-01 -2.38389261e-01 1.30925403e-02 6.39678593e+01] [ 2.38367019e-01 9.71169686e-01 3.25664565e-03 7.97572619e+00] [-1.34914276e-02 -4.16383034e-05 9.99908986e-01 -9.81736821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03999999999999 meters 0.01420125167493741 Centerline is valid? [True, True] Translation: X:64.03, Y:7.99, Z:-0.98 [[ 9.71504826e-01 -2.36723009e-01 1.18570586e-02 6.40251195e+01] [ 2.36704603e-01 9.71577178e-01 2.95261234e-03 7.99024110e+00] [-1.22189988e-02 -6.18567925e-05 9.99925343e-01 -9.83817702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.1 meters 0.013078927849608419 Centerline is valid? [True, True] Translation: X:64.08, Y:8.00, Z:-0.98 [[ 9.72106008e-01 -2.34285491e-01 1.09643917e-02 6.40821777e+01] [ 2.34269567e-01 9.72167836e-01 2.73292230e-03 8.00397759e+00] [-1.12995130e-02 -8.80668902e-05 9.99936155e-01 -9.83402845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16 meters 0.01465501030272277 Centerline is valid? [True, True] Translation: X:64.14, Y:8.02, Z:-0.98 [[ 9.72680137e-01 -2.31868976e-01 1.14073947e-02 6.41393063e+01] [ 2.31851537e-01 9.72747019e-01 2.84649471e-03 8.01863467e+00] [-1.17565230e-02 -1.23906874e-04 9.99930882e-01 -9.84700355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22 meters 0.014020243862291903 Centerline is valid? [True, True] Translation: X:64.20, Y:8.03, Z:-0.98 [[ 9.73155246e-01 -2.29858757e-01 1.15680340e-02 6.41963457e+01] [ 2.29840644e-01 9.73223987e-01 2.88966968e-03 8.03492283e+00] [-1.19225041e-02 -1.53292823e-04 9.99928913e-01 -9.84349894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28 meters 0.01615733996933536 Centerline is valid? [True, True] Translation: X:64.25, Y:8.05, Z:-0.99 [[ 9.73217927e-01 -2.29475532e-01 1.37057489e-02 6.42526289e+01] [ 2.29450007e-01 9.73314412e-01 3.42791021e-03 8.04814567e+00] [-1.41266245e-02 -1.91319471e-04 9.99900196e-01 -9.85721924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34 meters 0.01621677231286504 Centerline is valid? [True, True] Translation: X:64.31, Y:8.06, Z:-0.98 [[ 9.72866083e-01 -2.30933883e-01 1.41819014e-02 6.43103060e+01] [ 2.30906642e-01 9.72969429e-01 3.55152195e-03 8.05994396e+00] [-1.46187232e-02 -1.80460018e-04 9.99893124e-01 -9.84972030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39999999999999 meters 0.013570462578103097 Centerline is valid? [True, True] Translation: X:64.37, Y:8.07, Z:-0.98 [[ 9.72502681e-01 -2.32551263e-01 1.25874824e-02 6.43676498e+01] [ 2.32529901e-01 9.72584130e-01 3.15516701e-03 8.07224051e+00] [-1.29761237e-02 -1.41442335e-04 9.99915797e-01 -9.84728622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46 meters 0.01559027211673399 Centerline is valid? [True, True] Translation: X:64.42, Y:8.08, Z:-0.99 [[ 9.71880682e-01 -2.35095820e-01 1.33377270e-02 6.44247392e+01] [ 2.35072024e-01 9.71972192e-01 3.34698092e-03 8.08498399e+00] [-1.37507609e-02 -1.17539629e-04 9.99905447e-01 -9.88382186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52 meters 0.013708314078563714 Centerline is valid? [True, True] Translation: X:64.48, Y:8.10, Z:-0.99 [[ 9.70777446e-01 -2.39663765e-01 1.23462859e-02 6.44815253e+01] [ 2.39643702e-01 9.70855951e-01 3.10145250e-03 8.09629290e+00] [-1.27297709e-02 -5.21104752e-05 9.99918972e-01 -9.88782284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58 meters 0.0128516901982297 Centerline is valid? [True, True] Translation: X:64.54, Y:8.11, Z:-0.99 [[ 9.69192546e-01 -2.46002142e-01 1.21965384e-02 6.45390144e+01] [ 2.45983047e-01 9.69269284e-01 3.06512656e-03 8.10654019e+00] [-1.25757578e-02 2.94438745e-05 9.99920922e-01 -9.88209513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64 meters 0.016044962557796163 Centerline is valid? [True, True] Translation: X:64.60, Y:8.12, Z:-0.99 [[ 9.68230897e-01 -2.49706365e-01 1.32537606e-02 6.45965301e+01] [ 2.49684105e-01 9.68321602e-01 3.33503849e-03 8.11940224e+00] [-1.36666830e-02 8.01660561e-05 9.99906603e-01 -9.91800092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.7 meters 0.016484533779790516 Centerline is valid? [True, True] Translation: X:64.65, Y:8.13, Z:-0.99 [[ 9.67890906e-01 -2.51068927e-01 1.23120997e-02 6.46519891e+01] [ 2.51049787e-01 9.67969207e-01 3.10142660e-03 8.13435647e+00] [-1.26964052e-02 8.91074029e-05 9.99919393e-01 -9.94295963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75999999999999 meters 0.014117803595328087 Centerline is valid? [True, True] Translation: X:64.71, Y:8.15, Z:-0.99 [[ 9.68390252e-01 -2.49249981e-01 9.73487159e-03 6.47080045e+01] [ 2.49237926e-01 9.68439180e-01 2.45187321e-03 8.15163027e+00] [-1.00387604e-02 5.19290899e-05 9.99949609e-01 -9.93953936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82 meters 0.01315349918751481 Centerline is valid? [True, True] Translation: X:64.76, Y:8.17, Z:-0.99 [[ 9.69346083e-01 -2.45522934e-01 9.30911240e-03 6.47632123e+01] [ 2.45511705e-01 9.69390782e-01 2.34820568e-03 8.17061199e+00] [-9.60070610e-03 9.27208597e-06 9.99953912e-01 -9.94090291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88 meters 0.015781951686344782 Centerline is valid? [True, True] Translation: X:64.82, Y:8.19, Z:-1.00 [[ 9.70091985e-01 -2.42499725e-01 1.07435930e-02 6.48188225e+01] [ 2.42484578e-01 9.70151474e-01 2.71045992e-03 8.18958404e+00] [-1.10801984e-02 -2.42398244e-05 9.99938612e-01 -9.96892133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94 meters 0.01324736632498694 Centerline is valid? [True, True] Translation: X:64.87, Y:8.21, Z:-0.99 [[ 9.70382284e-01 -2.41358176e-01 1.02202175e-02 6.48744662e+01] [ 2.41344378e-01 9.70436103e-01 2.58103200e-03 8.20516047e+00] [-1.05410212e-02 -3.79956892e-05 9.99944441e-01 -9.94360243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.0 meters 0.015079899670416362 Centerline is valid? [True, True] Translation: X:64.93, Y:8.22, Z:-1.00 [[ 9.71109341e-01 -2.38435563e-01 9.75349713e-03 6.49307556e+01] [ 2.38422820e-01 9.71158317e-01 2.46611212e-03 8.22181494e+00] [-1.00601987e-02 -6.94082332e-05 9.99949393e-01 -9.97654022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06 meters 0.015930714656351236 Centerline is valid? [True, True] Translation: X:64.99, Y:8.24, Z:-1.00 [[ 9.72096835e-01 -2.34421443e-01 8.62156753e-03 6.49872803e+01] [ 2.34411311e-01 9.72135061e-01 2.18171414e-03 8.23979952e+00] [-8.89276865e-03 -9.98444613e-05 9.99960454e-01 -1.00007858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12 meters 0.0164026921131848 Centerline is valid? [True, True] Translation: X:65.04, Y:8.26, Z:-1.00 [[ 9.72752791e-01 -2.31657407e-01 9.31953568e-03 6.50437801e+01] [ 2.31645415e-01 9.72797423e-01 2.36113869e-03 8.25743497e+00] [-9.61299556e-03 -1.37976543e-04 9.99953785e-01 -1.00096678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17999999999999 meters 0.01791322459093828 Centerline is valid? [True, True] Translation: X:65.10, Y:8.27, Z:-1.00 [[ 9.73460427e-01 -2.28598856e-01 1.08332799e-02 6.51002320e+01] [ 2.28582423e-01 9.73520685e-01 2.74817724e-03 8.27414002e+00] [-1.11746522e-02 -1.98944422e-04 9.99937542e-01 -1.00055773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24 meters 0.01877784076948896 Centerline is valid? [True, True] Translation: X:65.16, Y:8.29, Z:-1.00 [[ 9.74046464e-01 -2.26038484e-01 1.18359393e-02 6.51570061e+01] [ 2.26018636e-01 9.74118340e-01 3.00607372e-03 8.29091049e+00] [-1.22090939e-02 -2.52912622e-04 9.99925434e-01 -1.00004845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.3 meters 0.020619557496757673 Centerline is valid? [True, True] Translation: X:65.21, Y:8.31, Z:-1.00 [[ 9.74506437e-01 -2.24084824e-01 1.10993560e-02 6.52123873e+01] [ 2.24067205e-01 9.74569609e-01 2.82231582e-03 8.30747596e+00] [-1.14495332e-02 -2.63363273e-04 9.99934417e-01 -1.00223755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36 meters 0.01938613528930973 Centerline is valid? [True, True] Translation: X:65.27, Y:8.33, Z:-1.00 [[ 9.75318667e-01 -2.20639835e-01 8.45941912e-03 6.52686612e+01] [ 2.20629464e-01 9.75355325e-01 2.15174032e-03 8.32641665e+00] [-8.72569911e-03 -2.32235396e-04 9.99961903e-01 -1.00368110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42 meters 0.01886421427110068 Centerline is valid? [True, True] Translation: X:65.32, Y:8.34, Z:-1.00 [[ 9.75382137e-01 -2.20427476e-01 6.43539258e-03 6.53249897e+01] [ 2.20421471e-01 9.75403350e-01 1.63677529e-03 8.34175079e+00] [-6.63789373e-03 -1.77982677e-04 9.99977953e-01 -1.00391602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48 meters 0.021648374884069156 Centerline is valid? [True, True] Translation: X:65.38, Y:8.35, Z:-1.01 [[ 9.74555698e-01 -2.24060680e-01 6.16473933e-03 6.53831675e+01] [ 2.24055246e-01 9.74575185e-01 1.56721971e-03 8.35332859e+00] [-6.35915428e-03 -1.46100713e-04 9.99979770e-01 -1.01009871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53999999999999 meters 0.015508052114990548 Centerline is valid? [True, True] Translation: X:65.44, Y:8.36, Z:-1.01 [[ 9.72506817e-01 -2.32809622e-01 5.49278618e-03 6.54427423e+01] [ 2.32805432e-01 9.72522325e-01 1.39915114e-03 8.35875607e+00] [-5.66759304e-03 -8.19335676e-05 9.99983936e-01 -1.00514203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.6 meters 0.016390449804786315 Centerline is valid? [True, True] Translation: X:65.50, Y:8.36, Z:-1.01 [[ 9.69658554e-01 -2.44376778e-01 6.50222528e-03 6.55030138e+01] [ 2.44371166e-01 9.69680354e-01 1.65630255e-03 8.36059835e+00] [-6.70984200e-03 -1.70915637e-05 9.99977489e-01 -1.00573764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66 meters 0.01602815627593124 Centerline is valid? [True, True] Translation: X:65.56, Y:8.37, Z:-1.00 [[ 9.66504368e-01 -2.56487996e-01 9.12215105e-03 6.55623951e+01] [ 2.56477486e-01 9.66547412e-01 2.32376371e-03 8.36504936e+00] [-9.41300899e-03 9.36985967e-05 9.99955692e-01 -1.00241011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72 meters 0.015756368766712606 Centerline is valid? [True, True] Translation: X:65.62, Y:8.37, Z:-1.00 [[ 9.63826706e-01 -2.66339846e-01 1.00582335e-02 6.56215734e+01] [ 2.66327563e-01 9.63879165e-01 2.56611761e-03 8.37251251e+00] [-1.03783811e-02 2.05492141e-04 9.99946122e-01 -9.98317175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78 meters 0.019129680265517694 Centerline is valid? [True, True] Translation: X:65.68, Y:8.38, Z:-1.00 [[ 9.62485583e-01 -2.71144657e-01 1.01032965e-02 6.56799685e+01] [ 2.71132521e-01 9.62538575e-01 2.57828594e-03 8.38380051e+00] [-1.04239010e-02 2.57769192e-04 9.99945636e-01 -1.00269637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84 meters 0.018052173074246024 Centerline is valid? [True, True] Translation: X:65.74, Y:8.40, Z:-1.00 [[ 9.61762442e-01 -2.73766396e-01 8.06018300e-03 6.57371123e+01] [ 2.73758774e-01 9.61796188e-01 2.05560225e-03 8.39795605e+00] [-8.31500811e-03 2.29544784e-04 9.99965403e-01 -1.00273351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89999999999999 meters 0.017409928691897787 Centerline is valid? [True, True] Translation: X:65.79, Y:8.41, Z:-1.00 [[ 9.61919758e-01 -2.73260491e-01 6.25160705e-03 6.57932452e+01] [ 2.73255893e-01 9.61940057e-01 1.59483259e-03 8.41459359e+00] [-6.44947598e-03 1.74187488e-04 9.99979187e-01 -1.00448418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96 meters 0.017762195790024183 Centerline is valid? [True, True] Translation: X:65.85, Y:8.43, Z:-1.01 [[ 9.62930766e-01 -2.69701522e-01 5.04264230e-03 6.58488998e+01] [ 2.69698466e-01 9.62943963e-01 1.28927310e-03 8.43329356e+00] [-5.20350088e-03 1.18512163e-04 9.99986455e-01 -1.00813324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02 meters 0.015343764056301416 Centerline is valid? [True, True] Translation: X:65.90, Y:8.46, Z:-1.01 [[ 9.64401700e-01 -2.64367601e-01 6.25557891e-03 6.59045010e+01] [ 2.64362791e-01 9.64421982e-01 1.59869654e-03 8.45503506e+00] [-6.45566138e-03 1.11956634e-04 9.99979156e-01 -1.00584241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08 meters 0.016538263667226202 Centerline is valid? [True, True] Translation: X:65.96, Y:8.48, Z:-1.01 [[ 9.66027126e-01 -2.58310269e-01 8.20952308e-03 6.59585375e+01] [ 2.58301731e-01 9.66062005e-01 2.10217813e-03 8.47718433e+00] [-8.47392253e-03 8.97729195e-05 9.99964092e-01 -1.00841440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14 meters 0.015434278144463213 Centerline is valid? [True, True] Translation: X:66.01, Y:8.50, Z:-1.01 [[ 9.67199250e-01 -2.53816874e-01 1.01294111e-02 6.60139351e+01] [ 2.53803623e-01 9.67252289e-01 2.59432283e-03 8.49819747e+00] [-1.04561790e-02 6.16541404e-05 9.99945331e-01 -1.00710718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.2 meters 0.016804369504705503 Centerline is valid? [True, True] Translation: X:66.07, Y:8.52, Z:-1.01 [[ 9.69214201e-01 -2.46007597e-01 1.02027041e-02 6.60685828e+01] [ 2.45993691e-01 9.69267900e-01 2.61575356e-03 8.52389496e+00] [-1.05326488e-02 -2.54246604e-05 9.99944530e-01 -1.01009384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25999999999999 meters 0.018750294805492354 Centerline is valid? [True, True] Translation: X:66.12, Y:8.55, Z:-1.01 [[ 9.71329828e-01 -2.37579211e-01 8.63035669e-03 6.61210228e+01] [ 2.37568905e-01 9.71368163e-01 2.21523399e-03 8.55054981e+00] [-8.90954726e-03 -1.01418467e-04 9.99960304e-01 -1.01391600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32 meters 0.017484762229722232 Centerline is valid? [True, True] Translation: X:66.18, Y:8.57, Z:-1.01 [[ 9.72795161e-01 -2.31530663e-01 7.94522544e-03 6.61760792e+01] [ 2.31521718e-01 9.72827596e-01 2.04038367e-03 8.57485364e+00] [-8.20174594e-03 -1.45383124e-04 9.99966355e-01 -1.01496289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38 meters 0.018576487847598397 Centerline is valid? [True, True] Translation: X:66.23, Y:8.59, Z:-1.02 [[ 9.73025277e-01 -2.30612282e-01 6.30757693e-03 6.62323248e+01] [ 2.30606634e-01 9.73045714e-01 1.61848239e-03 8.59224071e+00] [-6.51080262e-03 -1.20255193e-04 9.99978797e-01 -1.01795305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44 meters 0.019821862807954546 Centerline is valid? [True, True] Translation: X:66.29, Y:8.61, Z:-1.02 [[ 9.73097172e-01 -2.30365414e-01 3.69723653e-03 6.62880446e+01] [ 2.30363474e-01 9.73104193e-01 9.48082923e-04 8.61069841e+00] [-3.81620188e-03 -7.08685587e-05 9.99992716e-01 -1.02187527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.5 meters 0.01843447793585106 Centerline is valid? [True, True] Translation: X:66.34, Y:8.63, Z:-1.02 [[ 9.72643413e-01 -2.32283657e-01 3.01552106e-03 6.63440566e+01] [ 2.32282371e-01 9.72648086e-01 7.74810859e-04 8.62668815e+00] [-3.11301669e-03 -5.31622979e-05 9.99995153e-01 -1.02315026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56 meters 0.015555052039811085 Centerline is valid? [True, True] Translation: X:66.40, Y:8.64, Z:-1.02 [[ 9.72033437e-01 -2.34814429e-01 3.63072357e-03 6.64017276e+01] [ 2.34812583e-01 9.72040216e-01 9.32495142e-04 8.63984196e+00] [-3.74817263e-03 -5.38768776e-05 9.99992974e-01 -1.02034453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61999999999999 meters 0.014576267520579334 Centerline is valid? [True, True] Translation: X:66.46, Y:8.65, Z:-1.02 [[ 9.70258569e-01 -2.42031346e-01 4.37455829e-03 6.64599912e+01] [ 2.42028724e-01 9.70268430e-01 1.12725182e-03 8.64935899e+00] [-4.51732608e-03 -3.49569830e-05 9.99989796e-01 -1.01922387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67999999999999 meters 0.015872034049983087 Centerline is valid? [True, True] Translation: X:66.52, Y:8.66, Z:-1.02 [[ 9.68102408e-01 -2.50500189e-01 5.23295029e-03 6.65176107e+01] [ 2.50496565e-01 9.68116551e-01 1.34732336e-03 8.66002682e+00] [-5.40361054e-03 6.48908907e-06 9.99985400e-01 -1.02114939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74 meters 0.01673748817122036 Centerline is valid? [True, True] Translation: X:66.58, Y:8.67, Z:-1.02 [[ 9.66205433e-01 -2.57672369e-01 7.21191400e-03 6.65756301e+01] [ 2.57665662e-01 9.66232346e-01 1.86015604e-03 8.67177027e+00] [-7.44769540e-03 6.09697237e-05 9.99972264e-01 -1.01952823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.8 meters 0.017320694148920877 Centerline is valid? [True, True] Translation: X:66.63, Y:8.69, Z:-1.02 [[ 9.65525076e-01 -2.60210232e-01 7.20849557e-03 6.66324213e+01] [ 2.60203587e-01 9.65551982e-01 1.86120288e-03 8.68605169e+00] [-7.44448121e-03 7.86383485e-05 9.99972286e-01 -1.02080161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86 meters 0.015025791431071696 Centerline is valid? [True, True] Translation: X:66.69, Y:8.70, Z:-1.02 [[ 9.64227406e-01 -2.64965132e-01 7.68039511e-03 6.66894445e+01] [ 2.64957722e-01 9.64257986e-01 1.98526942e-03 8.70092406e+00] [-7.93190950e-03 1.20728808e-04 9.99968535e-01 -1.01864237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92 meters 0.01887165072942474 Centerline is valid? [True, True] Translation: X:66.75, Y:8.71, Z:-1.02 [[ 9.63162079e-01 -2.68830754e-01 6.98822252e-03 6.67450255e+01] [ 2.68824702e-01 9.63187420e-01 1.80904546e-03 8.71464047e+00] [-7.21729508e-03 1.36202848e-04 9.99973946e-01 -1.02386246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98 meters 0.0182659437002526 Centerline is valid? [True, True] Translation: X:66.80, Y:8.73, Z:-1.02 [[ 9.62554117e-01 -2.71012998e-01 6.44411846e-03 6.68009567e+01] [ 2.71007904e-01 9.62575678e-01 1.66753161e-03 8.73253911e+00] [-6.65487443e-03 1.41317627e-04 9.99977846e-01 -1.02496496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03999999999999 meters 0.0162937573598725 Centerline is valid? [True, True] Translation: X:66.86, Y:8.75, Z:-1.03 [[ 9.63393828e-01 -2.67994718e-01 7.15280151e-03 6.68553416e+01] [ 2.67988335e-01 9.63420372e-01 1.85422012e-03 8.75198276e+00] [-7.38807589e-03 1.30523151e-04 9.99972699e-01 -1.02523101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.1 meters 0.01426403871722182 Centerline is valid? [True, True] Translation: X:66.91, Y:8.77, Z:-1.03 [[ 9.65155530e-01 -2.61579886e-01 7.12499574e-03 6.69110494e+01] [ 2.61573376e-01 9.65181826e-01 1.84718842e-03 8.77422634e+00] [-7.36010373e-03 8.08850781e-05 9.99972911e-01 -1.02566241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16 meters 0.016547513648869968 Centerline is valid? [True, True] Translation: X:66.97, Y:8.79, Z:-1.03 [[ 9.66223850e-01 -2.57630324e-01 6.17154250e-03 6.69663092e+01] [ 2.57625354e-01 9.66243558e-01 1.60086214e-03 8.79443141e+00] [-6.37564382e-03 4.31546371e-05 9.99979674e-01 -1.03039921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22 meters 0.016599449102198398 Centerline is valid? [True, True] Translation: X:67.02, Y:8.82, Z:-1.03 [[ 9.67913196e-01 -2.51198565e-01 6.58227282e-03 6.70215280e+01] [ 2.51192748e-01 9.67935577e-01 1.70940406e-03 8.81623638e+00] [-6.80061589e-03 -1.13554328e-06 9.99976876e-01 -1.03172119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28 meters 0.014585599679653154 Centerline is valid? [True, True] Translation: X:67.08, Y:8.84, Z:-1.03 [[ 9.69585490e-01 -2.44621119e-01 8.03029037e-03 6.70768310e+01] [ 2.44612212e-01 9.69618742e-01 2.08842218e-03 8.83754798e+00] [-8.29719222e-03 -6.05967574e-05 9.99965576e-01 -1.02969151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34 meters 0.014295897610780315 Centerline is valid? [True, True] Translation: X:67.13, Y:8.86, Z:-1.03 [[ 9.70778111e-01 -2.39824694e-01 8.60092879e-03 6.71326173e+01] [ 2.39814265e-01 9.70816205e-01 2.23925687e-03 8.85623233e+00] [-8.88695014e-03 -1.11196129e-04 9.99960504e-01 -1.02872279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39999999999999 meters 0.019390296574995525 Centerline is valid? [True, True] Translation: X:67.19, Y:8.88, Z:-1.03 [[ 9.72050114e-01 -2.34646618e-01 7.71623230e-03 6.71880461e+01] [ 2.34638037e-01 9.72080729e-01 2.01204263e-03 8.87715511e+00] [-7.97291971e-03 -1.45284673e-04 9.99968205e-01 -1.03436857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46 meters 0.020861161309435328 Centerline is valid? [True, True] Translation: X:67.25, Y:8.89, Z:-1.04 [[ 9.72695105e-01 -2.32002168e-01 6.26321863e-03 6.72450680e+01] [ 2.31996469e-01 9.72715260e-01 1.63164606e-03 8.89304739e+00] [-6.47087375e-03 -1.34049529e-04 9.99979055e-01 -1.03728150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52 meters 0.016405970127376854 Centerline is valid? [True, True] Translation: X:67.30, Y:8.90, Z:-1.03 [[ 9.72893614e-01 -2.31191090e-01 5.35686473e-03 6.73026173e+01] [ 2.31186904e-01 9.72908354e-01 1.39635085e-03 8.90482217e+00] [-5.53456233e-03 -1.20063852e-04 9.99984677e-01 -1.03472471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58 meters 0.01865553521366022 Centerline is valid? [True, True] Translation: X:67.36, Y:8.92, Z:-1.04 [[ 9.72607503e-01 -2.32403881e-01 4.80435073e-03 6.73602417e+01] [ 2.32400525e-01 9.72619363e-01 1.25323606e-03 8.91770282e+00] [-4.96406148e-03 -1.02373163e-04 9.99987674e-01 -1.03810124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64 meters 0.01934357362553739 Centerline is valid? [True, True] Translation: X:67.42, Y:8.93, Z:-1.04 [[ 9.72471903e-01 -2.32986539e-01 3.95851050e-03 6.74176200e+01] [ 2.32984265e-01 9.72479957e-01 1.03259976e-03 8.92877681e+00] [-4.09015396e-03 -8.19035912e-05 9.99991632e-01 -1.03940444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.7 meters 0.01875797119037428 Centerline is valid? [True, True] Translation: X:67.48, Y:8.94, Z:-1.04 [[ 9.72048580e-01 -2.34752867e-01 3.55652375e-03 6.74757471e+01] [ 2.34751040e-01 9.72055084e-01 9.28724965e-04 8.93850188e+00] [-3.67515784e-03 -6.78681349e-05 9.99993244e-01 -1.04037772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75999999999999 meters 0.018020280562892715 Centerline is valid? [True, True] Translation: X:67.53, Y:8.95, Z:-1.04 [[ 9.71381849e-01 -2.37485124e-01 4.25673439e-03 6.75326651e+01] [ 2.37482517e-01 9.71391173e-01 1.11522597e-03 8.94890593e+00] [-4.39980378e-03 -7.24102672e-05 9.99990318e-01 -1.04100786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82 meters 0.019131202046016788 Centerline is valid? [True, True] Translation: X:67.59, Y:8.95, Z:-1.04 [[ 9.69629635e-01 -2.44559424e-01 3.00998756e-03 6.75924721e+01] [ 2.44558154e-01 9.69634306e-01 7.88694332e-04 8.95228808e+00] [-3.11146983e-03 -2.86243971e-05 9.99995159e-01 -1.04287007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88 meters 0.01506052171869956 Centerline is valid? [True, True] Translation: X:67.65, Y:8.96, Z:-1.04 [[ 9.67408271e-01 -2.53183200e-01 4.41648720e-03 6.76515396e+01] [ 2.53180552e-01 9.67418352e-01 1.15788635e-03 8.95514645e+00] [-4.56574813e-03 -1.98016025e-06 9.99989577e-01 -1.03993840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94 meters 0.01612751609868446 Centerline is valid? [True, True] Translation: X:67.71, Y:8.96, Z:-1.04 [[ 9.64414198e-01 -2.64365762e-01 3.99985412e-03 6.77120504e+01] [ 2.64363693e-01 9.64422491e-01 1.04721153e-03 8.95804446e+00] [-4.13439615e-03 4.74705421e-05 9.99991452e-01 -1.04159544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.0 meters 0.02058306371587008 Centerline is valid? [True, True] Translation: X:67.77, Y:8.96, Z:-1.04 [[ 9.61682983e-01 -2.74124985e-01 4.61884281e-03 6.77721326e+01] [ 2.74122319e-01 9.61694069e-01 1.21301111e-03 8.96073260e+00] [-4.77443039e-03 9.95957657e-05 9.99988597e-01 -1.04371405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06 meters 0.0224978784840284 Centerline is valid? [True, True] Translation: X:67.83, Y:8.97, Z:-1.04 [[ 9.60250187e-01 -2.79095312e-01 5.03835747e-03 6.78313243e+01] [ 2.79092207e-01 9.60263395e-01 1.32342333e-03 8.96892418e+00] [-5.20751150e-03 1.35348809e-04 9.99986432e-01 -1.04422566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11999999999999 meters 0.02165173812197824 Centerline is valid? [True, True] Translation: X:67.89, Y:8.98, Z:-1.04 [[ 9.60262597e-01 -2.79033085e-01 6.02352152e-03 6.78891340e+01] [ 2.79028653e-01 9.60281475e-01 1.58106195e-03 8.98229059e+00] [-6.22544473e-03 1.62500438e-04 9.99980609e-01 -1.04372311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17999999999999 meters 0.018603827719766958 Centerline is valid? [True, True] Translation: X:67.95, Y:9.00, Z:-1.04 [[ 9.61548489e-01 -2.74539354e-01 7.25581771e-03 6.79455287e+01] [ 2.74532766e-01 9.61575852e-01 1.90831018e-03 8.99814209e+00] [-7.50092534e-03 1.57026942e-04 9.99971855e-01 -1.04218097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24 meters 0.019114851837838405 Centerline is valid? [True, True] Translation: X:68.00, Y:9.02, Z:-1.05 [[ 9.62729782e-01 -2.70402280e-01 5.82868947e-03 6.80020565e+01] [ 2.70397961e-01 9.62747421e-01 1.53167394e-03 9.01608369e+00] [-6.02572389e-03 1.01477629e-04 9.99981840e-01 -1.04659269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.3 meters 0.014979024665941148 Centerline is valid? [True, True] Translation: X:68.06, Y:9.04, Z:-1.05 [[ 9.65506998e-01 -2.60324934e-01 5.21198266e-03 6.80565544e+01] [ 2.60321322e-01 9.65521065e-01 1.37172618e-03 9.04093526e+00] [-5.38937358e-03 3.23789875e-05 9.99985477e-01 -1.04648705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36 meters 0.01588961961562959 Centerline is valid? [True, True] Translation: X:68.11, Y:9.06, Z:-1.05 [[ 9.68609989e-01 -2.48559980e-01 3.55314552e-03 6.81118438e+01] [ 2.48558230e-01 9.68616506e-01 9.32927725e-04 9.06189099e+00] [-3.67352390e-03 -2.04795506e-05 9.99993252e-01 -1.04933241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42 meters 0.015240201048670955 Centerline is valid? [True, True] Translation: X:68.17, Y:9.08, Z:-1.05 [[ 9.70416423e-01 -2.41407024e-01 3.82298019e-03 6.81673663e+01] [ 2.41404930e-01 9.70423952e-01 1.00695220e-03 9.08023148e+00] [-3.95299688e-03 -5.42766840e-05 9.99992185e-01 -1.04962715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48 meters 0.017674731407589114 Centerline is valid? [True, True] Translation: X:68.22, Y:9.10, Z:-1.05 [[ 9.72189969e-01 -2.34132398e-01 5.35575955e-03 6.82231114e+01] [ 2.34128171e-01 9.72204714e-01 1.41192318e-03 9.09676719e+00] [-5.53747164e-03 -1.18723363e-04 9.99984661e-01 -1.05015108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53999999999999 meters 0.02085088596880802 Centerline is valid? [True, True] Translation: X:68.28, Y:9.11, Z:-1.05 [[ 9.73356637e-01 -2.29231821e-01 5.44335992e-03 6.82810856e+01] [ 2.29227374e-01 9.73371846e-01 1.43577734e-03 9.11163220e+00] [-5.62753914e-03 -1.49756305e-04 9.99984154e-01 -1.05141185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.6 meters 0.019263817207939557 Centerline is valid? [True, True] Translation: X:68.34, Y:9.13, Z:-1.05 [[ 9.74696399e-01 -2.23436275e-01 6.56967509e-03 6.83391645e+01] [ 2.23429662e-01 9.74718514e-01 1.73329433e-03 9.12715193e+00] [-6.79086477e-03 -2.21575461e-04 9.99976917e-01 -1.04848938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66 meters 0.02025688211497855 Centerline is valid? [True, True] Translation: X:68.40, Y:9.14, Z:-1.05 [[ 9.75043197e-01 -2.21972688e-01 4.34628746e-03 6.83964671e+01] [ 2.21969790e-01 9.75052872e-01 1.14422828e-03 9.14125980e+00] [-4.49184750e-03 -1.50927485e-04 9.99989900e-01 -1.05178222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72 meters 0.02223174469925161 Centerline is valid? [True, True] Translation: X:68.45, Y:9.16, Z:-1.06 [[ 9.74901129e-01 -2.22617725e-01 3.02269482e-03 6.84512609e+01] [ 2.22616323e-01 9.74905810e-01 7.96968736e-04 9.15834088e+00] [-3.12426211e-03 -1.04064517e-04 9.99995114e-01 -1.05515429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78 meters 0.020315321745129882 Centerline is valid? [True, True] Translation: X:68.51, Y:9.17, Z:-1.06 [[ 9.74182229e-01 -2.25762971e-01 2.57175845e-04 6.85105702e+01] [ 2.25762962e-01 9.74182263e-01 6.44451333e-05 9.16591276e+00] [-2.65085472e-04 -4.72052309e-06 9.99999965e-01 -1.05903382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84 meters 0.02014005652302372 Centerline is valid? [True, True] Translation: X:68.57, Y:9.17, Z:-1.06 [[ 9.72906117e-01 -2.31192700e-01 -1.90365698e-03 6.85707199e+01] [ 2.31192155e-01 9.72907978e-01 -5.04234815e-04 9.17056780e+00] [ 1.96865847e-03 5.04625762e-05 9.99998061e-01 -1.06106485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89999999999999 meters 0.01855728130453612 Centerline is valid? [True, True] Translation: X:68.63, Y:9.18, Z:-1.06 [[ 9.71395647e-01 -2.37464737e-01 -9.97345474e-04 6.86300905e+01] [ 2.37464591e-01 9.71396159e-01 -2.64472100e-04 9.17924565e+00] [ 1.03162036e-03 2.00728124e-05 9.99999468e-01 -1.06183834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96 meters 0.017850757433301525 Centerline is valid? [True, True] Translation: X:68.69, Y:9.19, Z:-1.06 [[ 9.70418825e-01 -2.41417542e-01 2.20790147e-03 6.86875466e+01] [ 2.41416841e-01 9.70421336e-01 5.82780247e-04 9.19477024e+00] [-2.28328807e-03 -3.25163237e-05 9.99997393e-01 -1.05998421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02 meters 0.018334341260341325 Centerline is valid? [True, True] Translation: X:68.74, Y:9.21, Z:-1.06 [[ 9.70140480e-01 -2.42509287e-01 4.08594721e-03 6.87442577e+01] [ 2.42506893e-01 9.70149083e-01 1.07885678e-03 9.21156246e+00] [-4.22561072e-03 -5.57722686e-05 9.99991071e-01 -1.05851701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08 meters 0.017835144822253516 Centerline is valid? [True, True] Translation: X:68.80, Y:9.23, Z:-1.06 [[ 9.70433455e-01 -2.41289249e-01 6.19744417e-03 6.87978259e+01] [ 2.41283687e-01 9.70453239e-01 1.64128480e-03 9.23066070e+00] [-6.41035415e-03 -9.74154974e-05 9.99979449e-01 -1.05704379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14 meters 0.01900191629627953 Centerline is valid? [True, True] Translation: X:68.85, Y:9.25, Z:-1.06 [[ 9.71173946e-01 -2.38333605e-01 4.27302776e-03 6.88540197e+01] [ 2.38330938e-01 9.71183343e-01 1.13020993e-03 9.24941773e+00] [-4.41926039e-03 -7.92357257e-05 9.99990232e-01 -1.06023292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.2 meters 0.019953324410620418 Centerline is valid? [True, True] Translation: X:68.91, Y:9.27, Z:-1.07 [[ 9.71838907e-01 -2.35643365e-01 1.15866760e-03 6.89089617e+01] [ 2.35643166e-01 9.71839598e-01 3.06771124e-04 9.27210355e+00] [-1.19832764e-03 -2.51000111e-05 9.99999282e-01 -1.06593354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25999999999999 meters 0.01650505074253658 Centerline is valid? [True, True] Translation: X:68.97, Y:9.29, Z:-1.06 [[ 9.71747628e-01 -2.36021633e-01 5.80638082e-04 6.89651877e+01] [ 2.36021585e-01 9.71747801e-01 1.49847315e-04 9.28650886e+00] [-5.99600988e-04 -8.57065236e-06 9.99999820e-01 -1.06330181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32 meters 0.019222493220700698 Centerline is valid? [True, True] Translation: X:69.02, Y:9.30, Z:-1.07 [[ 9.70363777e-01 -2.41648216e-01 5.29364688e-04 6.90232165e+01] [ 2.41648175e-01 9.70363921e-01 1.39625751e-04 9.29768834e+00] [-5.47416708e-04 -7.56776038e-06 9.99999850e-01 -1.06617296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38 meters 0.014156261350343738 Centerline is valid? [True, True] Translation: X:69.08, Y:9.31, Z:-1.06 [[ 9.68389001e-01 -2.49408700e-01 4.24774516e-03 6.90826883e+01] [ 2.49406149e-01 9.68398316e-01 1.12875860e-03 9.30822854e+00] [-4.39503147e-03 -3.36636526e-05 9.99990341e-01 -1.06238400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44 meters 0.015614992244612389 Centerline is valid? [True, True] Translation: X:69.14, Y:9.32, Z:-1.06 [[ 9.65680216e-01 -2.59659284e-01 6.22713878e-03 6.91418388e+01] [ 2.59654018e-01 9.65700293e-01 1.65379883e-03 9.31683519e+00] [-6.44297396e-03 1.98607912e-05 9.99979244e-01 -1.06407066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.5 meters 0.016685551143130837 Centerline is valid? [True, True] Translation: X:69.20, Y:9.33, Z:-1.06 [[ 9.63976889e-01 -2.65870837e-01 7.82660633e-03 6.92001424e+01] [ 2.65862701e-01 9.64008658e-01 2.08128803e-03 9.32669412e+00] [-8.09827006e-03 7.44891423e-05 9.99967206e-01 -1.06298349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56 meters 0.014821089830334921 Centerline is valid? [True, True] Translation: X:69.26, Y:9.34, Z:-1.06 [[ 9.62614673e-01 -2.70781854e-01 7.08366136e-03 6.92583710e+01] [ 2.70775311e-01 9.62640731e-01 1.88525124e-03 9.33819294e+00] [-7.32951277e-03 1.03310097e-04 9.99973133e-01 -1.06177590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61999999999999 meters 0.018230331987828852 Centerline is valid? [True, True] Translation: X:69.31, Y:9.35, Z:-1.07 [[ 9.62229587e-01 -2.72198066e-01 4.73662154e-03 6.93148285e+01] [ 2.72195158e-01 9.62241242e-01 1.26056892e-03 9.35377264e+00] [-4.90089702e-03 7.63287361e-05 9.99987988e-01 -1.06917620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67999999999999 meters 0.01762884886399154 Centerline is valid? [True, True] Translation: X:69.37, Y:9.37, Z:-1.07 [[ 9.62127894e-01 -2.72581877e-01 3.00605441e-03 6.93715983e+01] [ 2.72580709e-01 9.62132588e-01 7.99380392e-04 9.36809442e+00] [-3.11011952e-03 5.02862718e-05 9.99995162e-01 -1.07058868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74 meters 0.018855587272920683 Centerline is valid? [True, True] Translation: X:69.43, Y:9.38, Z:-1.07 [[ 9.61723730e-01 -2.74017790e-01 1.31047675e-03 6.94292454e+01] [ 2.74017572e-01 9.61724623e-01 3.46622450e-04 9.38154584e+00] [-1.35529847e-03 2.57386205e-05 9.99999081e-01 -1.07193523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.8 meters 0.01849530784464827 Centerline is valid? [True, True] Translation: X:69.49, Y:9.40, Z:-1.07 [[ 9.61676417e-01 -2.74174856e-01 2.57248453e-03 6.94859361e+01] [ 2.74174005e-01 9.61679856e-01 6.84925515e-04 9.39577823e+00] [-2.66169590e-03 4.66316696e-05 9.99996457e-01 -1.07069266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86 meters 0.015524414088815669 Centerline is valid? [True, True] Translation: X:69.54, Y:9.41, Z:-1.07 [[ 9.62188845e-01 -2.72353929e-01 3.99541311e-03 6.95429927e+01] [ 2.72351846e-01 9.62197139e-01 1.06712386e-03 9.41268839e+00] [-4.13501043e-03 6.13834589e-05 9.99991449e-01 -1.06750961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92 meters 0.01599665854021634 Centerline is valid? [True, True] Translation: X:69.60, Y:9.43, Z:-1.07 [[ 9.63102573e-01 -2.69085039e-01 5.16486645e-03 6.95997526e+01] [ 2.69081497e-01 9.63116420e-01 1.38184932e-03 9.43046894e+00] [-5.34620266e-03 5.89073600e-05 9.99985707e-01 -1.06791088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98 meters 0.017024157074735518 Centerline is valid? [True, True] Translation: X:69.66, Y:9.45, Z:-1.07 [[ 9.64235076e-01 -2.64990791e-01 5.53160175e-03 6.96557457e+01] [ 2.64986653e-01 9.64250942e-01 1.48140535e-03 9.44982286e+00] [-5.72641098e-03 3.73776325e-05 9.99983603e-01 -1.06888642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03999999999999 meters 0.015537727577444259 Centerline is valid? [True, True] Translation: X:69.71, Y:9.47, Z:-1.07 [[ 9.66395171e-01 -2.57006011e-01 5.31831609e-03 6.97109367e+01] [ 2.57002058e-01 9.66409805e-01 1.42547311e-03 9.47211014e+00] [-5.50602797e-03 -1.07521525e-05 9.99984842e-01 -1.06870127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.1 meters 0.014279712022149317 Centerline is valid? [True, True] Translation: X:69.77, Y:9.49, Z:-1.07 [[ 9.68357498e-01 -2.49528620e-01 4.38449700e-03 6.97654003e+01] [ 2.49525847e-01 9.68367423e-01 1.17744253e-03 9.49310222e+00] [-4.53960967e-03 -4.61399789e-05 9.99989695e-01 -1.06856605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16 meters 0.014718590582168203 Centerline is valid? [True, True] Translation: X:69.82, Y:9.51, Z:-1.07 [[ 9.69090644e-01 -2.46675918e-01 3.78350534e-03 6.98214696e+01] [ 2.46673837e-01 9.69098029e-01 1.01434724e-03 9.51091251e+00] [-3.91680261e-03 -4.97026411e-05 9.99992328e-01 -1.06984987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22 meters 0.018829718941158723 Centerline is valid? [True, True] Translation: X:69.88, Y:9.53, Z:-1.07 [[ 9.69541670e-01 -2.44906148e-01 3.15108778e-03 6.98774151e+01] [ 2.44904695e-01 9.69546789e-01 8.44965256e-04 9.52825517e+00] [-3.26206423e-03 -4.75128332e-05 9.99994678e-01 -1.07403416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28 meters 0.017912385772399456 Centerline is valid? [True, True] Translation: X:69.93, Y:9.54, Z:-1.07 [[ 9.69636718e-01 -2.44512863e-01 4.25387744e-03 6.99329601e+01] [ 2.44510202e-01 9.69646046e-01 1.14279952e-03 9.54388997e+00] [-4.40418462e-03 -6.79839465e-05 9.99990299e-01 -1.07310176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34 meters 0.016405839859906225 Centerline is valid? [True, True] Translation: X:69.99, Y:9.56, Z:-1.07 [[ 9.69115074e-01 -2.46549419e-01 5.41826145e-03 6.99896082e+01] [ 2.46545115e-01 9.69130217e-01 1.45889770e-03 9.55919173e+00] [-5.61069128e-03 -7.79938630e-05 9.99984257e-01 -1.07330076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39999999999999 meters 0.01716608171590574 Centerline is valid? [True, True] Translation: X:70.05, Y:9.57, Z:-1.08 [[ 9.68367015e-01 -2.49491895e-01 4.37235923e-03 7.00464749e+01] [ 2.49489120e-01 9.68376885e-01 1.17774617e-03 9.57301891e+00] [-4.52792974e-03 -4.96344824e-05 9.99989748e-01 -1.07696151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46 meters 0.014871132520788607 Centerline is valid? [True, True] Translation: X:70.10, Y:9.58, Z:-1.08 [[ 9.67295291e-01 -2.53638261e-01 2.72991320e-03 7.01046161e+01] [ 2.53637198e-01 9.67299143e-01 7.34548397e-04 9.58328080e+00] [-2.82695228e-03 -1.81176705e-05 9.99996004e-01 -1.07689324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52 meters 0.014598272496210724 Centerline is valid? [True, True] Translation: X:70.16, Y:9.60, Z:-1.08 [[ 9.66207217e-01 -2.57757005e-01 2.22282658e-03 7.01623194e+01] [ 2.57756312e-01 9.66209773e-01 5.98026799e-04 9.59570639e+00] [-2.30186236e-03 -4.87022966e-06 9.99997351e-01 -1.07775285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58 meters 0.016628035211085017 Centerline is valid? [True, True] Translation: X:70.22, Y:9.61, Z:-1.08 [[ 9.65240738e-01 -2.61358518e-01 1.42899994e-03 7.02188416e+01] [ 2.61358238e-01 9.65241796e-01 3.83000193e-04 9.60730721e+00] [-1.47943083e-03 3.79351548e-06 9.99998906e-01 -1.08089488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64 meters 0.01589600080012177 Centerline is valid? [True, True] Translation: X:70.27, Y:9.62, Z:-1.08 [[ 9.64948197e-01 -2.62436815e-01 1.37688589e-03 7.02748469e+01] [ 2.62436555e-01 9.64949179e-01 3.69224236e-04 9.62146435e+00] [-1.42552294e-03 5.06292815e-06 9.99998984e-01 -1.08093328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.7 meters 0.01729696718516236 Centerline is valid? [True, True] Translation: X:70.33, Y:9.63, Z:-1.08 [[ 9.64557536e-01 -2.63862980e-01 2.25573561e-03 7.03316726e+01] [ 2.63862273e-01 9.64560173e-01 6.11019833e-04 9.63308674e+00] [-2.33701824e-03 5.83974044e-06 9.99997269e-01 -1.08158533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75999999999999 meters 0.013571200672582337 Centerline is valid? [True, True] Translation: X:70.39, Y:9.65, Z:-1.08 [[ 9.64388939e-01 -2.64427313e-01 5.67183085e-03 7.03896534e+01] [ 2.64422843e-01 9.64405618e-01 1.53758431e-03 9.64678400e+00] [-5.87652483e-03 1.69323364e-05 9.99982733e-01 -1.07544938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82 meters 0.015354632567043995 Centerline is valid? [True, True] Translation: X:70.44, Y:9.66, Z:-1.08 [[ 9.64201501e-01 -2.65100537e-01 6.09681135e-03 7.04448028e+01] [ 2.65095368e-01 9.64220776e-01 1.65555510e-03 9.65951594e+00] [-6.31756071e-03 1.99477348e-05 9.99980044e-01 -1.07652047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88 meters 0.013545288283936243 Centerline is valid? [True, True] Translation: X:70.50, Y:9.68, Z:-1.08 [[ 9.64420139e-01 -2.64280759e-01 7.03389605e-03 7.05010455e+01] [ 2.64273858e-01 9.64445789e-01 1.90994366e-03 9.67546791e+00] [-7.28857279e-03 1.68867131e-05 9.99973438e-01 -1.07533238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94 meters 0.01763931104468434 Centerline is valid? [True, True] Translation: X:70.56, Y:9.69, Z:-1.08 [[ 9.64627239e-01 -2.63571604e-01 4.92941232e-03 7.05574898e+01] [ 2.63568203e-01 9.64639834e-01 1.33902526e-03 9.69132927e+00] [-5.10803652e-03 7.57611089e-06 9.99986954e-01 -1.08047290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.0 meters 0.016698456240808027 Centerline is valid? [True, True] Translation: X:70.61, Y:9.71, Z:-1.08 [[ 9.64487760e-01 -2.64083665e-01 4.81435369e-03 7.06135292e+01] [ 2.64080423e-01 9.64499776e-01 1.30855113e-03 9.70684796e+00] [-4.98901003e-03 9.29501243e-06 9.99987555e-01 -1.08045248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06 meters 0.016456232225506393 Centerline is valid? [True, True] Translation: X:70.67, Y:9.72, Z:-1.08 [[ 9.63709530e-01 -2.66902676e-01 5.18677668e-03 7.06682866e+01] [ 2.66898938e-01 9.63723488e-01 1.41266136e-03 9.72132140e+00] [-5.37566161e-03 2.29499689e-05 9.99985551e-01 -1.08087500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11999999999999 meters 0.016305193963251332 Centerline is valid? [True, True] Translation: X:70.72, Y:9.74, Z:-1.08 [[ 9.63288985e-01 -2.68419232e-01 5.04446321e-03 7.07238171e+01] [ 2.68415717e-01 9.63302193e-01 1.37394761e-03 9.73718032e+00] [-5.22813643e-03 3.05046142e-05 9.99986333e-01 -1.08228213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17999999999999 meters 0.013768127491891966 Centerline is valid? [True, True] Translation: X:70.78, Y:9.75, Z:-1.08 [[ 9.62715489e-01 -2.70458517e-01 5.57476116e-03 7.07800568e+01] [ 2.70454247e-01 9.62731628e-01 1.52048529e-03 9.75328276e+00] [-5.77822709e-03 4.39230930e-05 9.99983305e-01 -1.08135510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24 meters 0.01801176820573377 Centerline is valid? [True, True] Translation: X:70.84, Y:9.77, Z:-1.08 [[ 9.62293198e-01 -2.71952888e-01 5.78165451e-03 7.08364440e+01] [ 2.71948310e-01 9.62310565e-01 1.57888495e-03 9.76825622e+00] [-5.99312954e-03 5.29609261e-05 9.99982040e-01 -1.08383326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.3 meters 0.016933675441484105 Centerline is valid? [True, True] Translation: X:70.89, Y:9.79, Z:-1.08 [[ 9.62887337e-01 -2.69827404e-01 6.41471439e-03 7.08925589e+01] [ 2.69821703e-01 9.62908703e-01 1.75455825e-03 9.78638098e+00] [-6.65021221e-03 4.13872321e-05 9.99977886e-01 -1.08427980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36 meters 0.016311235768193665 Centerline is valid? [True, True] Translation: X:70.95, Y:9.81, Z:-1.09 [[ 9.64869872e-01 -2.62688498e-01 4.56980322e-03 7.09465011e+01] [ 2.62685526e-01 9.64880694e-01 1.24964006e-03 9.80912102e+00] [-4.73758097e-03 -5.31888364e-06 9.99988778e-01 -1.08790739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42 meters 0.017185539906635537 Centerline is valid? [True, True] Translation: X:71.00, Y:9.83, Z:-1.09 [[ 9.66985235e-01 -2.54823370e-01 2.14623443e-03 7.10000392e+01] [ 2.54822693e-01 9.66987616e-01 5.87829094e-04 9.83127305e+00] [-2.22517470e-03 -2.15128181e-05 9.99997524e-01 -1.09226402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48 meters 0.018237220484870833 Centerline is valid? [True, True] Translation: X:71.06, Y:9.85, Z:-1.09 [[ 9.68208561e-01 -2.50142782e-01 8.77591888e-04 7.10557294e+01] [ 2.50142668e-01 9.68208959e-01 2.39607449e-04 9.84943339e+00] [-9.09628402e-04 -1.24668078e-05 9.99999586e-01 -1.09224101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53999999999999 meters 0.01826495137147884 Centerline is valid? [True, True] Translation: X:71.11, Y:9.87, Z:-1.09 [[ 9.68573859e-01 -2.48721066e-01 1.58430112e-03 7.11124222e+01] [ 2.48720693e-01 9.68575155e-01 4.31602427e-04 9.86616032e+00] [-1.64186331e-03 -2.39903574e-05 9.99998652e-01 -1.09212478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.6 meters 0.015101563060283813 Centerline is valid? [True, True] Translation: X:71.17, Y:9.88, Z:-1.09 [[ 9.68232658e-01 -2.49991220e-01 5.46901830e-03 7.11698017e+01] [ 2.49986729e-01 9.68248100e-01 1.50096230e-03 9.87951057e+00] [-5.67059398e-03 -8.60987183e-05 9.99983918e-01 -1.08622475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66 meters 0.01729037194259947 Centerline is valid? [True, True] Translation: X:71.23, Y:9.89, Z:-1.09 [[ 9.67365365e-01 -2.53292541e-01 6.86576403e-03 7.12270849e+01] [ 2.53285526e-01 9.67389726e-01 1.88713868e-03 9.89261088e+00] [-7.11986774e-03 -8.65539412e-05 9.99974650e-01 -1.08825317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72 meters 0.016171873003173437 Centerline is valid? [True, True] Translation: X:71.28, Y:9.91, Z:-1.09 [[ 9.66505653e-01 -2.56527947e-01 7.76111870e-03 7.12833936e+01] [ 2.56519056e-01 9.66536811e-01 2.13702327e-03 9.90535020e+00] [-8.04961311e-03 -7.45702289e-05 9.99967599e-01 -1.08832210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78 meters 0.01385923840133514 Centerline is valid? [True, True] Translation: X:71.34, Y:9.92, Z:-1.09 [[ 9.65896185e-01 -2.58850263e-01 6.41109287e-03 7.13404165e+01] [ 2.58844256e-01 9.65917460e-01 1.76390194e-03 9.91861565e+00] [-6.64917303e-03 -4.42715880e-05 9.99977893e-01 -1.08814310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84 meters 0.01680615261020168 Centerline is valid? [True, True] Translation: X:71.40, Y:9.93, Z:-1.09 [[ 9.64198103e-01 -2.65169164e-01 2.70801811e-03 7.13970134e+01] [ 2.65168115e-01 9.64201906e-01 7.45848126e-04 9.92925200e+00] [-2.80885214e-03 -1.06529109e-06 9.99996055e-01 -1.09499515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89999999999999 meters 0.01411147754091187 Centerline is valid? [True, True] Translation: X:71.46, Y:9.94, Z:-1.09 [[ 9.62162676e-01 -2.72455270e-01 3.33338340e-03 7.14558363e+01] [ 2.72453729e-01 9.62168449e-01 9.16788349e-04 9.93913973e+00] [-3.45706016e-03 2.60932080e-05 9.99994024e-01 -1.09172951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96 meters 0.015027356147076676 Centerline is valid? [True, True] Translation: X:71.51, Y:9.95, Z:-1.09 [[ 9.59486269e-01 -2.81696043e-01 5.78263737e-03 7.15142267e+01] [ 2.81691546e-01 9.59503689e-01 1.59480326e-03 9.94930105e+00] [-5.99771166e-03 9.87282355e-05 9.99982009e-01 -1.08945550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02 meters 0.016093969177272065 Centerline is valid? [True, True] Translation: X:71.57, Y:9.96, Z:-1.09 [[ 9.57887383e-01 -2.87064812e-01 6.74940179e-03 7.15721702e+01] [ 2.87058790e-01 9.57911150e-01 1.86557114e-03 9.96208955e+00] [-7.00086706e-03 1.50468046e-04 9.99975482e-01 -1.08970453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08 meters 0.017644630650271595 Centerline is valid? [True, True] Translation: X:71.63, Y:9.97, Z:-1.09 [[ 9.56435803e-01 -2.91843694e-01 7.60342055e-03 7.16294813e+01] [ 2.91836199e-01 9.56466003e-01 2.10201221e-03 9.97451100e+00] [-7.88587227e-03 2.08513621e-04 9.99968884e-01 -1.09019730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14 meters 0.017625498979677055 Centerline is valid? [True, True] Translation: X:71.69, Y:9.99, Z:-1.09 [[ 9.56470853e-01 -2.91763168e-01 6.14507651e-03 7.16850915e+01] [ 2.91758281e-01 9.56490578e-01 1.69725594e-03 9.99246315e+00] [-6.37290455e-03 1.69501116e-04 9.99979678e-01 -1.09181637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.2 meters 0.01701254544599945 Centerline is valid? [True, True] Translation: X:71.74, Y:10.01, Z:-1.09 [[ 9.57877954e-01 -2.87144155e-01 4.24953988e-03 7.17405009e+01] [ 2.87141762e-01 9.57887376e-01 1.17598086e-03 1.00135802e+01] [-4.40825664e-03 9.37742354e-05 9.99990279e-01 -1.09437229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25999999999999 meters 0.01748954728873927 Centerline is valid? [True, True] Translation: X:71.80, Y:10.03, Z:-1.10 [[ 9.58978757e-01 -2.83465986e-01 2.60348477e-03 7.17960026e+01] [ 2.83465081e-01 9.58982290e-01 7.18013623e-04 1.00340078e+01] [-2.70022823e-03 4.94372103e-05 9.99996353e-01 -1.09713750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32 meters 0.018807082242076285 Centerline is valid? [True, True] Translation: X:71.85, Y:10.06, Z:-1.10 [[ 9.60418033e-01 -2.78554724e-01 2.11374479e-03 7.18515136e+01] [ 2.78554115e-01 9.60420359e-01 5.83011729e-04 1.00561496e+01] [-2.19248420e-03 2.88573323e-05 9.99997596e-01 -1.09899501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38 meters 0.017046411117891087 Centerline is valid? [True, True] Translation: X:71.91, Y:10.08, Z:-1.10 [[ 9.61755576e-01 -2.73863512e-01 4.99879736e-03 7.19057469e+01] [ 2.73860006e-01 9.61768566e-01 1.38625929e-03 1.00766743e+01] [-5.18733201e-03 3.57280765e-05 9.99986545e-01 -1.09755470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44 meters 0.014238872667742314 Centerline is valid? [True, True] Translation: X:71.96, Y:10.10, Z:-1.10 [[ 9.62685507e-01 -2.70551516e-01 6.20414328e-03 7.19618082e+01] [ 2.70546048e-01 9.62705498e-01 1.72022025e-03 1.00969772e+01] [-6.43817105e-03 2.24753466e-05 9.99979275e-01 -1.09601111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.5 meters 0.015406908036522652 Centerline is valid? [True, True] Translation: X:72.02, Y:10.12, Z:-1.10 [[ 9.64498137e-01 -2.64043518e-01 4.93594173e-03 7.20158308e+01] [ 2.64039971e-01 9.64510767e-01 1.36883569e-03 1.01216416e+01] [-5.12220113e-03 -1.69535628e-05 9.99986881e-01 -1.09805649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56 meters 0.019160249119820432 Centerline is valid? [True, True] Translation: X:72.07, Y:10.14, Z:-1.10 [[ 9.64924807e-01 -2.62499310e-01 3.77215443e-03 7.20715054e+01] [ 2.62497226e-01 9.64932180e-01 1.04618266e-03 1.01397746e+01] [-3.91449543e-03 -1.93075205e-05 9.99992338e-01 -1.10101348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61999999999999 meters 0.018489358315900695 Centerline is valid? [True, True] Translation: X:72.13, Y:10.16, Z:-1.10 [[ 9.66627375e-01 -2.56174081e-01 2.52159843e-03 7.21263218e+01] [ 2.56173130e-01 9.66630663e-01 6.98665933e-04 1.01619482e+01] [-2.61643447e-03 -2.93838529e-05 9.99996577e-01 -1.10189506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67999999999999 meters 0.01854335135822385 Centerline is valid? [True, True] Translation: X:72.18, Y:10.18, Z:-1.10 [[ 9.68034159e-01 -2.50818391e-01 3.42669255e-05 7.21821703e+01] [ 2.50818391e-01 9.68034160e-01 8.98846647e-06 1.01830619e+01] [-3.54260272e-05 -1.06367480e-07 9.99999999e-01 -1.10476128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74 meters 0.01864382135667768 Centerline is valid? [True, True] Translation: X:72.24, Y:10.20, Z:-1.11 [[ 9.68510173e-01 -2.48968515e-01 -1.65049635e-03 7.22380228e+01] [ 2.48968085e-01 9.68511578e-01 -4.64240030e-04 1.02010541e+01] [ 1.71410598e-03 3.87002757e-05 9.99998530e-01 -1.10733557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.8 meters 0.018727857946953898 Centerline is valid? [True, True] Translation: X:72.30, Y:10.22, Z:-1.11 [[ 9.68693637e-01 -2.48253895e-01 -1.62497438e-03 7.22955588e+01] [ 2.48253477e-01 9.68694999e-01 -4.57611205e-04 1.02151963e+01] [ 1.68770832e-03 3.98795233e-05 9.99998575e-01 -1.10730036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86 meters 0.020443706473933773 Centerline is valid? [True, True] Translation: X:72.35, Y:10.23, Z:-1.11 [[ 9.68625256e-01 -2.48525868e-01 -8.45799962e-05 7.23501083e+01] [ 2.48525867e-01 9.68625259e-01 -2.50046250e-05 1.02332833e+01] [ 8.81406168e-05 3.19979437e-06 9.99999996e-01 -1.10893857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92 meters 0.01786659580538858 Centerline is valid? [True, True] Translation: X:72.41, Y:10.24, Z:-1.11 [[ 9.68458036e-01 -2.49168258e-01 2.05214521e-03 7.24087304e+01] [ 2.49167609e-01 9.68460210e-01 5.69845703e-04 1.02441559e+01] [-2.12940844e-03 -4.05435354e-05 9.99997732e-01 -1.10545248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98 meters 0.01752215811919032 Centerline is valid? [True, True] Translation: X:72.46, Y:10.26, Z:-1.10 [[ 9.68633687e-01 -2.48470949e-01 3.31189818e-03 7.24649990e+01] [ 2.48469247e-01 9.68639346e-01 9.22466897e-04 1.02598337e+01] [-3.43724111e-03 -7.06276656e-05 9.99994090e-01 -1.10453166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03999999999999 meters 0.020571400598808957 Centerline is valid? [True, True] Translation: X:72.52, Y:10.28, Z:-1.11 [[ 9.68933380e-01 -2.47309515e-01 2.47160190e-03 7.25212584e+01] [ 2.47308563e-01 9.68936531e-01 6.88550091e-04 1.02764296e+01] [-2.56511036e-03 -5.59108537e-05 9.99996709e-01 -1.10730294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.1 meters 0.02024849747300584 Centerline is valid? [True, True] Translation: X:72.58, Y:10.29, Z:-1.11 [[ 9.69184603e-01 -2.46324975e-01 2.28276080e-03 7.25782043e+01] [ 2.46324160e-01 9.69187290e-01 6.36281661e-04 1.02924210e+01] [-2.36915482e-03 -5.43752534e-05 9.99997192e-01 -1.10860032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16 meters 0.019568930645301595 Centerline is valid? [True, True] Translation: X:72.64, Y:10.30, Z:-1.11 [[ 9.68926728e-01 -2.47336003e-01 2.42860817e-03 7.26366025e+01] [ 2.47335077e-01 9.68929770e-01 6.79119057e-04 1.03039261e+01] [-2.52112135e-03 -5.73366170e-05 9.99996820e-01 -1.10874708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22 meters 0.01966031825849448 Centerline is valid? [True, True] Translation: X:72.69, Y:10.32, Z:-1.11 [[ 9.68268259e-01 -2.49907576e-01 1.66823286e-03 7.26944201e+01] [ 2.49907146e-01 9.68269695e-01 4.64454342e-04 1.03164478e+01] [-1.73136998e-03 -3.28130845e-05 9.99998501e-01 -1.11027621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28 meters 0.01538260547344478 Centerline is valid? [True, True] Translation: X:72.75, Y:10.33, Z:-1.11 [[ 9.67090322e-01 -2.54402960e-01 3.92980363e-03 7.27524161e+01] [ 2.54400579e-01 9.67098304e-01 1.10259812e-03 1.03269963e+01] [-4.08101065e-03 -6.65676503e-05 9.99991670e-01 -1.10840212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34 meters 0.01562969049258432 Centerline is valid? [True, True] Translation: X:72.81, Y:10.33, Z:-1.11 [[ 9.65081958e-01 -2.61902807e-01 4.87184438e-03 7.28114820e+01] [ 2.61899240e-01 9.65094253e-01 1.36752394e-03 1.03348731e+01] [-5.05994737e-03 -4.38403395e-05 9.99987197e-01 -1.10998606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39999999999999 meters 0.01563450404241298 Centerline is valid? [True, True] Translation: X:72.87, Y:10.35, Z:-1.11 [[ 9.63630698e-01 -2.67184689e-01 5.31226331e-03 7.28682357e+01] [ 2.67180527e-01 9.63645340e-01 1.49149722e-03 1.03455033e+01] [-5.51764300e-03 -1.79191993e-05 9.99984778e-01 -1.11090581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46 meters 0.015981668842460134 Centerline is valid? [True, True] Translation: X:72.93, Y:10.35, Z:-1.11 [[ 9.61280740e-01 -2.75480190e-01 7.07132481e-03 7.29262447e+01] [ 2.75473042e-01 9.61306748e-01 1.98492294e-03 1.03526436e+01] [-7.34451920e-03 3.98911607e-05 9.99973028e-01 -1.11138056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52 meters 0.01452826944300044 Centerline is valid? [True, True] Translation: X:72.99, Y:10.36, Z:-1.11 [[ 9.59157498e-01 -2.82772925e-01 7.50781686e-03 7.29850179e+01] [ 2.82765068e-01 9.59186876e-01 2.11034151e-03 1.03606450e+01] [-7.79814684e-03 9.87984581e-05 9.99969589e-01 -1.11070017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58 meters 0.01458231246189505 Centerline is valid? [True, True] Translation: X:73.04, Y:10.38, Z:-1.11 [[ 9.59136909e-01 -2.82830809e-01 7.94500150e-03 7.30407817e+01] [ 2.82821994e-01 9.59169809e-01 2.23537521e-03 1.03760361e+01] [-8.25283855e-03 1.02990295e-04 9.99965939e-01 -1.11203060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64 meters 0.014210513112007132 Centerline is valid? [True, True] Translation: X:73.10, Y:10.40, Z:-1.12 [[ 9.60340960e-01 -2.78776319e-01 5.38562651e-03 7.30969694e+01] [ 2.78772201e-01 9.60356060e-01 1.51604098e-03 1.03956811e+01] [-5.59475538e-03 4.54467039e-05 9.99984348e-01 -1.11553867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.7 meters 0.01723820956588756 Centerline is valid? [True, True] Translation: X:73.15, Y:10.41, Z:-1.12 [[ 9.60301791e-01 -2.78948716e-01 2.84320086e-03 7.31539737e+01] [ 2.78947573e-01 9.60306000e-01 7.99097766e-04 1.04116814e+01] [-2.95325014e-03 2.57289626e-05 9.99995639e-01 -1.12031259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75999999999999 meters 0.01575772540137689 Centerline is valid? [True, True] Translation: X:73.21, Y:10.43, Z:-1.12 [[ 9.60068037e-01 -2.79747387e-01 3.28076282e-03 7.32106913e+01] [ 2.79745865e-01 9.60073642e-01 9.23163915e-04 1.04261972e+01] [-3.40802661e-03 3.14796660e-05 9.99994192e-01 -1.11978395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82 meters 0.016225447281395133 Centerline is valid? [True, True] Translation: X:73.27, Y:10.44, Z:-1.12 [[ 9.59929453e-01 -2.80186373e-01 5.57140190e-03 7.32674910e+01] [ 2.80181963e-01 9.59945620e-01 1.57282842e-03 1.04429732e+01] [-5.78892795e-03 5.12020009e-05 9.99983243e-01 -1.11826317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88 meters 0.014082999070781371 Centerline is valid? [True, True] Translation: X:73.32, Y:10.46, Z:-1.12 [[ 9.60589306e-01 -2.77883817e-01 6.98345796e-03 7.33228790e+01] [ 2.77876798e-01 9.60614690e-01 1.97558563e-03 1.04613117e+01] [-7.25739558e-03 4.28145033e-05 9.99973664e-01 -1.11587039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94 meters 0.013905363989024385 Centerline is valid? [True, True] Translation: X:73.38, Y:10.48, Z:-1.12 [[ 9.61057800e-01 -2.76255040e-01 7.14546130e-03 7.33774050e+01] [ 2.76247641e-01 9.61084363e-01 2.02212644e-03 1.04799777e+01] [-7.42601374e-03 3.05364341e-05 9.99972426e-01 -1.11756863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.0 meters 0.015225865759430041 Centerline is valid? [True, True] Translation: X:73.43, Y:10.50, Z:-1.12 [[ 9.60975683e-01 -2.76559830e-01 6.35592904e-03 7.34327793e+01] [ 2.76553991e-01 9.60996701e-01 1.79737136e-03 1.04968851e+01] [-6.60510756e-03 3.05273725e-05 9.99978186e-01 -1.11949328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06 meters 0.016960584411514445 Centerline is valid? [True, True] Translation: X:73.49, Y:10.51, Z:-1.12 [[ 9.61163731e-01 -2.75941491e-01 4.53602623e-03 7.34891154e+01] [ 2.75938508e-01 9.61174434e-01 1.28317474e-03 1.05149305e+01] [-4.71399359e-03 1.83232888e-05 9.99988889e-01 -1.12219808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11999999999999 meters 0.01652579022747286 Centerline is valid? [True, True] Translation: X:73.54, Y:10.53, Z:-1.12 [[ 9.61488990e-01 -2.74820277e-01 3.56907814e-03 7.35444278e+01] [ 2.74818423e-01 9.61495614e-01 1.00935760e-03 1.05334116e+01] [-3.70904491e-03 1.03622060e-05 9.99993121e-01 -1.12390824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17999999999999 meters 0.015269001667735227 Centerline is valid? [True, True] Translation: X:73.60, Y:10.55, Z:-1.12 [[ 9.61713737e-01 -2.74037336e-01 3.19798854e-03 7.36002005e+01] [ 2.74035834e-01 9.61719054e-01 9.07381145e-04 1.05501758e+01] [-3.32422282e-03 3.72254449e-06 9.99994475e-01 -1.12458269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24 meters 0.01653060815912843 Centerline is valid? [True, True] Translation: X:73.66, Y:10.57, Z:-1.13 [[ 9.61261822e-01 -2.75618051e-01 3.22492402e-03 7.36562032e+01] [ 2.75616539e-01 9.61267231e-01 9.12973222e-04 1.05650194e+01] [-3.35164568e-03 1.12360947e-05 9.99994383e-01 -1.12580036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.3 meters 0.013911842242167082 Centerline is valid? [True, True] Translation: X:73.71, Y:10.58, Z:-1.12 [[ 9.60951907e-01 -2.76694399e-01 3.41204889e-03 7.37123066e+01] [ 2.76692709e-01 9.60957964e-01 9.67279051e-04 1.05794550e+01] [-3.54647626e-03 1.45804016e-05 9.99993711e-01 -1.12398638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36 meters 0.014017278688425856 Centerline is valid? [True, True] Translation: X:73.77, Y:10.59, Z:-1.13 [[ 9.60477169e-01 -2.78345871e-01 2.68045167e-03 7.37689696e+01] [ 2.78344833e-01 9.60480909e-01 7.60222826e-04 1.05940885e+01] [-2.78612754e-03 1.59132035e-05 9.99996119e-01 -1.12536768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42 meters 0.0160646839471171 Centerline is valid? [True, True] Translation: X:73.83, Y:10.61, Z:-1.13 [[ 9.59830367e-01 -2.80568881e-01 2.60197741e-03 7.38266147e+01] [ 2.80567910e-01 9.59833893e-01 7.38478433e-04 1.06084353e+01] [-2.70466017e-03 2.12173379e-05 9.99996342e-01 -1.12744498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48 meters 0.014831070209185069 Centerline is valid? [True, True] Translation: X:73.88, Y:10.62, Z:-1.13 [[ 9.59554944e-01 -2.81503534e-01 3.17346283e-03 7.38829129e+01] [ 2.81502090e-01 9.59560191e-01 9.01938277e-04 1.06225203e+01] [-3.29902741e-03 2.78770864e-05 9.99994558e-01 -1.12626262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53999999999999 meters 0.014814228806370905 Centerline is valid? [True, True] Translation: X:73.94, Y:10.64, Z:-1.13 [[ 9.59787068e-01 -2.80699327e-01 4.08320633e-03 7.39399243e+01] [ 2.80696917e-01 9.59795753e-01 1.16348696e-03 1.06380474e+01] [-4.24563410e-03 2.94436882e-05 9.99990987e-01 -1.12667315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.6 meters 0.016616024321349135 Centerline is valid? [True, True] Translation: X:74.00, Y:10.66, Z:-1.13 [[ 9.60433097e-01 -2.78464188e-01 5.09537591e-03 7.39960787e+01] [ 2.78460392e-01 9.60446612e-01 1.45422288e-03 1.06556511e+01] [-5.29878553e-03 2.21765864e-05 9.99985961e-01 -1.12921000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66 meters 0.016527576611303295 Centerline is valid? [True, True] Translation: X:74.05, Y:10.67, Z:-1.13 [[ 9.61105142e-01 -2.76144512e-01 4.59501995e-03 7.40513843e+01] [ 2.76141396e-01 9.61116126e-01 1.31186609e-03 1.06723808e+01] [-4.77861240e-03 8.03397730e-06 9.99988582e-01 -1.12998748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72 meters 0.014442079782551128 Centerline is valid? [True, True] Translation: X:74.11, Y:10.69, Z:-1.13 [[ 9.62156923e-01 -2.72465412e-01 4.08094388e-03 7.41081017e+01] [ 2.72462917e-01 9.62165578e-01 1.16617639e-03 1.06898691e+01] [-4.24428646e-03 -1.01388168e-05 9.99990993e-01 -1.12926625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78 meters 0.013790288327043626 Centerline is valid? [True, True] Translation: X:74.16, Y:10.71, Z:-1.13 [[ 9.62717078e-01 -2.70482864e-01 3.85321615e-03 7.41648969e+01] [ 2.70480620e-01 9.62724789e-01 1.10197891e-03 1.07056534e+01] [-4.00765312e-03 -1.86736253e-05 9.99991969e-01 -1.12976189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84 meters 0.01389938143592185 Centerline is valid? [True, True] Translation: X:74.22, Y:10.72, Z:-1.13 [[ 9.62787376e-01 -2.70240999e-01 3.20482372e-03 7.42214948e+01] [ 2.70239444e-01 9.62792710e-01 9.16781059e-04 1.07208449e+01] [-3.33333274e-03 -1.65954497e-05 9.99994444e-01 -1.13160376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89999999999999 meters 0.01382837078561157 Centerline is valid? [True, True] Translation: X:74.28, Y:10.73, Z:-1.13 [[ 9.62568546e-01 -2.71027753e-01 2.39829024e-03 7.42784062e+01] [ 2.71026887e-01 9.62571533e-01 6.85219374e-04 1.07348322e+01] [-2.49423938e-03 -9.56947932e-06 9.99996889e-01 -1.13329299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96 meters 0.016175840930859414 Centerline is valid? [True, True] Translation: X:74.34, Y:10.75, Z:-1.14 [[ 9.62048661e-01 -2.72852260e-01 3.74417803e-03 7.43364011e+01] [ 2.72850147e-01 9.62055946e-01 1.07386833e-03 1.07472967e+01] [-3.89511614e-03 -1.15140638e-05 9.99992414e-01 -1.13504849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02 meters 0.013810399590772003 Centerline is valid? [True, True] Translation: X:74.39, Y:10.76, Z:-1.13 [[ 9.62069104e-01 -2.72766948e-01 4.60766432e-03 7.43932983e+01] [ 2.72763739e-01 9.62080138e-01 1.32332789e-03 1.07607285e+01] [-4.79390243e-03 -1.63291293e-05 9.99988509e-01 -1.13300155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08 meters 0.01562678642743732 Centerline is valid? [True, True] Translation: X:74.45, Y:10.77, Z:-1.14 [[ 9.62368538e-01 -2.71711278e-01 4.44722202e-03 7.44505333e+01] [ 2.71708269e-01 9.62378814e-01 1.27882548e-03 1.07745423e+01] [-4.62738356e-03 -2.23544060e-05 9.99989293e-01 -1.13524586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14 meters 0.014883104319079752 Centerline is valid? [True, True] Translation: X:74.51, Y:10.79, Z:-1.14 [[ 9.62938815e-01 -2.69680909e-01 4.58753729e-03 7.45072002e+01] [ 2.69677678e-01 9.62949742e-01 1.32050002e-03 1.07913439e+01] [-4.77368150e-03 -3.44043160e-05 9.99988605e-01 -1.13546357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.2 meters 0.014434913718232589 Centerline is valid? [True, True] Translation: X:74.56, Y:10.81, Z:-1.14 [[ 9.63150411e-01 -2.68943092e-01 3.30147253e-03 7.45623447e+01] [ 2.68941409e-01 9.63156069e-01 9.52051749e-04 1.08089983e+01] [-3.43588104e-03 -2.90663614e-05 9.99994097e-01 -1.13719440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25999999999999 meters 0.016198728077771788 Centerline is valid? [True, True] Translation: X:74.62, Y:10.83, Z:-1.14 [[ 9.63270319e-01 -2.68522834e-01 2.40403629e-03 7.46187291e+01] [ 2.68521945e-01 9.63273319e-01 6.91059711e-04 1.08275777e+01] [-2.50130933e-03 -2.01408081e-05 9.99996872e-01 -1.13977111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32 meters 0.01854481710208671 Centerline is valid? [True, True] Translation: X:74.68, Y:10.84, Z:-1.14 [[ 9.62736049e-01 -2.70431573e-01 2.46246604e-03 7.46750927e+01] [ 2.70430645e-01 9.62739198e-01 7.08605295e-04 1.08437969e+01] [-2.56234182e-03 -1.62735840e-05 9.99996717e-01 -1.14113003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38 meters 0.014692560682035498 Centerline is valid? [True, True] Translation: X:74.73, Y:10.86, Z:-1.14 [[ 9.62319977e-01 -2.71890128e-01 4.00256940e-03 7.47316725e+01] [ 2.71887674e-01 9.62328301e-01 1.15519159e-03 1.08595008e+01] [-4.16587100e-03 -2.34146532e-05 9.99991322e-01 -1.13871428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44 meters 0.013676097110793418 Centerline is valid? [True, True] Translation: X:74.79, Y:10.87, Z:-1.14 [[ 9.61300401e-01 -2.75443638e-01 5.68693487e-03 7.47887495e+01] [ 2.75438730e-01 9.61317222e-01 1.64444039e-03 1.08743046e+01] [-5.91989907e-03 -1.43990879e-05 9.99982477e-01 -1.13670651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.5 meters 0.016246804692571212 Centerline is valid? [True, True] Translation: X:74.84, Y:10.89, Z:-1.14 [[ 9.60161689e-01 -2.79384932e-01 5.79578871e-03 7.48438239e+01] [ 2.79379888e-01 9.60179181e-01 1.67878732e-03 1.08880570e+01] [-6.03402353e-03 7.31953604e-06 9.99981795e-01 -1.14048013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56 meters 0.015061516924843647 Centerline is valid? [True, True] Translation: X:74.90, Y:10.90, Z:-1.14 [[ 9.59739503e-01 -2.80828303e-01 5.96240120e-03 7.49001132e+01] [ 2.80822996e-01 9.59758024e-01 1.72655993e-03 1.09039308e+01] [-6.20732929e-03 1.73315957e-05 9.99980734e-01 -1.14106610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61999999999999 meters 0.013648667707098067 Centerline is valid? [True, True] Translation: X:74.96, Y:10.92, Z:-1.14 [[ 9.59544687e-01 -2.81498158e-01 5.72549841e-03 7.49558140e+01] [ 2.81493268e-01 9.59561768e-01 1.65938093e-03 1.09202351e+01] [-5.96108206e-03 1.94391015e-05 9.99982232e-01 -1.14060298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67999999999999 meters 0.013592478417266667 Centerline is valid? [True, True] Translation: X:75.01, Y:10.94, Z:-1.14 [[ 9.59637275e-01 -2.81194086e-01 5.11723596e-03 7.50113581e+01] [ 2.81190159e-01 9.59650919e-01 1.48615446e-03 1.09370220e+01] [-5.32865804e-03 1.27471771e-05 9.99985803e-01 -1.14245520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74 meters 0.013478210866798273 Centerline is valid? [True, True] Translation: X:75.07, Y:10.96, Z:-1.14 [[ 9.59781062e-01 -2.80700591e-01 5.24316772e-03 7.50661709e+01] [ 2.80696469e-01 9.59795383e-01 1.52126524e-03 1.09553754e+01] [-5.45938822e-03 1.16570977e-05 9.99985097e-01 -1.14308790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.8 meters 0.013558293673064704 Centerline is valid? [True, True] Translation: X:75.12, Y:10.97, Z:-1.14 [[ 9.59145183e-01 -2.82862148e-01 5.43354535e-03 7.51223433e+01] [ 2.82857746e-01 9.59160573e-01 1.57833882e-03 1.09714857e+01] [-5.65809478e-03 2.30643135e-05 9.99983993e-01 -1.14388528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86 meters 0.01499714433317281 Centerline is valid? [True, True] Translation: X:75.18, Y:10.99, Z:-1.15 [[ 9.57950974e-01 -2.86895914e-01 4.54604096e-03 7.51791533e+01] [ 2.86892873e-01 9.57961760e-01 1.32158957e-03 1.09856932e+01] [-4.73409205e-03 3.82087356e-05 9.99988793e-01 -1.14633285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92 meters 0.013895010007198167 Centerline is valid? [True, True] Translation: X:75.23, Y:11.00, Z:-1.15 [[ 9.57387963e-01 -2.88755844e-01 5.32462744e-03 7.52347738e+01] [ 2.88751690e-01 9.57402768e-01 1.54967935e-03 1.10010134e+01] [-5.54529201e-03 5.38508179e-05 9.99984623e-01 -1.14576404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98 meters 0.014365811180686167 Centerline is valid? [True, True] Translation: X:75.29, Y:11.02, Z:-1.15 [[ 9.56811147e-01 -2.90655319e-01 5.64929716e-03 7.52909254e+01] [ 2.90650653e-01 9.56827822e-01 1.64809641e-03 1.10154006e+01] [-5.88443269e-03 6.50548963e-05 9.99982684e-01 -1.14586496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03999999999999 meters 0.01384320541544175 Centerline is valid? [True, True] Translation: X:75.35, Y:11.03, Z:-1.15 [[ 9.57280419e-01 -2.89085555e-01 6.61370212e-03 7.53467603e+01] [ 2.89079127e-01 9.57303263e-01 1.92891257e-03 1.10341487e+01] [-6.88893938e-03 6.53730024e-05 9.99976269e-01 -1.14557318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.1 meters 0.013536570084715843 Centerline is valid? [True, True] Translation: X:75.40, Y:11.05, Z:-1.15 [[ 9.58409767e-01 -2.85321802e-01 6.49519358e-03 7.54015484e+01] [ 2.85315497e-01 9.58431775e-01 1.89709997e-03 1.10530325e+01] [-6.76648390e-03 3.49802423e-05 9.99977106e-01 -1.14746295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16 meters 0.013435740013580997 Centerline is valid? [True, True] Translation: X:75.46, Y:11.07, Z:-1.15 [[ 9.59098616e-01 -2.82993352e-01 6.67883726e-03 7.54578673e+01] [ 2.82986629e-01 9.59121871e-01 1.95075913e-03 1.10715588e+01] [-6.95787075e-03 1.90512539e-05 9.99975794e-01 -1.14795622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22 meters 0.013396147546689989 Centerline is valid? [True, True] Translation: X:75.51, Y:11.09, Z:-1.15 [[ 9.60122698e-01 -2.79473224e-01 7.68903236e-03 7.55125227e+01] [ 2.79464182e-01 9.60153486e-01 2.24818902e-03 1.10900416e+01] [-8.01095986e-03 -9.72817347e-06 9.99967912e-01 -1.14741762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28 meters 0.013661473662323398 Centerline is valid? [True, True] Translation: X:75.57, Y:11.11, Z:-1.15 [[ 9.61518649e-01 -2.74633011e-01 7.65485880e-03 7.55679914e+01] [ 2.74623874e-01 9.61549118e-01 2.24085871e-03 1.11094701e+01] [-7.97593651e-03 -5.24204593e-05 9.99968190e-01 -1.14808090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34 meters 0.015955601462498168 Centerline is valid? [True, True] Translation: X:75.62, Y:11.13, Z:-1.15 [[ 9.61782179e-01 -2.73723340e-01 7.11142111e-03 7.56245603e+01] [ 2.73715417e-01 9.61808468e-01 2.08345120e-03 1.11272139e+01] [-7.41011427e-03 -5.73206460e-05 9.99972543e-01 -1.15178511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39999999999999 meters 0.014867225767460787 Centerline is valid? [True, True] Translation: X:75.68, Y:11.15, Z:-1.15 [[ 9.62785609e-01 -2.70180696e-01 6.80161257e-03 7.56801401e+01] [ 2.70173348e-01 9.62809630e-01 1.99436729e-03 1.11460328e+01] [-7.08749763e-03 -8.25336826e-05 9.99974880e-01 -1.15201642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46 meters 0.014437367331069807 Centerline is valid? [True, True] Translation: X:75.74, Y:11.16, Z:-1.15 [[ 9.62285527e-01 -2.71945061e-01 7.24210842e-03 7.57367152e+01] [ 2.71936763e-01 9.62312776e-01 2.12573522e-03 1.11611694e+01] [-7.54725665e-03 -7.61687108e-05 9.99971516e-01 -1.15229799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52 meters 0.013897264363071071 Centerline is valid? [True, True] Translation: X:75.79, Y:11.17, Z:-1.15 [[ 9.61268850e-01 -2.75492955e-01 8.11357851e-03 7.57942432e+01] [ 2.75482644e-01 9.61303089e-01 2.38409197e-03 1.11738064e+01] [-8.45640862e-03 -5.66032801e-05 9.99964242e-01 -1.15170440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58 meters 0.01470536007445731 Centerline is valid? [True, True] Translation: X:75.85, Y:11.19, Z:-1.15 [[ 9.60642663e-01 -2.77679063e-01 7.74676759e-03 7.58505669e+01] [ 2.77669722e-01 9.60673897e-01 2.27798573e-03 1.11886722e+01] [-8.07466635e-03 -3.72874787e-05 9.99967399e-01 -1.15432846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64 meters 0.01563517526433645 Centerline is valid? [True, True] Translation: X:75.91, Y:11.20, Z:-1.16 [[ 9.60400343e-01 -2.78540813e-01 6.79679845e-03 7.59066841e+01] [ 2.78533633e-01 9.60424393e-01 2.00022032e-03 1.12044983e+01] [-7.08495402e-03 -2.78753222e-05 9.99974901e-01 -1.15644466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.7 meters 0.013745084740627937 Centerline is valid? [True, True] Translation: X:75.96, Y:11.22, Z:-1.16 [[ 9.60385313e-01 -2.78591107e-01 6.85896281e-03 7.59618670e+01] [ 2.78583780e-01 9.60409805e-01 2.02071989e-03 1.12216220e+01] [-7.15036973e-03 -2.98739158e-05 9.99974435e-01 -1.15513696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75999999999999 meters 0.013613874624452342 Centerline is valid? [True, True] Translation: X:76.02, Y:11.24, Z:-1.16 [[ 9.59680941e-01 -2.80971017e-01 8.23276239e-03 7.60185341e+01] [ 2.80960516e-01 9.59716254e-01 2.42918193e-03 1.12373132e+01] [-8.58364560e-03 -1.81584311e-05 9.99963160e-01 -1.15504741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82 meters 0.015238585549856984 Centerline is valid? [True, True] Translation: X:76.07, Y:11.25, Z:-1.16 [[ 9.58848568e-01 -2.83745776e-01 9.88726927e-03 7.60745723e+01] [ 2.83730735e-01 9.58899543e-01 2.92160479e-03 1.12524123e+01] [-1.03098910e-02 3.94560274e-06 9.99946852e-01 -1.15663299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88 meters 0.01366314554049267 Centerline is valid? [True, True] Translation: X:76.13, Y:11.27, Z:-1.16 [[ 9.58696094e-01 -2.84288265e-01 9.05441999e-03 7.61305585e+01] [ 2.84275678e-01 9.58738850e-01 2.67514887e-03 1.12686395e+01] [-9.44133764e-03 9.29660882e-06 9.99955430e-01 -1.15574703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94 meters 0.015297331865294889 Centerline is valid? [True, True] Translation: X:76.19, Y:11.29, Z:-1.16 [[ 9.58559396e-01 -2.84742487e-01 9.25203891e-03 7.61856363e+01] [ 2.84729338e-01 9.58604046e-01 2.73637635e-03 1.12860965e+01] [-9.64820453e-03 1.13476589e-05 9.99953455e-01 -1.15813818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.0 meters 0.013813205995203031 Centerline is valid? [True, True] Translation: X:76.24, Y:11.30, Z:-1.16 [[ 9.59120655e-01 -2.82853305e-01 9.03200084e-03 7.62396621e+01] [ 2.82840658e-01 9.59163181e-01 2.67479401e-03 1.13047517e+01] [-9.41973698e-03 -1.08331216e-05 9.99955633e-01 -1.15729709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06 meters 0.01691697103101299 Centerline is valid? [True, True] Translation: X:76.29, Y:11.32, Z:-1.16 [[ 9.59048181e-01 -2.83096730e-01 9.10097875e-03 7.62945439e+01] [ 2.83083899e-01 9.59091362e-01 2.69541472e-03 1.13231359e+01] [-9.49173321e-03 -8.69204067e-06 9.99954952e-01 -1.16103390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11999999999999 meters 0.016102871040067107 Centerline is valid? [True, True] Translation: X:76.35, Y:11.34, Z:-1.16 [[ 9.59122392e-01 -2.82840366e-01 9.25011996e-03 7.63502079e+01] [ 2.82827070e-01 9.59166997e-01 2.74253686e-03 1.13398480e+01] [-9.64810991e-03 -1.42441936e-05 9.99953456e-01 -1.16112123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17999999999999 meters 0.01617036748200681 Centerline is valid? [True, True] Translation: X:76.41, Y:11.36, Z:-1.16 [[ 9.59119127e-01 -2.82857180e-01 9.07282059e-03 7.64055948e+01] [ 2.82844364e-01 9.59162038e-01 2.69271961e-03 1.13557344e+01] [-9.46396016e-03 -1.64427162e-05 9.99955216e-01 -1.16177899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24 meters 0.013815892040158302 Centerline is valid? [True, True] Translation: X:76.46, Y:11.37, Z:-1.16 [[ 9.59562886e-01 -2.81347609e-01 9.08794771e-03 7.64612741e+01] [ 2.81334655e-01 9.59605920e-01 2.70002830e-03 1.13735138e+01] [-9.48049493e-03 -3.40923099e-05 9.99955059e-01 -1.15935678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.3 meters 0.016174054610266206 Centerline is valid? [True, True] Translation: X:76.52, Y:11.39, Z:-1.16 [[ 9.59978106e-01 -2.79905967e-01 9.73071716e-03 7.65168203e+01] [ 2.79891007e-01 9.60027420e-01 2.89435304e-03 1.13917252e+01] [-1.01519020e-02 -5.49753251e-05 9.99948467e-01 -1.16287433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36 meters 0.01620309731044486 Centerline is valid? [True, True] Translation: X:76.57, Y:11.41, Z:-1.16 [[ 9.61224921e-01 -2.75595149e-01 9.69354539e-03 7.65714143e+01] [ 2.75580044e-01 9.61273792e-01 2.88727484e-03 1.14126481e+01] [-1.01138701e-02 -1.03972869e-04 9.99948848e-01 -1.16344824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42 meters 0.016479494111724835 Centerline is valid? [True, True] Translation: X:76.63, Y:11.43, Z:-1.16 [[ 9.62076777e-01 -2.72603979e-01 9.76447420e-03 7.66276100e+01] [ 2.72588497e-01 9.62126318e-01 2.90851429e-03 1.14315083e+01] [-1.01875302e-02 -1.36530706e-04 9.99948096e-01 -1.16461407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48 meters 0.019263491628681365 Centerline is valid? [True, True] Translation: X:76.68, Y:11.45, Z:-1.17 [[ 9.63561873e-01 -2.67385444e-01 7.31714090e-03 7.66833279e+01] [ 2.67376580e-01 9.63589644e-01 2.18218438e-03 1.14536374e+01] [-7.63420554e-03 -1.46237567e-04 9.99970848e-01 -1.16921211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53999999999999 meters 0.018301415094580383 Centerline is valid? [True, True] Translation: X:76.74, Y:11.47, Z:-1.17 [[ 9.64791831e-01 -2.62955781e-01 5.56594517e-03 7.67394428e+01] [ 2.62950577e-01 9.64807876e-01 1.66001067e-03 1.14748528e+01] [-5.80657714e-03 -1.37996242e-04 9.99983132e-01 -1.17065946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.6 meters 0.017551894777704375 Centerline is valid? [True, True] Translation: X:76.80, Y:11.49, Z:-1.17 [[ 9.65209006e-01 -2.61437053e-01 4.71607775e-03 7.67961803e+01] [ 2.61433310e-01 9.65220520e-01 1.40433537e-03 1.14916035e+01] [-4.91920032e-03 -1.22537325e-04 9.99987893e-01 -1.17078618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66 meters 0.020643290304156202 Centerline is valid? [True, True] Translation: X:76.85, Y:11.51, Z:-1.18 [[ 9.64654356e-01 -2.63497527e-01 3.32077082e-03 7.68531733e+01] [ 2.63495684e-01 9.64660068e-01 9.88579556e-04 1.15054788e+01] [-3.46390327e-03 -7.86287950e-05 9.99993998e-01 -1.17598715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72 meters 0.02028660047716618 Centerline is valid? [True, True] Translation: X:76.91, Y:11.52, Z:-1.17 [[ 9.63783967e-01 -2.66646894e-01 4.46079432e-03 7.69109245e+01] [ 2.66643581e-01 9.63794286e-01 1.33252438e-03 1.15167409e+01] [-4.65460156e-03 -9.48234582e-05 9.99989163e-01 -1.17488516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78 meters 0.018775256763863164 Centerline is valid? [True, True] Translation: X:76.97, Y:11.53, Z:-1.17 [[ 9.62794790e-01 -2.70160715e-01 6.27545659e-03 7.69677108e+01] [ 2.70154228e-01 9.62815235e-01 1.87540098e-03 1.15296811e+01] [-6.54876488e-03 -1.10285166e-04 9.99978551e-01 -1.17343047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84 meters 0.01565954309233282 Centerline is valid? [True, True] Translation: X:77.03, Y:11.54, Z:-1.17 [[ 9.61326781e-01 -2.75261971e-01 9.03697739e-03 7.70265074e+01] [ 2.75248738e-01 9.61369250e-01 2.70133790e-03 1.15407436e+01] [-9.43144777e-03 -1.09451852e-04 9.99955517e-01 -1.17033790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89999999999999 meters 0.018211764676643205 Centerline is valid? [True, True] Translation: X:77.08, Y:11.55, Z:-1.17 [[ 9.60526662e-01 -2.78059489e-01 8.45294144e-03 7.70834312e+01] [ 2.78048004e-01 9.60563852e-01 2.52848310e-03 1.15547119e+01] [-8.82265871e-03 -7.83519343e-05 9.99961077e-01 -1.17203274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96 meters 0.016300859128871237 Centerline is valid? [True, True] Translation: X:77.14, Y:11.57, Z:-1.17 [[ 9.60567569e-01 -2.77940915e-01 7.66771614e-03 7.71398566e+01] [ 2.77931447e-01 9.60598169e-01 2.29531647e-03 1.15726701e+01] [-8.00355645e-03 -7.37071151e-05 9.99967968e-01 -1.17269661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02 meters 0.01727552523427465 Centerline is valid? [True, True] Translation: X:77.20, Y:11.59, Z:-1.18 [[ 9.60802844e-01 -2.77192508e-01 4.71258702e-03 7.71955960e+01] [ 2.77188924e-01 9.60814400e-01 1.41047354e-03 1.15919143e+01] [-4.91889417e-03 -4.89100630e-05 9.99987901e-01 -1.17795545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08 meters 0.014330238015190122 Centerline is valid? [True, True] Translation: X:77.25, Y:11.61, Z:-1.18 [[ 9.61064077e-01 -2.76297306e-01 3.95447343e-03 7.72517700e+01] [ 2.76294773e-01 9.61072212e-01 1.18398054e-03 1.16086230e+01] [-4.12766516e-03 -4.52808225e-05 9.99991480e-01 -1.17675169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14 meters 0.014211259635547783 Centerline is valid? [True, True] Translation: X:77.31, Y:11.63, Z:-1.18 [[ 9.60875873e-01 -2.76929716e-01 5.24311111e-03 7.73080575e+01] [ 2.76925257e-01 9.60890175e-01 1.57253145e-03 1.16250476e+01] [-5.47353464e-03 -5.90576314e-05 9.99985018e-01 -1.17616051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.2 meters 0.016265356045921685 Centerline is valid? [True, True] Translation: X:77.36, Y:11.64, Z:-1.18 [[ 9.60354678e-01 -2.78711352e-01 6.23492278e-03 7.73644744e+01] [ 2.78705069e-01 9.60374916e-01 1.87241587e-03 1.16410603e+01] [-6.50972700e-03 -6.04787603e-05 9.99978810e-01 -1.17827016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25999999999999 meters 0.014037856994285941 Centerline is valid? [True, True] Translation: X:77.42, Y:11.66, Z:-1.18 [[ 9.60395910e-01 -2.78537029e-01 7.53781320e-03 7.74202920e+01] [ 2.78527808e-01 9.60425488e-01 2.26783711e-03 1.16579549e+01] [-7.87118453e-03 -7.85308984e-05 9.99969019e-01 -1.17601280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32 meters 0.013952390253645714 Centerline is valid? [True, True] Translation: X:77.48, Y:11.67, Z:-1.18 [[ 9.60140826e-01 -2.79371979e-01 8.99398420e-03 7.74772834e+01] [ 2.79358886e-01 9.60182946e-01 2.70615260e-03 1.16743432e+01] [-9.39189345e-03 -8.57381894e-05 9.99955892e-01 -1.17620097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38 meters 0.013945571272114387 Centerline is valid? [True, True] Translation: X:77.53, Y:11.69, Z:-1.18 [[ 9.60167037e-01 -2.79261795e-01 9.59745224e-03 7.75329976e+01] [ 2.79246853e-01 9.60214997e-01 2.89034079e-03 1.16905947e+01] [-1.00227793e-02 -9.51516119e-05 9.99949766e-01 -1.17570637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44 meters 0.014704094625729953 Centerline is valid? [True, True] Translation: X:77.59, Y:11.71, Z:-1.18 [[ 9.60407621e-01 -2.78475008e-01 8.29887695e-03 7.75879907e+01] [ 2.78463778e-01 9.60443471e-01 2.50257523e-03 1.17095287e+01] [-8.66750684e-03 -9.25556955e-05 9.99962432e-01 -1.17922722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.5 meters 0.016996100423831324 Centerline is valid? [True, True] Translation: X:77.64, Y:11.73, Z:-1.18 [[ 9.60218650e-01 -2.79178784e-01 6.27298689e-03 7.76441809e+01] [ 2.79172391e-01 9.60239138e-01 1.89048224e-03 1.17261272e+01] [-6.55135006e-03 -6.40315593e-05 9.99978538e-01 -1.18441037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56 meters 0.01630802996457162 Centerline is valid? [True, True] Translation: X:77.70, Y:11.74, Z:-1.18 [[ 9.59985850e-01 -2.79977894e-01 6.28858026e-03 7.77001221e+01] [ 2.79971465e-01 9.60006445e-01 1.89833673e-03 1.17426786e+01] [-6.56856990e-03 -6.17533669e-05 9.99978425e-01 -1.18494644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61999999999999 meters 0.016394773780798445 Centerline is valid? [True, True] Translation: X:77.76, Y:11.76, Z:-1.19 [[ 9.58591095e-01 -2.84700728e-01 6.97200048e-03 7.77575390e+01] [ 2.84692954e-01 9.58616448e-01 2.10416927e-03 1.17569206e+01] [-7.28253286e-03 -3.21585148e-05 9.99973481e-01 -1.18573718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67999999999999 meters 0.016257507676973947 Centerline is valid? [True, True] Translation: X:77.82, Y:11.77, Z:-1.18 [[ 9.57046697e-01 -2.89767161e-01 9.82913998e-03 7.78156020e+01] [ 2.89751932e-01 9.57097170e-01 2.97078184e-03 1.17702593e+01] [-1.02682771e-02 4.83535480e-06 9.99947280e-01 -1.18315996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74 meters 0.01448771871082457 Centerline is valid? [True, True] Translation: X:77.87, Y:11.79, Z:-1.18 [[ 9.56775274e-01 -2.90654448e-01 1.00532052e-02 7.78717531e+01] [ 2.90638541e-01 9.56828089e-01 3.04085062e-03 1.17869281e+01] [-1.05030259e-02 1.24382016e-05 9.99944842e-01 -1.18259732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.8 meters 0.01556973187578283 Centerline is valid? [True, True] Translation: X:77.93, Y:11.81, Z:-1.19 [[ 9.56818263e-01 -2.90565458e-01 8.39802735e-03 7.79270328e+01] [ 2.90554336e-01 9.56855117e-01 2.54230388e-03 1.18061406e+01] [-8.77440113e-03 7.56047902e-06 9.99961504e-01 -1.18760202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86 meters 0.013529882818087296 Centerline is valid? [True, True] Translation: X:77.98, Y:11.83, Z:-1.19 [[ 9.57813298e-01 -2.87300073e-01 7.23560878e-03 7.79816892e+01] [ 2.87291703e-01 9.57840628e-01 2.19314373e-03 1.18252635e+01] [-7.56065041e-03 -2.18918658e-05 9.99971418e-01 -1.18718444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92 meters 0.01775463172340768 Centerline is valid? [True, True] Translation: X:78.04, Y:11.85, Z:-1.19 [[ 9.58862146e-01 -2.83829550e-01 4.91650399e-03 7.80365007e+01] [ 2.83825640e-01 9.58874750e-01 1.49023980e-03 1.18453082e+01] [-5.13728563e-03 -3.35046395e-05 9.99986803e-01 -1.19205471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98 meters 0.013978786483497175 Centerline is valid? [True, True] Translation: X:78.09, Y:11.86, Z:-1.19 [[ 9.59395116e-01 -2.81991021e-01 6.48653451e-03 7.80914802e+01] [ 2.81984176e-01 9.59417042e-01 1.96552471e-03 1.18649534e+01] [-6.77755207e-03 -5.66147218e-05 9.99977031e-01 -1.18989132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03999999999999 meters 0.01576849667408907 Centerline is valid? [True, True] Translation: X:78.15, Y:11.88, Z:-1.19 [[ 9.58878340e-01 -2.83719416e-01 7.45800909e-03 7.81483175e+01] [ 2.83710388e-01 9.58907342e-01 2.26400504e-03 1.18819597e+01] [-7.79388186e-03 -5.49907407e-05 9.99969626e-01 -1.19209455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.1 meters 0.015295734834716997 Centerline is valid? [True, True] Translation: X:78.21, Y:11.89, Z:-1.19 [[ 9.57402170e-01 -2.88611450e-01 9.19325310e-03 7.82062141e+01] [ 2.88597946e-01 9.57446307e-01 2.79197907e-03 1.18948938e+01] [-9.60784336e-03 -1.98928574e-05 9.99953843e-01 -1.18981078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16 meters 0.015241508441900371 Centerline is valid? [True, True] Translation: X:78.26, Y:11.91, Z:-1.19 [[ 9.56057965e-01 -2.92998744e-01 1.02422399e-02 7.82621052e+01] [ 2.92982201e-01 9.56112826e-01 3.11360198e-03 1.19095443e+01] [-1.07050184e-02 2.40100105e-05 9.99942699e-01 -1.19004028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22 meters 0.014736677482063795 Centerline is valid? [True, True] Translation: X:78.32, Y:11.92, Z:-1.19 [[ 9.54327124e-01 -2.98576289e-01 1.05802141e-02 7.83186664e+01] [ 2.98558932e-01 9.54385767e-01 3.22054310e-03 1.19242474e+01] [-1.10591836e-02 8.53658001e-05 9.99938842e-01 -1.19100721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28 meters 0.015584320273489844 Centerline is valid? [True, True] Translation: X:78.38, Y:11.94, Z:-1.19 [[ 9.52485791e-01 -3.04479741e-01 7.93130500e-03 7.83760556e+01] [ 3.04470197e-01 9.52518805e-01 2.41353285e-03 1.19382323e+01] [-8.28958901e-03 1.15990255e-04 9.99965634e-01 -1.19423401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34 meters 0.015504763206618876 Centerline is valid? [True, True] Translation: X:78.43, Y:11.95, Z:-1.20 [[ 9.51271024e-01 -3.08287061e-01 6.52129464e-03 7.84329566e+01] [ 3.08280691e-01 9.51293369e-01 1.98550766e-03 1.19538212e+01] [-6.81577067e-03 1.21633315e-04 9.99976765e-01 -1.19525104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39999999999999 meters 0.016367098287590077 Centerline is valid? [True, True] Translation: X:78.49, Y:11.97, Z:-1.20 [[ 9.49354830e-01 -3.14134973e-01 6.68017100e-03 7.84908091e+01] [ 3.14128408e-01 9.49378319e-01 2.03759650e-03 1.19692036e+01] [-6.98208983e-03 1.64029398e-04 9.99975611e-01 -1.19515348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46 meters 0.01843532988636802 Centerline is valid? [True, True] Translation: X:78.55, Y:11.99, Z:-1.19 [[ 9.47636134e-01 -3.19185850e-01 1.03029388e-02 7.85481626e+01] [ 3.19170522e-01 9.47692090e-01 3.14332764e-03 1.19850092e+01] [-1.07673193e-02 3.09663506e-04 9.99941983e-01 -1.19424248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52 meters 0.019088390414170618 Centerline is valid? [True, True] Translation: X:78.60, Y:12.00, Z:-1.19 [[ 9.47015683e-01 -3.20963334e-01 1.19931020e-02 7.86047117e+01] [ 3.20942707e-01 9.47091543e-01 3.65898284e-03 1.20015387e+01] [-1.25329648e-02 3.83984499e-04 9.99921386e-01 -1.19311171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58 meters 0.020042743577189295 Centerline is valid? [True, True] Translation: X:78.66, Y:12.02, Z:-1.19 [[ 9.47533924e-01 -3.19422928e-01 1.21842826e-02 7.86595940e+01] [ 3.19401464e-01 9.47612188e-01 3.72100423e-03 1.20211035e+01] [-1.27345488e-02 3.65899975e-04 9.99918845e-01 -1.19493780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64 meters 0.017721283992676327 Centerline is valid? [True, True] Translation: X:78.71, Y:12.05, Z:-1.20 [[ 9.49793152e-01 -3.12705946e-01 1.03903966e-02 7.87136870e+01] [ 3.12689924e-01 9.49849955e-01 3.17411140e-03 1.20470490e+01] [-1.08618813e-02 2.34223067e-04 9.99940981e-01 -1.19816792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.7 meters 0.015898186856181967 Centerline is valid? [True, True] Translation: X:78.77, Y:12.07, Z:-1.20 [[ 9.52165691e-01 -3.05484499e-01 7.72770526e-03 7.87676417e+01] [ 3.05475397e-01 9.52197043e-01 2.36089261e-03 1.20734211e+01] [-8.07951420e-03 1.12662883e-04 9.99967354e-01 -1.20138415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75999999999999 meters 0.014502250396605071 Centerline is valid? [True, True] Translation: X:78.82, Y:12.10, Z:-1.20 [[ 9.53314723e-01 -3.01889248e-01 7.34312535e-03 7.88225854e+01] [ 3.01880931e-01 9.53343000e-01 2.24223235e-03 1.20950306e+01] [-7.67742299e-03 7.91964015e-05 9.99970525e-01 -1.20152185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82 meters 0.014504781119679618 Centerline is valid? [True, True] Translation: X:78.88, Y:12.12, Z:-1.20 [[ 9.54368428e-01 -2.98492656e-01 9.11250945e-03 7.88773712e+01] [ 2.98479661e-01 9.54411929e-01 2.78587084e-03 1.21157610e+01] [-9.52864971e-03 6.11515574e-05 9.99954600e-01 -1.20183769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88 meters 0.014455747406330773 Centerline is valid? [True, True] Translation: X:78.93, Y:12.14, Z:-1.20 [[ 9.55749088e-01 -2.93955842e-01 1.15604433e-02 7.89319322e+01] [ 2.93934547e-01 9.55819001e-01 3.53826037e-03 1.21374404e+01] [-1.20897837e-02 1.63245476e-05 9.99926916e-01 -1.20173552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94 meters 0.013566792139489222 Centerline is valid? [True, True] Translation: X:78.99, Y:12.16, Z:-1.20 [[ 9.57582596e-01 -2.87851936e-01 1.32979374e-02 7.89872697e+01] [ 2.87823110e-01 9.57674923e-01 4.07430110e-03 1.21595050e+01] [-1.39078966e-02 -7.40261186e-05 9.99903278e-01 -1.20017748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.0 meters 0.016891056375912455 Centerline is valid? [True, True] Translation: X:79.04, Y:12.18, Z:-1.20 [[ 9.59186622e-01 -2.82496062e-01 1.25299352e-02 7.90420855e+01] [ 2.82469970e-01 9.59268447e-01 3.84216625e-03 1.21805757e+01] [-1.31049683e-02 -1.46024052e-04 9.99914116e-01 -1.20489140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06 meters 0.015474212910317541 Centerline is valid? [True, True] Translation: X:79.10, Y:12.20, Z:-1.21 [[ 9.60395693e-01 -2.78423149e-01 1.09846983e-02 7.90964756e+01] [ 2.78402796e-01 9.60458493e-01 3.37132942e-03 1.22008503e+01] [-1.14890029e-02 -1.79639543e-04 9.99933983e-01 -1.20503030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11999999999999 meters 0.01664253696865475 Centerline is valid? [True, True] Translation: X:79.15, Y:12.22, Z:-1.21 [[ 9.61109970e-01 -2.76018061e-01 9.03636133e-03 7.91517465e+01] [ 2.76004172e-01 9.61152433e-01 2.77431298e-03 1.22197112e+01] [-9.45108117e-03 -1.72346440e-04 9.99955323e-01 -1.20928627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17999999999999 meters 0.017416301386772397 Centerline is valid? [True, True] Translation: X:79.21, Y:12.24, Z:-1.21 [[ 9.60892685e-01 -2.76781182e-01 8.79922073e-03 7.92073093e+01] [ 2.76768041e-01 9.60932959e-01 2.70183300e-03 1.22371556e+01] [-9.20327774e-03 -1.60828485e-04 9.99957636e-01 -1.21149778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24 meters 0.019668837165472696 Centerline is valid? [True, True] Translation: X:79.27, Y:12.25, Z:-1.21 [[ 9.60233310e-01 -2.79056258e-01 8.92158705e-03 7.92650879e+01] [ 2.79042818e-01 9.60274744e-01 2.74253381e-03 1.22512180e+01] [-9.33249594e-03 -1.43967528e-04 9.99956441e-01 -1.21319080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.3 meters 0.014611298857851573 Centerline is valid? [True, True] Translation: X:79.32, Y:12.27, Z:-1.21 [[ 9.59349974e-01 -2.82048444e-01 9.81336872e-03 7.93212294e+01] [ 2.82032302e-01 9.59400156e-01 3.02022885e-03 1.22651238e+01] [-1.02667983e-02 -1.29769493e-04 9.99947287e-01 -1.21019043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36 meters 0.013584389033417625 Centerline is valid? [True, True] Translation: X:79.38, Y:12.28, Z:-1.21 [[ 9.57689987e-01 -2.87585130e-01 1.11661007e-02 7.93795984e+01] [ 2.87564600e-01 9.57755076e-01 3.43721922e-03 1.22755674e+01] [-1.16828828e-02 -8.08151548e-05 9.99931750e-01 -1.20897353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42 meters 0.013386019456591703 Centerline is valid? [True, True] Translation: X:79.44, Y:12.29, Z:-1.21 [[ 9.56692897e-01 -2.90848123e-01 1.20859795e-02 7.94367378e+01] [ 2.90824284e-01 9.56769234e-01 3.72408413e-03 1.22887739e+01] [-1.26466362e-02 -4.79085054e-05 9.99920027e-01 -1.20801972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47999999999999 meters 0.013346535355841745 Centerline is valid? [True, True] Translation: X:79.49, Y:12.30, Z:-1.21 [[ 9.55369119e-01 -2.95120208e-01 1.31874591e-02 7.94935641e+01] [ 2.95092178e-01 9.55460132e-01 4.06740892e-03 1.23016800e+01] [-1.38004660e-02 5.63915179e-06 9.99904769e-01 -1.20774473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53999999999999 meters 0.013460362301058338 Centerline is valid? [True, True] Translation: X:79.55, Y:12.32, Z:-1.21 [[ 9.54207743e-01 -2.98870376e-01 1.28094012e-02 7.95507980e+01] [ 2.98844216e-01 9.54293715e-01 3.95469712e-03 1.23163648e+01] [-1.34058729e-02 5.44128327e-05 9.99910136e-01 -1.20951200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.6 meters 0.013708557625450393 Centerline is valid? [True, True] Translation: X:79.61, Y:12.33, Z:-1.21 [[ 9.53225394e-01 -3.02063901e-01 1.08971876e-02 7.96079988e+01] [ 3.02045150e-01 9.53287676e-01 3.36662430e-03 1.23316496e+01] [-1.14050903e-02 8.22908863e-05 9.99934956e-01 -1.21169976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66 meters 0.015391363394013334 Centerline is valid? [True, True] Translation: X:79.66, Y:12.35, Z:-1.21 [[ 9.52784228e-01 -3.03476385e-01 1.02126801e-02 7.96648570e+01] [ 3.03459970e-01 9.52838956e-01 3.15772720e-03 1.23476005e+01] [-1.06893351e-02 9.05069368e-05 9.99942863e-01 -1.21380376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72 meters 0.01371628508856258 Centerline is valid? [True, True] Translation: X:79.72, Y:12.37, Z:-1.21 [[ 9.53087103e-01 -3.02536161e-01 9.84104665e-03 7.97205025e+01] [ 3.02520844e-01 9.53137905e-01 3.04520693e-03 1.23658867e+01] [-1.03011598e-02 7.47742865e-05 9.99946939e-01 -1.21241528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78 meters 0.014737926052769822 Centerline is valid? [True, True] Translation: X:79.78, Y:12.38, Z:-1.21 [[ 9.53608295e-01 -3.00872920e-01 1.03298564e-02 7.97762905e+01] [ 3.00855907e-01 9.53664240e-01 3.20008147e-03 1.23849417e+01] [-1.08140325e-02 5.61740840e-05 9.99941525e-01 -1.21426444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84 meters 0.01687823004468853 Centerline is valid? [True, True] Translation: X:79.83, Y:12.41, Z:-1.22 [[ 9.54840164e-01 -2.96964888e-01 9.59769988e-03 7.98309022e+01] [ 2.96949981e-01 9.54888399e-01 2.97547240e-03 1.24051342e+01] [-1.00483431e-02 8.93624451e-06 9.99949514e-01 -1.21723330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89999999999999 meters 0.014497648168863817 Centerline is valid? [True, True] Translation: X:79.88, Y:12.43, Z:-1.22 [[ 9.56851886e-01 -2.90404747e-01 9.97755592e-03 7.98846149e+01] [ 2.90388235e-01 9.56903902e-01 3.09750627e-03 1.24280325e+01] [-1.04470927e-02 -6.64898673e-05 9.99945425e-01 -1.21679643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96 meters 0.014410822644930594 Centerline is valid? [True, True] Translation: X:79.94, Y:12.45, Z:-1.22 [[ 9.58395297e-01 -2.85279640e-01 9.69439601e-03 7.99392649e+01] [ 2.85263780e-01 9.58444319e-01 3.01049387e-03 1.24488582e+01] [-1.01503714e-02 -1.19783116e-04 9.99948476e-01 -1.21640191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02 meters 0.015367357010168317 Centerline is valid? [True, True] Translation: X:79.99, Y:12.47, Z:-1.22 [[ 9.59951308e-01 -2.79995792e-01 9.78996269e-03 7.99948486e+01] [ 2.79979341e-01 9.60001211e-01 3.04031277e-03 1.24692937e+01] [-1.02496508e-02 -1.77564913e-04 9.99947455e-01 -1.21696399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08 meters 0.01756706155397114 Centerline is valid? [True, True] Translation: X:80.05, Y:12.49, Z:-1.22 [[ 9.60822736e-01 -2.77017805e-01 8.98914802e-03 8.00509880e+01] [ 2.77003785e-01 9.60864766e-01 2.79375904e-03 1.24877132e+01] [-9.41127661e-03 -1.94279181e-04 9.99955694e-01 -1.22107146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14 meters 0.018216346949139775 Centerline is valid? [True, True] Translation: X:80.11, Y:12.50, Z:-1.22 [[ 9.61149024e-01 -2.75924433e-01 7.63286650e-03 8.01062600e+01] [ 2.75914268e-01 9.61179315e-01 2.37494786e-03 1.25049269e+01] [-7.99185953e-03 -1.76662043e-04 9.99968049e-01 -1.22377236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.2 meters 0.016533888140452754 Centerline is valid? [True, True] Translation: X:80.16, Y:12.52, Z:-1.22 [[ 9.60661014e-01 -2.77653356e-01 6.24734764e-03 8.01638651e+01] [ 2.77646590e-01 9.60681319e-01 1.94280222e-03 1.25190116e+01] [-6.54113573e-03 -1.31819584e-04 9.99978598e-01 -1.22412643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25999999999999 meters 0.017214536063085175 Centerline is valid? [True, True] Translation: X:80.22, Y:12.53, Z:-1.23 [[ 9.60012796e-01 -2.79918612e-01 4.58279698e-03 8.02208977e+01] [ 2.79914996e-01 9.60023731e-01 1.42538478e-03 1.25330668e+01] [-4.79858558e-03 -8.55940319e-05 9.99988483e-01 -1.22743653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32 meters 0.015347881550488378 Centerline is valid? [True, True] Translation: X:80.28, Y:12.55, Z:-1.23 [[ 9.59391896e-01 -2.82055777e-01 3.42475275e-03 8.02779140e+01] [ 2.82053772e-01 9.59398007e-01 1.06508836e-03 1.25466464e+01] [-3.58611529e-03 -5.58727065e-05 9.99993568e-01 -1.22816580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38 meters 0.015191558590145553 Centerline is valid? [True, True] Translation: X:80.33, Y:12.56, Z:-1.23 [[ 9.59004359e-01 -2.83373527e-01 3.17544305e-03 8.03344245e+01] [ 2.83371808e-01 9.59009615e-01 9.88143041e-04 1.25634610e+01] [-3.32529399e-03 -4.78024443e-05 9.99994470e-01 -1.22943304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44 meters 0.017093190163539655 Centerline is valid? [True, True] Translation: X:80.39, Y:12.58, Z:-1.23 [[ 9.58163575e-01 -2.86206576e-01 2.89117249e-03 8.03918452e+01] [ 2.86205158e-01 9.58167936e-01 9.01568903e-04 1.25785932e+01] [-3.02826373e-03 -3.63820025e-05 9.99995414e-01 -1.23179785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.5 meters 0.01636184965152498 Centerline is valid? [True, True] Translation: X:80.45, Y:12.59, Z:-1.23 [[ 9.57148179e-01 -2.89570266e-01 4.05285644e-03 8.04489075e+01] [ 2.89567510e-01 9.57156758e-01 1.26387964e-03 1.25946553e+01] [-4.24520090e-03 -3.61445441e-05 9.99990988e-01 -1.23015544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56 meters 0.013887624650261075 Centerline is valid? [True, True] Translation: X:80.51, Y:12.61, Z:-1.23 [[ 9.56189385e-01 -2.92693893e-01 5.66960343e-03 8.05054701e+01] [ 2.92688536e-01 9.56206193e-01 1.77118353e-03 1.26120808e+01] [-5.93972451e-03 -3.41589613e-05 9.99982359e-01 -1.22651447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61999999999999 meters 0.013700179535004086 Centerline is valid? [True, True] Translation: X:80.56, Y:12.63, Z:-1.23 [[ 9.55023362e-01 -2.96468452e-01 6.06923701e-03 8.05626506e+01] [ 2.96462376e-01 9.55042647e-01 1.89802963e-03 1.26281018e+01] [-6.35908609e-03 -1.33622127e-05 9.99979781e-01 -1.22653299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67999999999999 meters 0.0150801791498199 Centerline is valid? [True, True] Translation: X:80.62, Y:12.64, Z:-1.23 [[ 9.52262191e-01 -3.05224943e-01 5.86980971e-03 8.06202051e+01] [ 3.05219417e-01 9.52280280e-01 1.83712073e-03 1.26418668e+01] [-6.15043911e-03 4.21592892e-05 9.99981085e-01 -1.22932116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74 meters 0.015711139131143595 Centerline is valid? [True, True] Translation: X:80.68, Y:12.66, Z:-1.23 [[ 9.49388901e-01 -3.14039755e-01 6.30452056e-03 8.06787437e+01] [ 3.14033548e-01 9.49409828e-01 1.97707950e-03 1.26556312e+01] [-6.60645535e-03 1.02813626e-04 9.99978172e-01 -1.22898502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.8 meters 0.016475735819790532 Centerline is valid? [True, True] Translation: X:80.74, Y:12.67, Z:-1.23 [[ 9.47029270e-01 -3.21103577e-01 5.29672426e-03 8.07367635e+01] [ 3.21099305e-01 9.47044073e-01 1.66115828e-03 1.26700983e+01] [-5.54963518e-03 1.27608963e-04 9.99984593e-01 -1.22911815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86 meters 0.017357930678437352 Centerline is valid? [True, True] Translation: X:80.79, Y:12.69, Z:-1.23 [[ 9.46046423e-01 -3.24006119e-01 4.02489623e-03 8.07931784e+01] [ 3.24003688e-01 9.46054979e-01 1.25991031e-03 1.26874077e+01] [-4.21599177e-03 1.12147583e-04 9.99991106e-01 -1.23163958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92 meters 0.017099049808764286 Centerline is valid? [True, True] Translation: X:80.85, Y:12.71, Z:-1.23 [[ 9.46475512e-01 -3.22754358e-01 3.70544906e-03 8.08486669e+01] [ 3.22752286e-01 9.46482760e-01 1.16062766e-03 1.27075720e+01] [-3.88174129e-03 9.74364975e-05 9.99992461e-01 -1.23298599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97999999999999 meters 0.015702414046828362 Centerline is valid? [True, True] Translation: X:80.90, Y:12.73, Z:-1.23 [[ 9.48497265e-01 -3.16744569e-01 5.08097596e-03 8.09037494e+01] [ 3.16740570e-01 9.48510869e-01 1.59460161e-03 1.27315698e+01] [-5.32444233e-03 9.68759546e-05 9.99985820e-01 -1.23324248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03999999999999 meters 0.014790954253524195 Centerline is valid? [True, True] Translation: X:80.96, Y:12.75, Z:-1.23 [[ 9.49294720e-01 -3.14337457e-01 5.61235013e-03 8.09585770e+01] [ 3.14332528e-01 9.49311306e-01 1.76267726e-03 1.27526862e+01] [-5.88194292e-03 9.08439864e-05 9.99982697e-01 -1.23332945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.1 meters 0.014909314803972151 Centerline is valid? [True, True] Translation: X:81.01, Y:12.78, Z:-1.24 [[ 9.52232816e-01 -3.05316825e-01 5.85672350e-03 8.10109117e+01] [ 3.05311265e-01 9.52250826e-01 1.84272431e-03 1.27782461e+01] [-6.13968452e-03 3.34210999e-05 9.99981151e-01 -1.23670016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16 meters 0.01610206575530837 Centerline is valid? [True, True] Translation: X:81.06, Y:12.80, Z:-1.24 [[ 9.54903738e-01 -2.96838099e-01 6.78195636e-03 8.10649699e+01] [ 2.96830432e-01 9.54927821e-01 2.13357508e-03 1.28044017e+01] [-7.10960517e-03 -2.42677854e-05 9.99974726e-01 -1.23840091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22 meters 0.01558918493088601 Centerline is valid? [True, True] Translation: X:81.12, Y:12.83, Z:-1.24 [[ 9.57387740e-01 -2.88707419e-01 7.53269370e-03 8.11178943e+01] [ 2.88697683e-01 9.57417368e-01 2.37303898e-03 1.28297564e+01] [-7.89704573e-03 -9.72472112e-05 9.99968813e-01 -1.23774110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28 meters 0.015832712790062486 Centerline is valid? [True, True] Translation: X:81.17, Y:12.85, Z:-1.24 [[ 9.59115612e-01 -2.82907476e-01 7.78476614e-03 8.11733265e+01] [ 2.82896877e-01 9.59147193e-01 2.45344787e-03 1.28507602e+01] [-8.16083534e-03 -1.50854125e-04 9.99966688e-01 -1.23715958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34 meters 0.017685730687350385 Centerline is valid? [True, True] Translation: X:81.23, Y:12.87, Z:-1.24 [[ 9.59484472e-01 -2.81687818e-01 6.44375273e-03 8.12296701e+01] [ 2.81680539e-01 9.59506100e-01 2.02930463e-03 1.28685146e+01] [-6.75445044e-03 -1.32006536e-04 9.99977180e-01 -1.24121162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39999999999999 meters 0.01907274246656915 Centerline is valid? [True, True] Translation: X:81.29, Y:12.88, Z:-1.24 [[ 9.59987222e-01 -2.80018331e-01 3.77717241e-03 8.12859841e+01] [ 2.80015820e-01 9.59994650e-01 1.18891445e-03 1.28848760e+01] [-3.95898314e-03 -8.36746529e-05 9.99992160e-01 -1.24474036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46 meters 0.019825643589096463 Centerline is valid? [True, True] Translation: X:81.34, Y:12.90, Z:-1.25 [[ 9.60482053e-01 -2.78327489e-01 2.83467497e-03 8.13420254e+01] [ 2.78326068e-01 9.60486233e-01 8.92082687e-04 1.29022491e+01] [-2.97095742e-03 -6.78654719e-05 9.99995584e-01 -1.24692366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52 meters 0.018070601641158302 Centerline is valid? [True, True] Translation: X:81.40, Y:12.92, Z:-1.25 [[ 9.61027205e-01 -2.76433248e-01 3.37200076e-03 8.13984114e+01] [ 2.76431219e-01 9.61033117e-01 1.06289973e-03 1.29187423e+01] [-3.53442523e-03 -8.93492773e-05 9.99993750e-01 -1.24565485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58 meters 0.01861745833285645 Centerline is valid? [True, True] Translation: X:81.46, Y:12.93, Z:-1.25 [[ 9.60405614e-01 -2.78585145e-01 3.37258800e-03 8.14566763e+01] [ 2.78583125e-01 9.60411532e-01 1.06392788e-03 1.29298649e+01] [-3.53546691e-03 -8.22562062e-05 9.99993747e-01 -1.24764450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64 meters 0.01671749340247871 Centerline is valid? [True, True] Translation: X:81.51, Y:12.94, Z:-1.25 [[ 9.59257243e-01 -2.82497960e-01 4.52144040e-03 8.15132224e+01] [ 2.82494353e-01 9.59267895e-01 1.43073984e-03 1.29429940e+01] [-4.74145370e-03 -9.51661796e-05 9.99988755e-01 -1.24671958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.7 meters 0.016482824846472687 Centerline is valid? [True, True] Translation: X:81.57, Y:12.96, Z:-1.25 [[ 9.58519369e-01 -2.84993212e-01 4.41450876e-03 8.15691539e+01] [ 2.84989806e-01 9.58529531e-01 1.39565567e-03 1.29597466e+01] [-4.62918941e-03 -7.96729966e-05 9.99989282e-01 -1.24797834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75999999999999 meters 0.016606075320374225 Centerline is valid? [True, True] Translation: X:81.62, Y:12.98, Z:-1.25 [[ 9.58497616e-01 -2.85069280e-01 4.22203872e-03 8.16243187e+01] [ 2.85066162e-01 9.58506912e-01 1.33540098e-03 1.29783924e+01] [-4.42753510e-03 -7.64182823e-05 9.99990195e-01 -1.24988121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82 meters 0.01638379009101861 Centerline is valid? [True, True] Translation: X:81.68, Y:13.00, Z:-1.25 [[ 9.58953726e-01 -2.83546329e-01 3.03819903e-03 8.16802841e+01] [ 2.83544701e-01 9.58958537e-01 9.62910828e-04 1.29951229e+01] [-3.18653673e-03 -6.19216913e-05 9.99994921e-01 -1.25135693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88 meters 0.016705582302866596 Centerline is valid? [True, True] Translation: X:81.74, Y:13.01, Z:-1.25 [[ 9.59413615e-01 -2.81980546e-01 3.53380368e-03 8.17361309e+01] [ 2.81978338e-01 9.59420119e-01 1.11865847e-03 1.30136175e+01] [-3.70584227e-03 -7.68000772e-05 9.99993130e-01 -1.25132822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94 meters 0.017557362390019038 Centerline is valid? [True, True] Translation: X:81.79, Y:13.03, Z:-1.25 [[ 9.59698029e-01 -2.80983861e-01 5.26912775e-03 8.17903841e+01] [ 2.80978908e-01 9.59712485e-01 1.67300034e-03 1.30338342e+01] [-5.52693378e-03 -1.25061365e-04 9.99984719e-01 -1.25105661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.0 meters 0.0201840097213209 Centerline is valid? [True, True] Translation: X:81.85, Y:13.05, Z:-1.25 [[ 9.59467479e-01 -2.81781722e-01 4.60626460e-03 8.18462350e+01] [ 2.81777956e-01 9.59478530e-01 1.46063291e-03 1.30510533e+01] [-4.83119164e-03 -1.03485956e-04 9.99988324e-01 -1.25402447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06 meters 0.017141772787601855 Centerline is valid? [True, True] Translation: X:81.90, Y:13.07, Z:-1.25 [[ 9.59639393e-01 -2.81145420e-01 7.03477624e-03 8.19010674e+01] [ 2.81136583e-01 9.59665163e-01 2.23540403e-03 1.30699069e+01] [-7.37950329e-03 -1.67448817e-04 9.99972757e-01 -1.25066342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11999999999999 meters 0.016984689367500198 Centerline is valid? [True, True] Translation: X:81.96, Y:13.09, Z:-1.25 [[ 9.59304277e-01 -2.82223832e-01 9.22024387e-03 8.19571418e+01] [ 2.82208658e-01 9.59348562e-01 2.93437442e-03 1.30875270e+01] [-9.67357810e-03 -2.12925284e-04 9.99953187e-01 -1.24977286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17999999999999 meters 0.02050460621767397 Centerline is valid? [True, True] Translation: X:82.01, Y:13.11, Z:-1.25 [[ 9.58611166e-01 -2.84593793e-01 8.42643099e-03 8.20133814e+01] [ 2.84581192e-01 9.58648185e-01 2.68372066e-03 1.31050487e+01] [-8.84175301e-03 -1.74640811e-04 9.99960896e-01 -1.25472695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24 meters 0.01730112661480214 Centerline is valid? [True, True] Translation: X:82.07, Y:13.12, Z:-1.25 [[ 9.58086970e-01 -2.86340474e-01 8.85957434e-03 8.20689182e+01] [ 2.86326587e-01 9.58127916e-01 2.82505537e-03 1.31226862e+01] [-9.29753320e-03 -1.69917054e-04 9.99956763e-01 -1.25467741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.3 meters 0.016230755234347576 Centerline is valid? [True, True] Translation: X:82.13, Y:13.14, Z:-1.26 [[ 9.57437284e-01 -2.88508922e-01 8.74349027e-03 8.21256555e+01] [ 2.88495483e-01 9.57477196e-01 2.78858822e-03 1.31392038e+01] [-9.17622513e-03 -1.47440883e-04 9.99957887e-01 -1.25537382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36 meters 0.015381238540461292 Centerline is valid? [True, True] Translation: X:82.18, Y:13.15, Z:-1.26 [[ 9.56366871e-01 -2.92005586e-01 9.75424318e-03 8.21827605e+01] [ 2.91989010e-01 9.56416604e-01 3.11398956e-03 1.31545507e+01] [-1.02384225e-02 -1.29984637e-04 9.99947578e-01 -1.25609549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42 meters 0.014334075576483155 Centerline is valid? [True, True] Translation: X:82.24, Y:13.17, Z:-1.26 [[ 9.55363184e-01 -2.95282140e-01 9.46810088e-03 8.22403308e+01] [ 2.95266661e-01 9.55410095e-01 3.02492768e-03 1.31672327e+01] [-9.93912627e-03 -9.42900070e-05 9.99950601e-01 -1.25659943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47999999999999 meters 0.014058168607317326 Centerline is valid? [True, True] Translation: X:82.30, Y:13.18, Z:-1.26 [[ 9.54528344e-01 -2.98041820e-01 6.83474051e-03 8.22966597e+01] [ 2.98033821e-01 9.54552812e-01 2.18408262e-03 1.31820542e+01] [-7.17506874e-03 -4.77849303e-05 9.99974258e-01 -1.26078852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53999999999999 meters 0.015071082908772276 Centerline is valid? [True, True] Translation: X:82.35, Y:13.20, Z:-1.26 [[ 9.54140792e-01 -2.99314517e-01 5.11554003e-03 8.23522814e+01] [ 2.99310041e-01 9.54154505e-01 1.63720930e-03 1.31974832e+01] [-5.37105607e-03 -3.09956796e-05 9.99985575e-01 -1.26426526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.6 meters 0.015207117952630859 Centerline is valid? [True, True] Translation: X:82.41, Y:13.21, Z:-1.26 [[ 9.54049203e-01 -2.99616026e-01 4.51175515e-03 8.24082803e+01] [ 2.99612557e-01 9.54059870e-01 1.44205838e-03 1.32126319e+01] [-4.73654834e-03 -2.40161547e-05 9.99988782e-01 -1.26467679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66 meters 0.014145874691868014 Centerline is valid? [True, True] Translation: X:82.46, Y:13.23, Z:-1.26 [[ 9.54494252e-01 -2.98127625e-01 7.78726597e-03 8.24644053e+01] [ 2.98117190e-01 9.54526016e-01 2.49507281e-03 1.32311476e+01] [-8.17699809e-03 -6.00148080e-05 9.99966566e-01 -1.26151631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72 meters 0.015937132254859022 Centerline is valid? [True, True] Translation: X:82.52, Y:13.25, Z:-1.26 [[ 9.54350863e-01 -2.98540827e-01 9.37045626e-03 8.25200184e+01] [ 2.98525704e-01 9.54396862e-01 3.00575150e-03 1.32495316e+01] [-9.84047359e-03 -7.12194813e-05 9.99951579e-01 -1.26274160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78 meters 0.015694563336729615 Centerline is valid? [True, True] Translation: X:82.58, Y:13.27, Z:-1.26 [[ 9.54451526e-01 -2.98165106e-01 1.09477681e-02 8.25754767e+01] [ 2.98144397e-01 9.54514307e-01 3.51529700e-03 1.32680113e+01] [-1.14979401e-02 -9.11648799e-05 9.99933892e-01 -1.26228844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84 meters 0.014289025722474006 Centerline is valid? [True, True] Translation: X:82.63, Y:13.29, Z:-1.26 [[ 9.54739384e-01 -2.97240201e-01 1.09986890e-02 8.26300051e+01] [ 2.97219188e-01 9.54802729e-01 3.53593586e-03 1.32873143e+01] [-1.15526006e-02 -1.06875810e-04 9.99933261e-01 -1.26306946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89999999999999 meters 0.017326488135083588 Centerline is valid? [True, True] Translation: X:82.68, Y:13.30, Z:-1.27 [[ 9.54295410e-01 -2.98767596e-01 7.62847719e-03 8.26848564e+01] [ 2.98757534e-01 9.54325898e-01 2.45278603e-03 1.33049263e+01] [-8.01286633e-03 -6.16174191e-05 9.99967895e-01 -1.26958564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96 meters 0.014159090679792343 Centerline is valid? [True, True] Translation: X:82.74, Y:13.32, Z:-1.27 [[ 9.54636753e-01 -2.97674652e-01 7.64663563e-03 8.27407917e+01] [ 2.97664511e-01 9.54667375e-01 2.45813840e-03 1.33226488e+01] [-8.03171905e-03 -7.04972074e-05 9.99967743e-01 -1.26772517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02 meters 0.016847184928698935 Centerline is valid? [True, True] Translation: X:82.80, Y:13.34, Z:-1.27 [[ 9.53911987e-01 -3.00021925e-01 6.22620562e-03 8.27962433e+01] [ 3.00015247e-01 9.53932305e-01 2.00220274e-03 1.33395024e+01] [-6.54008340e-03 -4.19685721e-05 9.99978613e-01 -1.27189592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08 meters 0.01379456474591479 Centerline is valid? [True, True] Translation: X:82.85, Y:13.36, Z:-1.27 [[ 9.53477288e-01 -3.01387800e-01 6.81582152e-03 8.28522456e+01] [ 3.01379811e-01 9.53501648e-01 2.19473687e-03 1.33562042e+01] [-7.16036396e-03 -3.84807567e-05 9.99974364e-01 -1.27108989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14 meters 0.01621182278562651 Centerline is valid? [True, True] Translation: X:82.91, Y:13.37, Z:-1.27 [[ 9.51985385e-01 -3.06053780e-01 7.41014940e-03 8.29099807e+01] [ 3.06044460e-01 9.52014225e-01 2.38848795e-03 1.33704439e+01] [-7.78557340e-03 -5.97044837e-06 9.99969692e-01 -1.27290891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.2 meters 0.013448759017570347 Centerline is valid? [True, True] Translation: X:82.97, Y:13.39, Z:-1.27 [[ 9.51863370e-01 -3.06408551e-01 8.36208068e-03 8.29652344e+01] [ 3.06396674e-01 9.51900100e-01 2.69781649e-03 1.33871632e+01] [-8.78649948e-03 -5.83899230e-06 9.99961398e-01 -1.27128704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25999999999999 meters 0.013815411285641082 Centerline is valid? [True, True] Translation: X:83.02, Y:13.41, Z:-1.27 [[ 9.51397579e-01 -3.07817354e-01 9.54585590e-03 8.30206794e+01] [ 3.07801900e-01 9.51445467e-01 3.08442571e-03 1.34051746e+01] [-1.00318011e-02 3.71742732e-06 9.99949680e-01 -1.27259972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32 meters 0.015541309485990902 Centerline is valid? [True, True] Translation: X:83.08, Y:13.42, Z:-1.27 [[ 9.51186673e-01 -3.08483508e-01 9.04644907e-03 8.30759539e+01] [ 3.08469662e-01 9.51229691e-01 2.92272354e-03 1.34238657e+01] [-9.50686297e-03 1.04994120e-05 9.99954809e-01 -1.27477213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38 meters 0.01679637228877981 Centerline is valid? [True, True] Translation: X:83.13, Y:13.44, Z:-1.28 [[ 9.51304845e-01 -3.08141119e-01 8.25489108e-03 8.31309523e+01] [ 3.08129558e-01 9.51340660e-01 2.66918776e-03 1.34423131e+01] [-8.67570003e-03 4.36469549e-06 9.99962365e-01 -1.27639713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44 meters 0.014740203720804248 Centerline is valid? [True, True] Translation: X:83.19, Y:13.46, Z:-1.28 [[ 9.51922656e-01 -3.06241755e-01 7.69708789e-03 8.31857065e+01] [ 3.06231625e-01 9.51953774e-01 2.49087832e-03 1.34615244e+01] [-8.09008281e-03 -1.40317660e-05 9.99967275e-01 -1.27591823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.5 meters 0.014422885189475034 Centerline is valid? [True, True] Translation: X:83.24, Y:13.48, Z:-1.28 [[ 9.51515573e-01 -3.07511962e-01 7.38290217e-03 8.32411652e+01] [ 3.07502664e-01 9.51544215e-01 2.39132903e-03 1.34792229e+01] [-7.76052013e-03 -5.12472931e-06 9.99969887e-01 -1.27644651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56 meters 0.013193116121039888 Centerline is valid? [True, True] Translation: X:83.30, Y:13.50, Z:-1.28 [[ 9.51251924e-01 -3.08273504e-01 9.33935444e-03 8.32969398e+01] [ 3.08258618e-01 9.51297770e-01 3.02945294e-03 1.34975971e+01] [-9.81840713e-03 -2.83643757e-06 9.99951798e-01 -1.27564804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61999999999999 meters 0.013269947277079829 Centerline is valid? [True, True] Translation: X:83.35, Y:13.52, Z:-1.28 [[ 9.50974435e-01 -3.09111332e-01 9.88985615e-03 8.33516207e+01] [ 3.09094647e-01 9.51025859e-01 3.21161210e-03 1.35153833e+01] [-1.03982546e-02 2.74059477e-06 9.99945937e-01 -1.27660347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67999999999999 meters 0.013322668979883191 Centerline is valid? [True, True] Translation: X:83.41, Y:13.53, Z:-1.28 [[ 9.50453841e-01 -3.10721162e-01 9.47919666e-03 8.34071505e+01] [ 3.10705911e-01 9.50501109e-01 3.07860435e-03 1.35333838e+01] [-9.96657446e-03 1.91711059e-05 9.99950332e-01 -1.27858778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74 meters 0.01328573749622529 Centerline is valid? [True, True] Translation: X:83.46, Y:13.55, Z:-1.28 [[ 9.50723353e-01 -3.09918934e-01 8.68100984e-03 8.34625352e+01] [ 3.09906088e-01 9.50762985e-01 2.82172383e-03 1.35519870e+01] [-9.12808847e-03 7.61905881e-06 9.99958338e-01 -1.27881500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.8 meters 0.01564126141550398 Centerline is valid? [True, True] Translation: X:83.52, Y:13.57, Z:-1.28 [[ 9.50650083e-01 -3.10170960e-01 7.64166127e-03 8.35173244e+01] [ 3.10160987e-01 9.50680796e-01 2.48719613e-03 1.35705078e+01] [-8.03623663e-03 5.69199551e-06 9.99967709e-01 -1.28282296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86 meters 0.013405769922107652 Centerline is valid? [True, True] Translation: X:83.57, Y:13.59, Z:-1.28 [[ 9.51177369e-01 -3.08541822e-01 7.97225008e-03 8.35715521e+01] [ 3.08530916e-01 9.51210778e-01 2.59420544e-03 1.35911406e+01] [-8.38371107e-03 -7.86388363e-06 9.99964856e-01 -1.28147930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92 meters 0.015386159826150474 Centerline is valid? [True, True] Translation: X:83.63, Y:13.61, Z:-1.28 [[ 9.50988059e-01 -3.09115643e-01 8.32047726e-03 8.36253621e+01] [ 3.09103751e-01 9.51024458e-01 2.71146745e-03 1.36096925e+01] [-8.75113438e-03 -6.68243486e-06 9.99961708e-01 -1.28478290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97999999999999 meters 0.01355505387097985 Centerline is valid? [True, True] Translation: X:83.68, Y:13.63, Z:-1.28 [[ 9.51548931e-01 -3.07377185e-01 8.59637040e-03 8.36804697e+01] [ 3.07364417e-01 9.51587760e-01 2.80162760e-03 1.36292617e+01] [-9.04135726e-03 -2.36673654e-05 9.99959126e-01 -1.28289249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03999999999999 meters 0.013571808828954833 Centerline is valid? [True, True] Translation: X:83.74, Y:13.65, Z:-1.28 [[ 9.52319286e-01 -3.04989809e-01 8.31827237e-03 8.37353678e+01] [ 3.04977740e-01 9.52355613e-01 2.71364689e-03 1.36508518e+01] [-8.74958803e-03 -4.73703561e-05 9.99961720e-01 -1.28418084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.1 meters 0.014180837623354871 Centerline is valid? [True, True] Translation: X:83.79, Y:13.67, Z:-1.29 [[ 9.53714607e-01 -3.00635892e-01 6.81967466e-03 8.37897470e+01] [ 3.00627661e-01 9.53738987e-01 2.22590573e-03 1.36738734e+01] [-7.17337676e-03 -7.26959650e-05 9.99974268e-01 -1.28630023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16 meters 0.014617882818828103 Centerline is valid? [True, True] Translation: X:83.84, Y:13.69, Z:-1.29 [[ 9.54671829e-01 -2.97599369e-01 6.02611321e-03 8.38442686e+01] [ 2.97592864e-01 9.54690844e-01 1.96958320e-03 1.36946799e+01] [-6.33922182e-03 -8.69773119e-05 9.99979903e-01 -1.28783878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22 meters 0.015326822958978865 Centerline is valid? [True, True] Translation: X:83.90, Y:13.72, Z:-1.29 [[ 9.55518856e-01 -2.94881325e-01 5.35913940e-03 8.38995347e+01] [ 2.94876145e-01 9.55533880e-01 1.75037470e-03 1.37162105e+01] [-5.63699208e-03 -9.22336627e-05 9.99984108e-01 -1.28966127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28 meters 0.01605350438980799 Centerline is valid? [True, True] Translation: X:83.96, Y:13.73, Z:-1.29 [[ 9.55379347e-01 -2.95311926e-01 6.41640632e-03 8.39556531e+01] [ 2.95304493e-01 9.55400887e-01 2.09821212e-03 1.37337774e+01] [-6.74986735e-03 -1.09794913e-04 9.99977213e-01 -1.29016732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34 meters 0.01626242024672208 Centerline is valid? [True, True] Translation: X:84.01, Y:13.75, Z:-1.29 [[ 9.54920334e-01 -2.96758630e-01 7.84035722e-03 8.40114541e+01] [ 2.96747554e-01 9.54952512e-01 2.56695323e-03 1.37513965e+01] [-8.24893434e-03 -1.24629012e-04 9.99965969e-01 -1.29021923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39999999999999 meters 0.014326167743667264 Centerline is valid? [True, True] Translation: X:84.07, Y:13.77, Z:-1.29 [[ 9.54351607e-01 -2.98548076e-01 9.05846988e-03 8.40686297e+01] [ 2.98533342e-01 9.54394588e-01 2.96887172e-03 1.37670252e+01] [-9.53170557e-03 -1.29092207e-04 9.99954564e-01 -1.28760149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46 meters 0.017112518218706747 Centerline is valid? [True, True] Translation: X:84.12, Y:13.78, Z:-1.29 [[ 9.53773929e-01 -3.00407167e-01 8.41582163e-03 8.41249087e+01] [ 3.00394503e-01 9.53811052e-01 2.76031260e-03 1.37842540e+01] [-8.85632137e-03 -1.04647631e-04 9.99960777e-01 -1.29125835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52 meters 0.014464499752027533 Centerline is valid? [True, True] Translation: X:84.18, Y:13.80, Z:-1.29 [[ 9.53942466e-01 -2.99889509e-01 7.74940896e-03 8.41800270e+01] [ 2.99878731e-01 9.53973936e-01 2.54470339e-03 1.38033326e+01] [-8.15586402e-03 -1.03617706e-04 9.99966735e-01 -1.29236674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58 meters 0.014575704806330326 Centerline is valid? [True, True] Translation: X:84.24, Y:13.82, Z:-1.30 [[ 9.54051533e-01 -2.99601256e-01 4.97582300e-03 8.42364337e+01] [ 2.99596817e-01 9.54064507e-01 1.63233646e-03 1.38212800e+01] [-5.23630617e-03 -6.65923663e-05 9.99986288e-01 -1.29554264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64 meters 0.014302233257155439 Centerline is valid? [True, True] Translation: X:84.29, Y:13.84, Z:-1.30 [[ 9.54293247e-01 -2.98849906e-01 3.62393835e-03 8.42922388e+01] [ 2.98847539e-01 9.54300126e-01 1.19055122e-03 1.38384295e+01] [-3.81412095e-03 -5.31299297e-05 9.99992725e-01 -1.29654446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.7 meters 0.01467079051933358 Centerline is valid? [True, True] Translation: X:84.35, Y:13.86, Z:-1.30 [[ 9.54611987e-01 -2.97838427e-01 2.86804698e-03 8.43478405e+01] [ 2.97836946e-01 9.54616294e-01 9.40209480e-04 1.38570738e+01] [-3.01791489e-03 -4.33248862e-05 9.99995445e-01 -1.29858278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75999999999999 meters 0.014911298191857304 Centerline is valid? [True, True] Translation: X:84.40, Y:13.88, Z:-1.30 [[ 9.54621126e-01 -2.97798591e-01 3.80861435e-03 8.44027951e+01] [ 2.97795971e-01 9.54628721e-01 1.25051423e-03 1.38752564e+01] [-4.00821402e-03 -5.95772863e-05 9.99991965e-01 -1.29887325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82 meters 0.015579163102622319 Centerline is valid? [True, True] Translation: X:84.46, Y:13.89, Z:-1.30 [[ 9.54968703e-01 -2.96615443e-01 7.35223771e-03 8.44571283e+01] [ 2.96605587e-01 9.54996996e-01 2.42154840e-03 1.38949705e+01] [-7.73963357e-03 -1.31788154e-04 9.99970040e-01 -1.29764386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88 meters 0.017581098459978385 Centerline is valid? [True, True] Translation: X:84.51, Y:13.91, Z:-1.30 [[ 9.54707243e-01 -2.97440700e-01 7.94423312e-03 8.45139911e+01] [ 2.97429218e-01 9.54740285e-01 2.61696636e-03 1.39117048e+01] [-8.36307170e-03 -1.35589696e-04 9.99965020e-01 -1.29943524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94 meters 0.017225616737355415 Centerline is valid? [True, True] Translation: X:84.57, Y:13.93, Z:-1.30 [[ 9.54312876e-01 -2.98641045e-01 1.00230517e-02 8.45699947e+01] [ 2.98622794e-01 9.54365496e-01 3.30557744e-03 1.39306323e+01] [-1.05528358e-02 -1.61443399e-04 9.99944304e-01 -1.29980448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.0 meters 0.015044918226792027 Centerline is valid? [True, True] Translation: X:84.63, Y:13.95, Z:-1.30 [[ 9.54925762e-01 -2.96688760e-01 9.62123830e-03 8.46254441e+01] [ 2.96671818e-01 9.54974213e-01 3.17556637e-03 1.39507929e+01] [-1.01301893e-02 -1.78079879e-04 9.99948672e-01 -1.29893565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06 meters 0.01620445113183508 Centerline is valid? [True, True] Translation: X:84.68, Y:13.97, Z:-1.30 [[ 9.55395473e-01 -2.95223980e-01 7.89254787e-03 8.46800405e+01] [ 2.95212510e-01 9.55428059e-01 2.60732496e-03 1.39714583e+01] [-8.31050654e-03 -1.61047603e-04 9.99965454e-01 -1.30226697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11999999999999 meters 0.016608331196389957 Centerline is valid? [True, True] Translation: X:84.74, Y:13.99, Z:-1.31 [[ 9.55539637e-01 -2.94809039e-01 5.62430929e-03 8.47351813e+01] [ 2.94803213e-01 9.55556182e-01 1.85710009e-03 1.39914518e+01] [-5.92183340e-03 -1.16468296e-04 9.99982459e-01 -1.30529986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17999999999999 meters 0.016178151192805957 Centerline is valid? [True, True] Translation: X:84.79, Y:14.01, Z:-1.31 [[ 9.55225985e-01 -2.95833649e-01 5.07646319e-03 8.47902157e+01] [ 2.95828902e-01 9.55239468e-01 1.67888993e-03 1.40097980e+01] [-5.34591014e-03 -1.01954754e-04 9.99985705e-01 -1.30684144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24 meters 0.016921533550978873 Centerline is valid? [True, True] Translation: X:84.85, Y:14.02, Z:-1.31 [[ 9.53734140e-01 -3.00627557e-01 3.77651311e-03 8.48483723e+01] [ 3.00624975e-01 9.53741615e-01 1.24705778e-03 1.40223456e+01] [-3.97671765e-03 -5.40474224e-05 9.99992091e-01 -1.30803830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.3 meters 0.014558416212592172 Centerline is valid? [True, True] Translation: X:84.90, Y:14.04, Z:-1.31 [[ 9.52697086e-01 -3.03889505e-01 4.40815161e-03 8.49046979e+01] [ 3.03886005e-01 9.52707283e-01 1.45934154e-03 1.40371494e+01] [-4.64315672e-03 -5.07348450e-05 9.99989219e-01 -1.30735327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36 meters 0.012843808461521592 Centerline is valid? [True, True] Translation: X:84.96, Y:14.05, Z:-1.31 [[ 9.50647165e-01 -3.10220237e-01 5.77692822e-03 8.49627057e+01] [ 3.10214346e-01 9.50664717e-01 1.91194170e-03 1.40486074e+01] [-6.08504483e-03 -2.54959511e-05 9.99981486e-01 -1.30518127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42 meters 0.01261442960499218 Centerline is valid? [True, True] Translation: X:85.02, Y:14.06, Z:-1.30 [[ 9.48217701e-01 -3.17530519e-01 7.58691789e-03 8.50214913e+01] [ 3.17520565e-01 9.48248052e-01 2.51438069e-03 1.40598670e+01] [-7.99267272e-03 2.48221761e-05 9.99968058e-01 -1.30343765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47999999999999 meters 0.012924186175063105 Centerline is valid? [True, True] Translation: X:85.08, Y:14.07, Z:-1.30 [[ 9.46504535e-01 -3.22594199e-01 7.88334330e-03 8.50791722e+01] [ 3.22583608e-01 9.46537362e-01 2.61497360e-03 1.40742825e+01] [-8.30545429e-03 6.79529545e-05 9.99965507e-01 -1.30377852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53999999999999 meters 0.015338019269424392 Centerline is valid? [True, True] Translation: X:85.13, Y:14.09, Z:-1.31 [[ 9.44675816e-01 -3.27917420e-01 7.60052977e-03 8.51343154e+01] [ 3.27907722e-01 9.44706385e-01 2.52418904e-03 1.40901198e+01] [-8.00799456e-03 1.07732059e-04 9.99967930e-01 -1.30695928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.6 meters 0.0162268076431669 Centerline is valid? [True, True] Translation: X:85.19, Y:14.11, Z:-1.31 [[ 9.43538299e-01 -3.31198552e-01 6.55722396e-03 8.51906035e+01] [ 3.31191418e-01 9.43561076e-01 2.17700832e-03 1.41080789e+01] [-6.90816330e-03 1.17605579e-04 9.99976131e-01 -1.30768476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66 meters 0.01574393851707548 Centerline is valid? [True, True] Translation: X:85.25, Y:14.12, Z:-1.31 [[ 9.42230683e-01 -3.34907533e-01 6.18738916e-03 8.52460944e+01] [ 3.34901242e-01 9.42250989e-01 2.05714766e-03 1.41244410e+01] [-6.51902780e-03 1.33856665e-04 9.99978742e-01 -1.30747059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72 meters 0.017583666244420225 Centerline is valid? [True, True] Translation: X:85.30, Y:14.14, Z:-1.31 [[ 9.40317060e-01 -3.40237748e-01 6.48853154e-03 8.53020826e+01] [ 3.40230950e-01 9.40339430e-01 2.15806398e-03 1.41436538e+01] [-6.83567687e-03 1.78334869e-04 9.99976621e-01 -1.30882933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78 meters 0.01734042550728415 Centerline is valid? [True, True] Translation: X:85.36, Y:14.16, Z:-1.31 [[ 9.39599074e-01 -3.42200671e-01 7.23053844e-03 8.53580966e+01] [ 3.42192293e-01 9.39626870e-01 2.40426319e-03 1.41623470e+01] [-7.61674868e-03 2.15191058e-04 9.99970969e-01 -1.30823282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84 meters 0.01702838809080251 Centerline is valid? [True, True] Translation: X:85.41, Y:14.18, Z:-1.31 [[ 9.39635622e-01 -3.42122906e-01 6.06751526e-03 8.54125260e+01] [ 3.42117000e-01 9.39655195e-01 2.01821460e-03 1.41835419e+01] [-6.39184968e-03 1.79413784e-04 9.99979556e-01 -1.30873856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89999999999999 meters 0.015473227053217433 Centerline is valid? [True, True] Translation: X:85.47, Y:14.21, Z:-1.31 [[ 9.41491826e-01 -3.36981441e-01 6.05395504e-03 8.54664393e+01] [ 3.36975429e-01 9.41511279e-01 2.01774295e-03 1.42095823e+01] [-6.37980888e-03 1.40345606e-04 9.99979639e-01 -1.31021313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96 meters 0.014253202026638387 Centerline is valid? [True, True] Translation: X:85.52, Y:14.23, Z:-1.31 [[ 9.43372422e-01 -3.31669155e-01 6.63660590e-03 8.55204264e+01] [ 3.31661807e-01 9.43395759e-01 2.21080323e-03 1.42348500e+01] [-6.99420110e-03 1.15497900e-04 9.99975534e-01 -1.31165241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02 meters 0.012933772501115846 Centerline is valid? [True, True] Translation: X:85.57, Y:14.26, Z:-1.31 [[ 9.46420690e-01 -3.22833226e-01 8.16000089e-03 8.55730889e+01] [ 3.22821753e-01 9.46455865e-01 2.72235439e-03 1.42616919e+01] [-8.60194715e-03 5.77332709e-05 9.99963001e-01 -1.31295419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08 meters 0.012430785941168124 Centerline is valid? [True, True] Translation: X:85.63, Y:14.29, Z:-1.31 [[ 9.49027257e-01 -3.15054132e-01 9.38935067e-03 8.56271847e+01] [ 3.15038561e-01 9.49073703e-01 3.13237388e-03 1.42873818e+01] [-9.89805315e-03 -1.47006661e-05 9.99951013e-01 -1.31191989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14 meters 0.012813594523402186 Centerline is valid? [True, True] Translation: X:85.68, Y:14.31, Z:-1.31 [[ 9.50540690e-01 -3.10426028e-01 1.03960568e-02 8.56804919e+01] [ 3.10406623e-01 9.50597536e-01 3.47172063e-03 1.43098843e+01] [-1.09601784e-02 -7.30068353e-05 9.99939933e-01 -1.31289868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.2 meters 0.016229549135630204 Centerline is valid? [True, True] Translation: X:85.73, Y:14.33, Z:-1.32 [[ 9.51486565e-01 -3.07538012e-01 9.67925866e-03 8.57338955e+01] [ 3.07521025e-01 9.51535791e-01 3.23385342e-03 1.43319464e+01] [-1.02046939e-02 -1.00392537e-04 9.99947926e-01 -1.31693670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25999999999999 meters 0.013987497388397102 Centerline is valid? [True, True] Translation: X:85.79, Y:14.35, Z:-1.32 [[ 9.52705388e-01 -3.03694510e-01 1.10493260e-02 8.57896428e+01] [ 3.03672108e-01 9.52769447e-01 3.69224954e-03 1.43518201e+01] [-1.16487761e-02 -1.62253913e-04 9.99932138e-01 -1.31539142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32 meters 0.013985415994007714 Centerline is valid? [True, True] Translation: X:85.85, Y:14.37, Z:-1.32 [[ 9.53272001e-01 -3.01983078e-01 8.87196326e-03 8.58455672e+01] [ 3.01968546e-01 9.53313274e-01 2.96626270e-03 1.43692902e+01] [-9.35352148e-03 -1.48601333e-04 9.99956244e-01 -1.31863859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38 meters 0.01472808919632916 Centerline is valid? [True, True] Translation: X:85.90, Y:14.39, Z:-1.32 [[ 9.53547282e-01 -3.01174512e-01 6.44158790e-03 8.59008226e+01] [ 3.01166821e-01 9.53569033e-01 2.15545057e-03 1.43867108e+01] [-6.79166552e-03 -1.15331479e-04 9.99976930e-01 -1.32318109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44 meters 0.014296650850358474 Centerline is valid? [True, True] Translation: X:85.96, Y:14.40, Z:-1.33 [[ 9.53421253e-01 -3.01599284e-01 5.07806014e-03 8.59578958e+01] [ 3.01594516e-01 9.53434772e-01 1.69828272e-03 1.44023041e+01] [-5.35379996e-03 -8.76637513e-05 9.99985664e-01 -1.32509436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.5 meters 0.014087222775352227 Centerline is valid? [True, True] Translation: X:86.02, Y:14.42, Z:-1.33 [[ 9.52579980e-01 -3.04242213e-01 5.29687881e-03 8.60154818e+01] [ 3.04237056e-01 9.52594704e-01 1.77316071e-03 1.44157409e+01] [-5.58524904e-03 -7.75705780e-05 9.99984399e-01 -1.32565191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56 meters 0.013226254195699078 Centerline is valid? [True, True] Translation: X:86.07, Y:14.43, Z:-1.32 [[ 9.50747071e-01 -3.09884245e-01 7.19455799e-03 8.60745552e+01] [ 3.09874855e-01 9.50774290e-01 2.41322900e-03 1.44257064e+01] [-7.58822241e-03 -6.49577827e-05 9.99971207e-01 -1.32359672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61999999999999 meters 0.012952310856967355 Centerline is valid? [True, True] Translation: X:86.13, Y:14.44, Z:-1.32 [[ 9.48969799e-01 -3.15264621e-01 8.03360148e-03 8.61315432e+01] [ 3.15253100e-01 9.49003803e-01 2.69532127e-03 1.44387505e+01] [-8.47365779e-03 -2.51607100e-05 9.99964098e-01 -1.32408948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67999999999999 meters 0.013013645659291374 Centerline is valid? [True, True] Translation: X:86.19, Y:14.45, Z:-1.32 [[ 9.46841335e-01 -3.21590238e-01 8.43829662e-03 8.61884094e+01] [ 3.21577780e-01 9.46878935e-01 2.83080373e-03 1.44509400e+01] [-8.90040416e-03 3.32467076e-05 9.99960390e-01 -1.32429287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74 meters 0.01351055964061485 Centerline is valid? [True, True] Translation: X:86.25, Y:14.47, Z:-1.32 [[ 9.45022142e-01 -3.26865417e-01 9.59955114e-03 8.62451390e+01] [ 3.26849529e-01 9.45070892e-01 3.22399836e-03 1.44679554e+01] [-1.01260699e-02 9.08589378e-05 9.99948726e-01 -1.32258342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.8 meters 0.013737692352495058 Centerline is valid? [True, True] Translation: X:86.30, Y:14.49, Z:-1.32 [[ 9.44465732e-01 -3.28462321e-01 9.84807531e-03 8.63016092e+01] [ 3.28445658e-01 9.44517068e-01 3.31022866e-03 1.44862296e+01] [-1.03889606e-02 1.08160044e-04 9.99946027e-01 -1.32289591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86 meters 0.01685268935256208 Centerline is valid? [True, True] Translation: X:86.36, Y:14.50, Z:-1.33 [[ 9.41981234e-01 -3.35552673e-01 8.70388941e-03 8.63587286e+01] [ 3.35539930e-01 9.42021432e-01 2.92874764e-03 1.45032080e+01] [-9.18199946e-03 1.61677124e-04 9.99957831e-01 -1.32558776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92 meters 0.016850092921158168 Centerline is valid? [True, True] Translation: X:86.42, Y:14.52, Z:-1.33 [[ 9.39491546e-01 -3.42458014e-01 8.83984402e-03 8.64160154e+01] [ 3.42445170e-01 9.39533105e-01 2.97497767e-03 1.45192136e+01] [-9.32413104e-03 2.32195516e-04 9.99956502e-01 -1.32616495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97999999999999 meters 0.019075518999506453 Centerline is valid? [True, True] Translation: X:86.47, Y:14.54, Z:-1.33 [[ 9.37652331e-01 -3.47455779e-01 9.08775509e-03 8.64722144e+01] [ 3.47442435e-01 9.37696325e-01 3.05877221e-03 1.45392796e+01] [-9.58434263e-03 2.89406860e-04 9.99954027e-01 -1.32841247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03999999999999 meters 0.021236780332243944 Centerline is valid? [True, True] Translation: X:86.53, Y:14.56, Z:-1.33 [[ 9.35666627e-01 -3.52710600e-01 1.10993701e-02 8.65287944e+01] [ 3.52691049e-01 9.35732365e-01 3.73714240e-03 1.45594029e+01] [-1.17041696e-02 4.17929050e-04 9.99931417e-01 -1.32765606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.1 meters 0.023003257407892018 Centerline is valid? [True, True] Translation: X:86.58, Y:14.58, Z:-1.33 [[ 9.34768701e-01 -3.55018094e-01 1.30241379e-02 8.65848425e+01] [ 3.54991372e-01 9.34859283e-01 4.38700935e-03 1.45766146e+01] [-1.37332039e-02 5.22617559e-04 9.99905559e-01 -1.32543587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16 meters 0.022103032792941884 Centerline is valid? [True, True] Translation: X:86.64, Y:14.61, Z:-1.33 [[ 9.33748196e-01 -3.57602829e-01 1.53141359e-02 8.66371465e+01] [ 3.57566208e-01 9.33873537e-01 5.15975755e-03 1.46064605e+01] [-1.61466102e-02 6.57903201e-04 9.99869419e-01 -1.32875839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22 meters 0.02361845587698803 Centerline is valid? [True, True] Translation: X:86.69, Y:14.63, Z:-1.33 [[ 9.33936593e-01 -3.57074425e-01 1.61336511e-02 8.66900484e+01] [ 3.57033681e-01 9.34075687e-01 5.43703799e-03 1.46309174e+01] [-1.70114785e-02 6.82408109e-04 9.99855061e-01 -1.33029785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28 meters 0.02195864246361732 Centerline is valid? [True, True] Translation: X:86.74, Y:14.66, Z:-1.33 [[ 9.34636010e-01 -3.55256455e-01 1.57600705e-02 8.67432081e+01] [ 3.55217282e-01 9.34768662e-01 5.31327986e-03 1.46573924e+01] [-1.66195970e-02 6.32266711e-04 9.99861685e-01 -1.33149310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34 meters 0.020683695245184784 Centerline is valid? [True, True] Translation: X:86.80, Y:14.69, Z:-1.33 [[ 9.36371705e-01 -3.50696143e-01 1.48406641e-02 8.67950253e+01] [ 3.50660818e-01 9.36489160e-01 5.00441181e-03 1.46860320e+01] [-1.56531490e-02 5.18049800e-04 9.99877348e-01 -1.33334202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39999999999999 meters 0.020473285142209478 Centerline is valid? [True, True] Translation: X:86.85, Y:14.71, Z:-1.34 [[ 9.37469347e-01 -3.47777465e-01 1.42147094e-02 8.68490404e+01] [ 3.47744705e-01 9.37577002e-01 4.79440204e-03 1.47116004e+01] [-1.49947696e-02 4.48484984e-04 9.99887472e-01 -1.33592504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46 meters 0.019395157709995642 Centerline is valid? [True, True] Translation: X:86.90, Y:14.74, Z:-1.34 [[ 9.39079053e-01 -3.43415284e-01 1.40169327e-02 8.69026353e+01] [ 3.43382893e-01 9.39183584e-01 4.73115150e-03 1.47404076e+01] [-1.47892229e-02 3.70249633e-04 9.99890565e-01 -1.33763064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52 meters 0.015485038300063885 Centerline is valid? [True, True] Translation: X:86.95, Y:14.77, Z:-1.34 [[ 9.40271961e-01 -3.40165280e-01 1.32748268e-02 8.69549220e+01] [ 3.40135890e-01 9.40365616e-01 4.48160114e-03 1.47688712e+01] [-1.40076758e-02 3.01321139e-04 9.99901842e-01 -1.33592072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58 meters 0.015579744031792672 Centerline is valid? [True, True] Translation: X:87.01, Y:14.79, Z:-1.34 [[ 9.40953878e-01 -3.38276571e-01 1.32197301e-02 8.70089007e+01] [ 3.38247226e-01 9.41046698e-01 4.46383591e-03 1.47919091e+01] [-1.39503945e-02 2.71273338e-04 9.99902652e-01 -1.33685714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64 meters 0.015487612327145725 Centerline is valid? [True, True] Translation: X:87.06, Y:14.82, Z:-1.34 [[ 9.42432163e-01 -3.34155965e-01 1.27047046e-02 8.70622411e+01] [ 3.34128442e-01 9.42517773e-01 4.29331661e-03 1.48193177e+01] [-1.34090472e-02 1.98843493e-04 9.99910075e-01 -1.34001170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.7 meters 0.016546832594989166 Centerline is valid? [True, True] Translation: X:87.12, Y:14.84, Z:-1.34 [[ 9.44017981e-01 -3.29685531e-01 1.17260906e-02 8.71159227e+01] [ 3.29661706e-01 9.44090798e-01 3.96531419e-03 1.48436576e+01] [-1.23778010e-02 1.22315152e-04 9.99923385e-01 -1.34275318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75999999999999 meters 0.015982768260602506 Centerline is valid? [True, True] Translation: X:87.17, Y:14.87, Z:-1.34 [[ 9.45283313e-01 -3.26054482e-01 1.13107242e-02 8.71709441e+01] [ 3.26032018e-01 9.45350977e-01 3.82796006e-03 1.48663101e+01] [-1.19407277e-02 6.91514585e-05 9.99928705e-01 -1.34343702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82 meters 0.01680124805666211 Centerline is valid? [True, True] Translation: X:87.22, Y:14.89, Z:-1.35 [[ 9.47265616e-01 -3.20289548e-01 1.01221402e-02 8.72244177e+01] [ 3.20271207e-01 9.47319695e-01 3.42767849e-03 1.48902848e+01] [-1.06867523e-02 -5.09192452e-06 9.99942895e-01 -1.34576566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88 meters 0.014635160752567895 Centerline is valid? [True, True] Translation: X:87.28, Y:14.91, Z:-1.35 [[ 9.48399936e-01 -3.16947730e-01 9.03873961e-03 8.72790353e+01] [ 3.16932928e-01 9.48443006e-01 3.06341232e-03 1.49112868e+01] [-9.54367094e-03 -4.06658378e-05 9.99954457e-01 -1.34537737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94 meters 0.01621245524016889 Centerline is valid? [True, True] Translation: X:87.34, Y:14.93, Z:-1.35 [[ 9.49481234e-01 -3.13701853e-01 8.74831040e-03 8.73351258e+01] [ 3.13687828e-01 9.49521533e-01 2.96721904e-03 1.49295216e+01] [-9.23753122e-03 -7.30803111e-05 9.99957330e-01 -1.34631618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.0 meters 0.016766547240756005 Centerline is valid? [True, True] Translation: X:87.39, Y:14.95, Z:-1.35 [[ 9.50147202e-01 -3.11656588e-01 9.51140864e-03 8.73914757e+01] [ 3.11639877e-01 9.50194801e-01 3.22903495e-03 1.49464093e+01] [-1.00440411e-02 -1.03924306e-04 9.99949552e-01 -1.34699900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06 meters 0.01588702518571934 Centerline is valid? [True, True] Translation: X:87.45, Y:14.96, Z:-1.35 [[ 9.50848124e-01 -3.09494246e-01 1.00576318e-02 8.74468483e+01] [ 3.09475402e-01 9.50901305e-01 3.41809117e-03 1.49626242e+01] [-1.06216948e-02 -1.37495936e-04 9.99943579e-01 -1.34675265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11999999999999 meters 0.01714361401130109 Centerline is valid? [True, True] Translation: X:87.50, Y:14.98, Z:-1.35 [[ 9.51470957e-01 -3.07583582e-01 9.76517139e-03 8.75039649e+01] [ 3.07565709e-01 9.51521054e-01 3.31949253e-03 1.49787263e+01] [-1.03127876e-02 -1.54968879e-04 9.99946810e-01 -1.34854704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17999999999999 meters 0.01897259369394651 Centerline is valid? [True, True] Translation: X:87.56, Y:15.00, Z:-1.35 [[ 9.52877969e-01 -3.03265270e-01 7.33157527e-03 8.75591430e+01] [ 3.03255048e-01 9.52906161e-01 2.49466677e-03 1.49971059e+01] [-7.74284903e-03 -1.53775794e-04 9.99970012e-01 -1.35100205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24 meters 0.02082269322716069 Centerline is valid? [True, True] Translation: X:87.62, Y:15.01, Z:-1.35 [[ 9.53287022e-01 -3.02008434e-01 5.89569688e-03 8.76163620e+01] [ 3.02001808e-01 9.53305244e-01 2.00469873e-03 1.50110519e+01] [-6.22583468e-03 -1.30542159e-04 9.99980611e-01 -1.35403709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.3 meters 0.02033414114206813 Centerline is valid? [True, True] Translation: X:87.67, Y:15.02, Z:-1.35 [[ 9.53484843e-01 -3.01370347e-01 6.52443467e-03 8.76742601e+01] [ 3.01362203e-01 9.53507153e-01 2.22069161e-03 1.50241361e+01] [-6.89034573e-03 -1.51177788e-04 9.99976250e-01 -1.35404305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36 meters 0.018923420100817608 Centerline is valid? [True, True] Translation: X:87.73, Y:15.03, Z:-1.35 [[ 9.52670363e-01 -3.03895504e-01 8.16710441e-03 8.77331854e+01] [ 3.03882808e-01 9.52705355e-01 2.78300538e-03 1.50347878e+01] [-8.62658693e-03 -1.69444127e-04 9.99962776e-01 -1.35282819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42 meters 0.019916914329935614 Centerline is valid? [True, True] Translation: X:87.79, Y:15.05, Z:-1.35 [[ 9.51656204e-01 -3.07035471e-01 8.92691470e-03 8.77921415e+01] [ 3.07020415e-01 9.51698059e-01 3.04463338e-03 1.50454806e+01] [-9.43053783e-03 -1.56699187e-04 9.99955519e-01 -1.35292291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47999999999999 meters 0.015539662453892813 Centerline is valid? [True, True] Translation: X:87.85, Y:15.06, Z:-1.35 [[ 9.50161883e-01 -3.11563893e-01 1.09698407e-02 8.78503186e+01] [ 3.11541404e-01 9.50225195e-01 3.74610792e-03 1.50555802e+01] [-1.15909710e-02 -1.41849372e-04 9.99932812e-01 -1.35031628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53999999999999 meters 0.013652050189826641 Centerline is valid? [True, True] Translation: X:87.91, Y:15.07, Z:-1.35 [[ 9.49167139e-01 -3.14586159e-01 1.08300917e-02 8.79086430e+01] [ 3.14564434e-01 9.49228917e-01 3.69853922e-03 1.50673432e+01] [-1.14437454e-02 -1.03770234e-04 9.99934513e-01 -1.34921745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.6 meters 0.014075366305465659 Centerline is valid? [True, True] Translation: X:87.97, Y:15.08, Z:-1.35 [[ 9.47141198e-01 -3.20700091e-01 8.66044397e-03 8.79676914e+01] [ 3.20686438e-01 9.47180791e-01 2.95924568e-03 1.50771793e+01] [-9.15203653e-03 -2.55365641e-05 9.99958119e-01 -1.35431865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66 meters 0.016816671452177617 Centerline is valid? [True, True] Translation: X:88.02, Y:15.09, Z:-1.36 [[ 9.46218508e-01 -3.23445444e-01 7.31978230e-03 8.80242331e+01] [ 3.23435764e-01 9.46246820e-01 2.50229767e-03 1.50926310e+01] [-7.73567751e-03 -2.40989390e-07 9.99970079e-01 -1.35892689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72 meters 0.016716276048263142 Centerline is valid? [True, True] Translation: X:88.08, Y:15.10, Z:-1.36 [[ 9.43460842e-01 -3.31432840e-01 5.82338468e-03 8.80833014e+01] [ 3.31426858e-01 9.43478813e-01 1.99201079e-03 1.51008864e+01] [-6.15445786e-03 5.06419058e-05 9.99981060e-01 -1.36092506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78 meters 0.01814020627430888 Centerline is valid? [True, True] Translation: X:88.14, Y:15.11, Z:-1.36 [[ 9.41185447e-01 -3.37836585e-01 6.03288435e-03 8.81409788e+01] [ 3.37830275e-01 9.41204777e-01 2.06691391e-03 1.51127004e+01] [-6.37645871e-03 9.27416865e-05 9.99979666e-01 -1.36124627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84 meters 0.016460170590484626 Centerline is valid? [True, True] Translation: X:88.20, Y:15.13, Z:-1.36 [[ 9.39787913e-01 -3.41611689e-01 1.00066718e-02 8.81979800e+01] [ 3.41594529e-01 9.39841165e-01 3.42955215e-03 1.51292136e+01] [-1.05762572e-02 1.95172671e-04 9.99944051e-01 -1.35685814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89999999999999 meters 0.015376857708383413 Centerline is valid? [True, True] Translation: X:88.25, Y:15.15, Z:-1.35 [[ 9.39555659e-01 -3.42233462e-01 1.05556496e-02 8.82530325e+01] [ 3.42214373e-01 9.39614928e-01 3.62069199e-03 1.51485859e+01] [-1.11573678e-02 2.10453348e-04 9.99937732e-01 -1.35479935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96 meters 0.015259929493274352 Centerline is valid? [True, True] Translation: X:88.31, Y:15.17, Z:-1.36 [[ 9.39783161e-01 -3.41655312e-01 8.90266275e-03 8.83080033e+01] [ 3.41641687e-01 9.39825313e-01 3.05593287e-03 1.51688745e+01] [-9.41102350e-03 1.69606468e-04 9.99955701e-01 -1.35720526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02 meters 0.017370815035027028 Centerline is valid? [True, True] Translation: X:88.36, Y:15.19, Z:-1.37 [[ 9.40496696e-01 -3.39776598e-01 4.22232368e-03 8.83614876e+01] [ 3.39773510e-01 9.40506171e-01 1.45039536e-03 1.51925026e+01] [-4.46393188e-03 7.05416900e-05 9.99990034e-01 -1.36546478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08 meters 0.01606825784957313 Centerline is valid? [True, True] Translation: X:88.42, Y:15.22, Z:-1.37 [[ 9.41533816e-01 -3.36910497e-01 2.32176303e-03 8.84151242e+01] [ 3.36909561e-01 9.41536678e-01 7.95007826e-04 1.52166611e+01] [-2.45387153e-03 3.36974118e-05 9.99996989e-01 -1.36733489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14 meters 0.01926116705069742 Centerline is valid? [True, True] Translation: X:88.47, Y:15.24, Z:-1.37 [[ 9.41925910e-01 -3.35817736e-01 1.42452092e-03 8.84694762e+01] [ 3.35817384e-01 9.41926987e-01 4.86169968e-04 1.52381804e+01] [-1.50505920e-03 2.04427999e-05 9.99998867e-01 -1.37123906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.2 meters 0.014385278155069656 Centerline is valid? [True, True] Translation: X:88.52, Y:15.26, Z:-1.37 [[ 9.42417822e-01 -3.34415398e-01 3.87169147e-03 8.85246049e+01] [ 3.34412753e-01 9.42425774e-01 1.33071232e-03 1.52593996e+01] [-4.09379252e-03 4.06560005e-05 9.99991620e-01 -1.36615282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25999999999999 meters 0.014263271878218518 Centerline is valid? [True, True] Translation: X:88.58, Y:15.28, Z:-1.37 [[ 9.42470924e-01 -3.34239452e-01 5.70497778e-03 8.85795776e+01] [ 3.34233685e-01 9.42488189e-01 1.96416504e-03 1.52803531e+01] [-6.03337562e-03 5.56273058e-05 9.99981797e-01 -1.36560204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32 meters 0.013857453430199155 Centerline is valid? [True, True] Translation: X:88.63, Y:15.30, Z:-1.36 [[ 9.43382452e-01 -3.31623434e-01 7.44627378e-03 8.86343943e+01] [ 3.31613503e-01 9.43411838e-01 2.56691793e-03 1.53019884e+01] [-7.87615297e-03 4.76996055e-05 9.99968981e-01 -1.36448721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38 meters 0.015231169134194337 Centerline is valid? [True, True] Translation: X:88.69, Y:15.32, Z:-1.37 [[ 9.44942738e-01 -3.27163345e-01 6.88238143e-03 8.86878655e+01] [ 3.27154721e-01 9.44967801e-01 2.37549236e-03 1.53240018e+01] [-7.28080287e-03 6.89931465e-06 9.99973495e-01 -1.36780491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44 meters 0.015690306505880706 Centerline is valid? [True, True] Translation: X:88.74, Y:15.35, Z:-1.37 [[ 9.46222111e-01 -3.23459216e-01 6.15235214e-03 8.87427438e+01] [ 3.23452253e-01 9.46242112e-01 2.12253354e-03 1.53460802e+01] [-6.50816772e-03 -1.83960076e-05 9.99978821e-01 -1.37047233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.5 meters 0.014671624131907889 Centerline is valid? [True, True] Translation: X:88.80, Y:15.37, Z:-1.37 [[ 9.48414462e-01 -3.17013075e-01 3.56636159e-03 8.87960152e+01] [ 3.17010685e-01 9.48421166e-01 1.23162444e-03 1.53685373e+01] [-3.77285387e-03 -3.75157021e-05 9.99992882e-01 -1.37257039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56 meters 0.018381565376423607 Centerline is valid? [True, True] Translation: X:88.85, Y:15.39, Z:-1.38 [[ 9.49077966e-01 -3.15041275e-01 1.00314821e-04 8.88508327e+01] [ 3.15041273e-01 9.49077971e-01 3.33134193e-05 1.53885744e+01] [-1.05701689e-04 -1.37233119e-08 9.99999994e-01 -1.37947779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61999999999999 meters 0.01942328374005976 Centerline is valid? [True, True] Translation: X:88.91, Y:15.41, Z:-1.38 [[ 9.49733224e-01 -3.13056724e-01 -1.51357195e-03 8.89054559e+01] [ 3.13056285e-01 9.49734430e-01 -5.24938063e-04 1.54084147e+01] [ 1.60182679e-03 2.47179055e-05 9.99998717e-01 -1.38373682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67999999999999 meters 0.01791739067644387 Centerline is valid? [True, True] Translation: X:88.96, Y:15.42, Z:-1.38 [[ 9.49254820e-01 -3.14508008e-01 -1.85813310e-05 8.89645108e+01] [ 3.14508008e-01 9.49254820e-01 -1.01659909e-05 1.54198296e+01] [ 2.08357035e-05 3.80613848e-06 1.00000000e+00 -1.37919756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74 meters 0.014806544304451622 Centerline is valid? [True, True] Translation: X:89.02, Y:15.43, Z:-1.37 [[ 9.48640074e-01 -3.16344558e-01 2.85133365e-03 8.90224980e+01] [ 3.16343029e-01 9.48644359e-01 9.84125686e-04 1.54342910e+01] [-3.01622439e-03 -3.15815401e-05 9.99995451e-01 -1.37497361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.8 meters 0.017525630489525032 Centerline is valid? [True, True] Translation: X:89.08, Y:15.45, Z:-1.38 [[ 9.46974006e-01 -3.21291362e-01 3.47751565e-03 8.90795703e+01] [ 3.21289110e-01 9.46980391e-01 1.20322039e-03 1.54461594e+01] [-3.67972345e-03 -2.21305201e-05 9.99993230e-01 -1.37742338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86 meters 0.01736474862931772 Centerline is valid? [True, True] Translation: X:89.14, Y:15.46, Z:-1.38 [[ 9.46581824e-01 -3.22431620e-01 4.54978214e-03 8.91359947e+01] [ 3.22427778e-01 9.46592758e-01 1.57422051e-03 1.54637891e+01] [-4.81436929e-03 -2.31523769e-05 9.99988411e-01 -1.37681697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92 meters 0.01540183865834769 Centerline is valid? [True, True] Translation: X:89.19, Y:15.49, Z:-1.38 [[ 9.46924241e-01 -3.21424301e-01 4.57170220e-03 8.91907893e+01] [ 3.21420404e-01 9.46935276e-01 1.58311358e-03 1.54853598e+01] [-4.83795726e-03 -2.96502561e-05 9.99988297e-01 -1.37641647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97999999999999 meters 0.014357120923971968 Centerline is valid? [True, True] Translation: X:89.25, Y:15.51, Z:-1.38 [[ 9.47240355e-01 -3.20495236e-01 4.30268464e-03 8.92455933e+01] [ 3.20491770e-01 9.47250127e-01 1.49087318e-03 1.55082839e+01] [-4.55353632e-03 -3.32402225e-05 9.99989632e-01 -1.37739094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03999999999999 meters 0.014498954885321607 Centerline is valid? [True, True] Translation: X:89.30, Y:15.53, Z:-1.38 [[ 9.47424600e-01 -3.19950773e-01 4.25785859e-03 8.92991975e+01] [ 3.19947360e-01 9.47434167e-01 1.47833392e-03 1.55292564e+01] [-4.50703478e-03 -3.83193107e-05 9.99989843e-01 -1.37883169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.1 meters 0.015801607984106267 Centerline is valid? [True, True] Translation: X:89.35, Y:15.55, Z:-1.38 [[ 9.47129041e-01 -3.20830313e-01 3.80661497e-03 8.93537956e+01] [ 3.20827600e-01 9.47136690e-01 1.31969429e-03 1.55480165e+01] [-4.02878264e-03 -2.86536415e-05 9.99991884e-01 -1.38159169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16 meters 0.014306003830385274 Centerline is valid? [True, True] Translation: X:89.41, Y:15.57, Z:-1.38 [[ 9.46624765e-01 -3.22297780e-01 5.06907090e-03 8.94094792e+01] [ 3.22292973e-01 9.46638336e-01 1.76062410e-03 1.55674226e+01] [-5.36602209e-03 -3.29244441e-05 9.99985602e-01 -1.38183803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22 meters 0.013762671193193491 Centerline is valid? [True, True] Translation: X:89.47, Y:15.59, Z:-1.38 [[ 9.45968609e-01 -3.24208225e-01 5.69362788e-03 8.94657956e+01] [ 3.24202182e-01 9.45985743e-01 1.97963946e-03 1.55856632e+01] [-6.02790619e-03 -2.67902033e-05 9.99981832e-01 -1.38214659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28 meters 0.016867176555919617 Centerline is valid? [True, True] Translation: X:89.52, Y:15.60, Z:-1.38 [[ 9.44516038e-01 -3.28403803e-01 6.35570708e-03 8.95224289e+01] [ 3.28396353e-01 9.44537422e-01 2.21217066e-03 1.56011609e+01] [-6.72968844e-03 -2.23964009e-06 9.99977355e-01 -1.38375634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34 meters 0.015143153274022561 Centerline is valid? [True, True] Translation: X:89.58, Y:15.62, Z:-1.38 [[ 9.43591418e-01 -3.30986100e-01 9.13441234e-03 8.95790400e+01] [ 3.30970788e-01 9.43635630e-01 3.18367894e-03 1.56185555e+01] [-9.67331041e-03 1.91315288e-05 9.99953212e-01 -1.38275597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39999999999999 meters 0.014095806073084772 Centerline is valid? [True, True] Translation: X:89.63, Y:15.64, Z:-1.38 [[ 9.43376850e-01 -3.31568655e-01 1.01165855e-02 8.96340326e+01] [ 3.31549874e-01 9.43431093e-01 3.52908886e-03 1.56380688e+01] [-1.07144365e-02 2.48919005e-05 9.99942598e-01 -1.38280239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46 meters 0.015847796159992003 Centerline is valid? [True, True] Translation: X:89.69, Y:15.66, Z:-1.39 [[ 9.43030568e-01 -3.32595592e-01 8.57437385e-03 8.96884738e+01] [ 3.32582113e-01 9.43069548e-01 2.99440983e-03 1.56573568e+01] [-9.08215838e-03 2.78633637e-05 9.99958756e-01 -1.38627549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52 meters 0.014249659019999472 Centerline is valid? [True, True] Translation: X:89.74, Y:15.68, Z:-1.39 [[ 9.42503692e-01 -3.34089975e-01 8.40711578e-03 8.97434390e+01] [ 3.34077081e-01 9.42541186e-01 2.93551281e-03 1.56765981e+01] [-8.90477828e-03 4.18930361e-05 9.99960351e-01 -1.38634434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58 meters 0.014347510432552125 Centerline is valid? [True, True] Translation: X:89.80, Y:15.70, Z:-1.39 [[ 9.42291112e-01 -3.34694586e-01 8.18505458e-03 8.97983630e+01] [ 3.34682354e-01 9.42326659e-01 2.86182377e-03 1.56954315e+01] [-8.67083206e-03 4.27222249e-05 9.99962407e-01 -1.38767220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64 meters 0.016365375561666777 Centerline is valid? [True, True] Translation: X:89.85, Y:15.71, Z:-1.39 [[ 9.41452027e-01 -3.37070179e-01 7.19548647e-03 8.98542285e+01] [ 3.37060799e-01 9.41479523e-01 2.51515954e-03 1.57139096e+01] [-7.62218845e-03 5.74143710e-05 9.99970949e-01 -1.39007327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.7 meters 0.013757306266726554 Centerline is valid? [True, True] Translation: X:89.91, Y:15.73, Z:-1.39 [[ 9.40966616e-01 -3.38433050e-01 6.70064280e-03 8.99102216e+01] [ 3.38424940e-01 9.40990471e-01 2.34365754e-03 1.57330786e+01] [-7.09841220e-03 6.23611354e-05 9.99974804e-01 -1.38961193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75999999999999 meters 0.016055640694616027 Centerline is valid? [True, True] Translation: X:89.97, Y:15.75, Z:-1.39 [[ 9.40540974e-01 -3.39639285e-01 5.27561020e-03 8.99657595e+01] [ 3.39634273e-01 9.40555768e-01 1.84586782e-03 1.57522200e+01] [-5.58893483e-03 5.56637215e-05 9.99984380e-01 -1.39192949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82 meters 0.013886510060580743 Centerline is valid? [True, True] Translation: X:90.02, Y:15.77, Z:-1.39 [[ 9.40868724e-01 -3.38710565e-01 6.41846842e-03 9.00211703e+01] [ 3.38703107e-01 9.40890615e-01 2.24841820e-03 1.57734971e+01] [-6.80063970e-03 5.84888308e-05 9.99976874e-01 -1.39076156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88 meters 0.013863794648647664 Centerline is valid? [True, True] Translation: X:90.08, Y:15.79, Z:-1.39 [[ 9.40886740e-01 -3.38644233e-01 7.22676447e-03 9.00753289e+01] [ 3.38634760e-01 9.40914491e-01 2.53383119e-03 1.57943473e+01] [-7.65783474e-03 6.31854802e-05 9.99970676e-01 -1.39141122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94 meters 0.014203846755935643 Centerline is valid? [True, True] Translation: X:90.13, Y:15.82, Z:-1.39 [[ 9.41313154e-01 -3.37479511e-01 6.09316000e-03 9.01297203e+01] [ 3.37472744e-01 9.41332873e-01 2.13755669e-03 1.58158829e+01] [-6.45707339e-03 4.41651975e-05 9.99979152e-01 -1.39315201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.0 meters 0.016698143132616534 Centerline is valid? [True, True] Translation: X:90.18, Y:15.84, Z:-1.40 [[ 9.41737472e-01 -3.36310180e-01 5.09865288e-03 9.01842677e+01] [ 3.36305420e-01 9.41751274e-01 1.78960176e-03 1.58364069e+01] [-5.40352413e-03 2.93695645e-05 9.99985400e-01 -1.39619112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06 meters 0.016703900040162648 Centerline is valid? [True, True] Translation: X:90.24, Y:15.86, Z:-1.40 [[ 9.43038661e-01 -3.32633134e-01 5.76904445e-03 9.02388391e+01] [ 3.32626954e-01 9.43056307e-01 2.02763504e-03 1.58590421e+01] [-6.11499235e-03 6.80144422e-06 9.99981303e-01 -1.39678457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11999999999999 meters 0.017468854474621914 Centerline is valid? [True, True] Translation: X:90.29, Y:15.88, Z:-1.40 [[ 9.44526984e-01 -3.28369606e-01 6.49446944e-03 9.02927162e+01] [ 3.28361659e-01 9.44549311e-01 2.28458357e-03 1.58810665e+01] [-6.88453445e-03 -2.53160617e-05 9.99976301e-01 -1.39684801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17999999999999 meters 0.01520799618611385 Centerline is valid? [True, True] Translation: X:90.35, Y:15.90, Z:-1.40 [[ 9.45389225e-01 -3.25864107e-01 7.19706107e-03 9.03482082e+01] [ 3.25854253e-01 9.45416618e-01 2.53474785e-03 1.59013292e+01] [-7.63020448e-03 -5.11303529e-05 9.99970888e-01 -1.39624323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24 meters 0.014026876940580657 Centerline is valid? [True, True] Translation: X:90.40, Y:15.92, Z:-1.40 [[ 9.45778135e-01 -3.24719023e-01 7.82789267e-03 9.04027737e+01] [ 3.24707297e-01 9.45810526e-01 2.76042408e-03 1.59207560e+01] [-8.30006549e-03 -6.89748695e-05 9.99965551e-01 -1.39594725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.3 meters 0.013943726164669625 Centerline is valid? [True, True] Translation: X:90.46, Y:15.94, Z:-1.40 [[ 9.45564846e-01 -3.25337306e-01 7.92211281e-03 9.04576084e+01] [ 3.25325318e-01 9.45598029e-01 2.79365580e-03 1.59394861e+01] [-8.40001471e-03 -6.43188419e-05 9.99964717e-01 -1.39676428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36 meters 0.013743244823647261 Centerline is valid? [True, True] Translation: X:90.51, Y:15.96, Z:-1.40 [[ 9.44950828e-01 -3.27110300e-01 8.17214978e-03 9.05119990e+01] [ 3.27097572e-01 9.44986163e-01 2.88606160e-03 1.59589702e+01] [-8.66662894e-03 -5.40959461e-05 9.99962443e-01 -1.39846466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42 meters 0.016027732017320443 Centerline is valid? [True, True] Translation: X:90.57, Y:15.98, Z:-1.40 [[ 9.44369490e-01 -3.28815365e-01 6.83542694e-03 9.05667211e+01] [ 3.28806514e-01 9.44394226e-01 2.41282619e-03 1.59782641e+01] [-7.24871206e-03 -3.10665323e-05 9.99973727e-01 -1.40213318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47999999999999 meters 0.01379852964648587 Centerline is valid? [True, True] Translation: X:90.62, Y:16.00, Z:-1.40 [[ 9.44800508e-01 -3.27574987e-01 6.82853285e-03 9.06218596e+01] [ 3.27566103e-01 9.44825183e-01 2.41289122e-03 1.59992978e+01] [-7.24217261e-03 -4.29049507e-05 9.99973774e-01 -1.40129489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53999999999999 meters 0.01818833700430626 Centerline is valid? [True, True] Translation: X:90.68, Y:16.02, Z:-1.41 [[ 9.45324077e-01 -3.26092904e-01 5.08020023e-03 9.06768849e+01] [ 3.26087963e-01 9.45337726e-01 1.79555329e-03 1.60212253e+01] [-5.38802212e-03 -4.07876138e-05 9.99985484e-01 -1.40721482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.6 meters 0.014182122418371901 Centerline is valid? [True, True] Translation: X:90.73, Y:16.04, Z:-1.41 [[ 9.46039248e-01 -3.24014505e-01 4.93377903e-03 9.07323809e+01] [ 3.24009811e-01 9.46052112e-01 1.74490193e-03 1.60420851e+01] [-5.23298560e-03 -5.21528983e-05 9.99986306e-01 -1.40618703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66 meters 0.014868043367367672 Centerline is valid? [True, True] Translation: X:90.79, Y:16.06, Z:-1.41 [[ 9.45854949e-01 -3.24546494e-01 5.29046129e-03 9.07876425e+01] [ 3.24541096e-01 9.45869743e-01 1.87249852e-03 1.60613468e+01] [-5.61180009e-03 -5.41398830e-05 9.99984252e-01 -1.40739436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72 meters 0.016428314157386905 Centerline is valid? [True, True] Translation: X:90.84, Y:16.08, Z:-1.41 [[ 9.45602573e-01 -3.25255238e-01 6.69361350e-03 9.08433032e+01] [ 3.25246589e-01 9.45626261e-01 2.37286175e-03 1.60806495e+01] [-7.10144243e-03 -6.67092162e-05 9.99974782e-01 -1.40737266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78 meters 0.014579554107622477 Centerline is valid? [True, True] Translation: X:90.90, Y:16.10, Z:-1.41 [[ 9.46179713e-01 -3.23547166e-01 7.82195076e-03 9.08984324e+01] [ 3.23535273e-01 9.46212039e-01 2.77575238e-03 1.61013657e+01] [-8.29931079e-03 -9.56836129e-05 9.99965556e-01 -1.40534365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84 meters 0.017056431714397084 Centerline is valid? [True, True] Translation: X:90.95, Y:16.12, Z:-1.41 [[ 9.46234755e-01 -3.23386571e-01 7.80471768e-03 9.09521703e+01] [ 3.23374697e-01 9.46266937e-01 2.77298183e-03 1.61234958e+01] [-8.28209138e-03 -1.00043567e-04 9.99965698e-01 -1.40849006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89999999999999 meters 0.016104317243349955 Centerline is valid? [True, True] Translation: X:91.01, Y:16.14, Z:-1.41 [[ 9.46551784e-01 -3.22472404e-01 7.16023817e-03 9.10080978e+01] [ 3.22462389e-01 9.46578860e-01 2.54336036e-03 1.61417109e+01] [-7.59789362e-03 -9.85147783e-05 9.99971131e-01 -1.40851151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96 meters 0.01489082538174732 Centerline is valid? [True, True] Translation: X:91.06, Y:16.16, Z:-1.41 [[ 9.46869940e-01 -3.21556703e-01 6.21317863e-03 9.10635078e+01] [ 3.21549136e-01 9.46890320e-01 2.20805254e-03 1.61615139e+01] [-6.59321280e-03 -9.28963614e-05 9.99978260e-01 -1.40927639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02 meters 0.014898846931736423 Centerline is valid? [True, True] Translation: X:91.12, Y:16.18, Z:-1.41 [[ 9.46559016e-01 -3.22478855e-01 5.78070857e-03 9.11187784e+01] [ 3.22472315e-01 9.46576664e-01 2.05537962e-03 1.61799324e+01] [-6.13470030e-03 -8.14196351e-05 9.99981179e-01 -1.41027204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08 meters 0.01511118855712231 Centerline is valid? [True, True] Translation: X:91.17, Y:16.20, Z:-1.41 [[ 9.45763313e-01 -3.24794654e-01 6.33945790e-03 9.11748166e+01] [ 3.24786821e-01 9.45784556e-01 2.25684568e-03 1.61974655e+01] [-6.72877279e-03 -7.54694661e-05 9.99977359e-01 -1.41058317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14 meters 0.014443579148760318 Centerline is valid? [True, True] Translation: X:91.23, Y:16.22, Z:-1.41 [[ 9.45331275e-01 -3.26024614e-01 7.53199782e-03 9.12292600e+01] [ 3.26013564e-01 9.45361277e-01 2.68556786e-03 1.62164175e+01] [-7.99602031e-03 -8.32178350e-05 9.99968028e-01 -1.41096570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.2 meters 0.014155877524181598 Centerline is valid? [True, True] Translation: X:91.29, Y:16.23, Z:-1.41 [[ 9.44488083e-01 -3.28392362e-01 1.00358034e-02 9.12856480e+01] [ 3.28372869e-01 9.44541396e-01 3.57904627e-03 1.62347682e+01] [-1.06545632e-02 -8.48809885e-05 9.99943235e-01 -1.41075918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25999999999999 meters 0.01408116022528225 Centerline is valid? [True, True] Translation: X:91.34, Y:16.25, Z:-1.41 [[ 9.44037606e-01 -3.29656806e-01 1.09265382e-02 9.13397207e+01] [ 3.29633736e-01 9.44100834e-01 3.90075426e-03 1.62540201e+01] [-1.16016640e-02 -8.07030924e-05 9.99932695e-01 -1.41190879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32 meters 0.0139308170470829 Centerline is valid? [True, True] Translation: X:91.40, Y:16.27, Z:-1.41 [[ 9.43214497e-01 -3.32008875e-01 1.07944526e-02 9.13954953e+01] [ 3.31986509e-01 9.43276261e-01 3.85403293e-03 1.62729715e+01] [-1.14617240e-02 -5.15671104e-05 9.99934311e-01 -1.41417752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38 meters 0.01464369906899554 Centerline is valid? [True, True] Translation: X:91.45, Y:16.29, Z:-1.42 [[ 9.42684519e-01 -3.33553609e-01 9.37483495e-03 9.14487854e+01] [ 3.33536788e-01 9.42731133e-01 3.34998413e-03 1.62928951e+01] [-9.95534807e-03 -3.11258485e-05 9.99950444e-01 -1.41941361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44 meters 0.01386957501249657 Centerline is valid? [True, True] Translation: X:91.50, Y:16.31, Z:-1.42 [[ 9.42679576e-01 -3.33591876e-01 8.46630161e-03 9.15031197e+01] [ 3.33578159e-01 9.42717593e-01 3.02527221e-03 1.63131640e+01] [-8.99053770e-03 -2.76890236e-05 9.99959584e-01 -1.42082827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.5 meters 0.01383529968289143 Centerline is valid? [True, True] Translation: X:91.56, Y:16.33, Z:-1.42 [[ 9.42488999e-01 -3.34142681e-01 7.94706216e-03 9.15571610e+01] [ 3.34130585e-01 9.42522503e-01 2.84314518e-03 1.63326300e+01] [-8.44030107e-03 -2.42765201e-05 9.99964380e-01 -1.42316524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56 meters 0.013831578422143524 Centerline is valid? [True, True] Translation: X:91.61, Y:16.35, Z:-1.42 [[ 9.41806107e-01 -3.36048373e-01 8.52919136e-03 9.16127103e+01] [ 3.36034516e-01 9.41844728e-01 3.05174495e-03 1.63507491e+01] [-9.05870784e-03 -8.04934204e-06 9.99958969e-01 -1.42326023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61999999999999 meters 0.015299867357271256 Centerline is valid? [True, True] Translation: X:91.67, Y:16.37, Z:-1.42 [[ 9.40887048e-01 -3.38580430e-01 9.73938579e-03 9.16681847e+01] [ 3.38562459e-01 9.40937454e-01 3.48836687e-03 1.63684021e+01] [-1.03452456e-02 1.52311962e-05 9.99946486e-01 -1.42455575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67999999999999 meters 0.013852526686136504 Centerline is valid? [True, True] Translation: X:91.72, Y:16.39, Z:-1.42 [[ 9.40127870e-01 -3.40659999e-01 1.05048513e-02 9.17237962e+01] [ 3.40639181e-01 9.40186558e-01 3.76627587e-03 1.63860461e+01] [-1.11595396e-02 3.75830422e-05 9.99937730e-01 -1.42207456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74 meters 0.013875464857213075 Centerline is valid? [True, True] Translation: X:91.78, Y:16.40, Z:-1.42 [[ 9.39641338e-01 -3.42002277e-01 1.04210257e-02 9.17784898e+01] [ 3.41981827e-01 9.39699122e-01 3.74036199e-03 1.64041152e+01] [-1.10718410e-02 4.92026552e-05 9.99938704e-01 -1.42209962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.8 meters 0.013934677668785062 Centerline is valid? [True, True] Translation: X:91.83, Y:16.42, Z:-1.42 [[ 9.38851872e-01 -3.44199838e-01 9.14516725e-03 9.18340677e+01] [ 3.44184195e-01 9.38896409e-01 3.28222184e-03 1.64236671e+01] [-9.71610491e-03 6.61019087e-05 9.99952795e-01 -1.42364206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86 meters 0.01438561412610013 Centerline is valid? [True, True] Translation: X:91.89, Y:16.44, Z:-1.43 [[ 9.38764032e-01 -3.44490300e-01 6.96608398e-03 9.18888861e+01] [ 3.44481214e-01 9.38789876e-01 2.50249065e-03 1.64414964e+01] [-7.40177287e-03 5.04368503e-05 9.99972605e-01 -1.42552667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92 meters 0.014046958307960624 Centerline is valid? [True, True] Translation: X:91.94, Y:16.46, Z:-1.43 [[ 9.39096273e-01 -3.43609742e-01 5.52580696e-03 9.19429734e+01] [ 3.43604020e-01 9.39112530e-01 1.98335926e-03 1.64635790e+01] [-5.87085611e-03 3.61241965e-05 9.99982766e-01 -1.42548999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97999999999999 meters 0.014039984836903099 Centerline is valid? [True, True] Translation: X:92.00, Y:16.49, Z:-1.43 [[ 9.40389078e-01 -3.40094053e-01 2.10171199e-03 9.19961777e+01] [ 3.40093215e-01 9.40391427e-01 7.54916244e-04 1.64865703e+01] [-2.23317446e-03 4.86299870e-06 9.99997506e-01 -1.42805693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03999999999999 meters 0.01405379123696664 Centerline is valid? [True, True] Translation: X:92.05, Y:16.51, Z:-1.43 [[ 9.40966122e-01 -3.38498298e-01 1.28820270e-03 9.20508578e+01] [ 3.38497985e-01 9.40967004e-01 4.59963690e-04 1.65085979e+01] [-1.36785316e-03 3.24376790e-06 9.99999064e-01 -1.42875967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.1 meters 0.013929073829186085 Centerline is valid? [True, True] Translation: X:92.11, Y:16.53, Z:-1.43 [[ 9.40917523e-01 -3.38632167e-01 1.57195544e-03 9.21054375e+01] [ 3.38631700e-01 9.40918836e-01 5.62132262e-04 1.65288492e+01] [-1.66943855e-03 3.39384664e-06 9.99998606e-01 -1.42785047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16 meters 0.013678042696984109 Centerline is valid? [True, True] Translation: X:92.16, Y:16.55, Z:-1.43 [[ 9.40952348e-01 -3.38535676e-01 1.50854843e-03 9.21600962e+01] [ 3.38535246e-01 9.40953557e-01 5.39705331e-04 1.65489906e+01] [-1.60218352e-03 2.85981641e-06 9.99998716e-01 -1.42713592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22 meters 0.013661760341991102 Centerline is valid? [True, True] Translation: X:92.21, Y:16.57, Z:-1.43 [[ 9.41063619e-01 -3.38227620e-01 1.15814972e-03 9.22142786e+01] [ 3.38227364e-01 9.41064332e-01 4.15954738e-04 1.65695021e+01] [-1.23058077e-03 2.78055466e-07 9.99999243e-01 -1.42835188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28 meters 0.013611822472832116 Centerline is valid? [True, True] Translation: X:92.27, Y:16.59, Z:-1.43 [[ 9.41212959e-01 -3.37813652e-01 -3.20796876e-04 9.22691762e+01] [ 3.37813632e-01 9.41213013e-01 -1.17252718e-04 1.65893263e+01] [ 3.41547764e-04 1.99021979e-06 9.99999942e-01 -1.42732097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34 meters 0.014779098410007263 Centerline is valid? [True, True] Translation: X:92.32, Y:16.61, Z:-1.43 [[ 9.40188622e-01 -3.40645102e-01 -2.50399039e-03 9.23249404e+01] [ 3.40643890e-01 9.40191956e-01 -9.08710441e-04 1.66078589e+01] [ 2.66377938e-03 1.39018891e-06 9.99996452e-01 -1.42996931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39999999999999 meters 0.016437528066003758 Centerline is valid? [True, True] Translation: X:92.38, Y:16.62, Z:-1.43 [[ 9.38937516e-01 -3.44073785e-01 -3.09378475e-03 9.23802793e+01] [ 3.44071964e-01 9.38942613e-01 -1.11954702e-03 1.66246422e+01] [ 3.29009312e-03 -1.32999029e-05 9.99994588e-01 -1.43172623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46 meters 0.01400133331110207 Centerline is valid? [True, True] Translation: X:92.44, Y:16.64, Z:-1.43 [[ 9.37064565e-01 -3.49155721e-01 5.32505873e-04 9.24376903e+01] [ 3.49155670e-01 9.37064716e-01 1.88656494e-04 1.66389117e+01] [-5.64862958e-04 9.14412965e-06 9.99999840e-01 -1.42751060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52 meters 0.014542922142829933 Centerline is valid? [True, True] Translation: X:92.49, Y:16.66, Z:-1.43 [[ 9.35427605e-01 -3.53511090e-01 2.25927641e-03 9.24939795e+01] [ 3.53510155e-01 9.35430333e-01 8.13833970e-04 1.66555358e+01] [-2.40109502e-03 3.73943930e-05 9.99997117e-01 -1.42641318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58 meters 0.015459424403233545 Centerline is valid? [True, True] Translation: X:92.55, Y:16.67, Z:-1.43 [[ 9.33232029e-01 -3.59267245e-01 2.24221243e-03 9.25515694e+01] [ 3.59266337e-01 9.33234721e-01 8.09284853e-04 1.66724985e+01] [-2.38326003e-03 5.03009004e-05 9.99997159e-01 -1.42749385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64 meters 0.016218598269436273 Centerline is valid? [True, True] Translation: X:92.61, Y:16.69, Z:-1.43 [[ 9.32172693e-01 -3.62004233e-01 2.64668882e-03 9.26078337e+01] [ 3.62002979e-01 9.32176448e-01 9.55326628e-04 1.66913927e+01] [-2.81301326e-03 6.75798407e-05 9.99996041e-01 -1.42905041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.7 meters 0.016158388365567013 Centerline is valid? [True, True] Translation: X:92.66, Y:16.71, Z:-1.43 [[ 9.32444669e-01 -3.61287470e-01 4.27817971e-03 9.26624707e+01] [ 3.61284168e-01 9.32454478e-01 1.54792052e-03 1.67123904e+01] [-4.54845211e-03 1.02288358e-04 9.99989651e-01 -1.42889076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75999999999999 meters 0.01566610184241038 Centerline is valid? [True, True] Translation: X:92.72, Y:16.73, Z:-1.43 [[ 9.33263896e-01 -3.59162999e-01 4.52102538e-03 9.27170035e+01] [ 3.59159280e-01 9.33274842e-01 1.63728874e-03 1.67348011e+01] [-4.80741278e-03 9.57457470e-05 9.99988440e-01 -1.43011699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82 meters 0.014106393983590338 Centerline is valid? [True, True] Translation: X:92.77, Y:16.76, Z:-1.43 [[ 9.35285959e-01 -3.53856064e-01 5.10506706e-03 9.27699910e+01] [ 3.53851223e-01 9.35299888e-01 1.85245790e-03 1.67615117e+01] [-5.43027211e-03 7.38563553e-05 9.99985253e-01 -1.43124975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88 meters 0.013529058176031174 Centerline is valid? [True, True] Translation: X:92.82, Y:16.79, Z:-1.43 [[ 9.36969012e-01 -3.49377110e-01 4.97036209e-03 9.28223857e+01] [ 3.49372457e-01 9.36982194e-01 1.80377568e-03 1.67863301e+01] [-5.28733871e-03 4.64256941e-05 9.99986021e-01 -1.43426953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94 meters 0.012896462289665523 Centerline is valid? [True, True] Translation: X:92.87, Y:16.81, Z:-1.44 [[ 9.38961053e-01 -3.43991873e-01 4.66178367e-03 9.28746967e+01] [ 3.43987719e-01 9.38972625e-01 1.69054405e-03 1.68132220e+01] [-4.95882066e-03 1.62413115e-05 9.99987705e-01 -1.43777513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.0 meters 0.012871088003832925 Centerline is valid? [True, True] Translation: X:92.93, Y:16.84, Z:-1.44 [[ 9.39543390e-01 -3.42399583e-01 4.55448679e-03 9.29283403e+01] [ 3.42395596e-01 9.39554429e-01 1.65247455e-03 1.68357047e+01] [-4.84499484e-03 6.86467329e-06 9.99988263e-01 -1.43917359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06 meters 0.012630977338345383 Centerline is valid? [True, True] Translation: X:92.98, Y:16.86, Z:-1.44 [[ 9.39754924e-01 -3.41801252e-01 5.70856605e-03 9.29826195e+01] [ 3.41794958e-01 9.39772262e-01 2.07415867e-03 1.68577594e+01] [-6.07370206e-03 1.95827685e-06 9.99981555e-01 -1.43825728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11999999999999 meters 0.01256784330237661 Centerline is valid? [True, True] Translation: X:93.04, Y:16.88, Z:-1.44 [[ 9.39541062e-01 -3.42348742e-01 7.74154012e-03 9.30381371e+01] [ 3.42337157e-01 9.39572956e-01 2.81641494e-03 1.68788132e+01] [-8.23793784e-03 4.07935594e-06 9.99966068e-01 -1.43872696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17999999999999 meters 0.012664796935548764 Centerline is valid? [True, True] Translation: X:93.09, Y:16.90, Z:-1.44 [[ 9.38801249e-01 -3.44329901e-01 9.44108798e-03 9.30928091e+01] [ 3.44312726e-01 9.38848720e-01 3.43910441e-03 1.68975589e+01] [-1.00479399e-02 2.20512263e-05 9.99949518e-01 -1.43881565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24 meters 0.012747217596354728 Centerline is valid? [True, True] Translation: X:93.15, Y:16.92, Z:-1.44 [[ 9.37957580e-01 -3.46586488e-01 1.06482427e-02 9.31474299e+01] [ 3.46564781e-01 9.38018019e-01 3.87929583e-03 1.69165570e+01] [-1.13327550e-02 5.16909620e-05 9.99935781e-01 -1.43924679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.3 meters 0.015244335014177502 Centerline is valid? [True, True] Translation: X:93.20, Y:16.94, Z:-1.44 [[ 9.36721688e-01 -3.49894047e-01 1.12532255e-02 9.32025057e+01] [ 3.49869988e-01 9.36789276e-01 4.10416266e-03 1.69357141e+01] [-1.19779230e-02 9.27076843e-05 9.99928258e-01 -1.44194442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36 meters 0.01356785225903418 Centerline is valid? [True, True] Translation: X:93.26, Y:16.95, Z:-1.44 [[ 9.35789496e-01 -3.52410349e-01 1.02452130e-02 9.32585430e+01] [ 3.52390556e-01 9.35845571e-01 3.73671516e-03 1.69545758e+01] [-1.09047943e-02 1.13537501e-04 9.99940535e-01 -1.44284051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42 meters 0.013731107079056042 Centerline is valid? [True, True] Translation: X:93.31, Y:16.97, Z:-1.44 [[ 9.35517402e-01 -3.53137509e-01 1.00543863e-02 9.33134947e+01] [ 3.53118451e-01 9.35571422e-01 3.67058458e-03 1.69742073e+01] [-1.07028176e-02 1.16493586e-04 9.99942716e-01 -1.44402093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47999999999999 meters 0.014456404204059217 Centerline is valid? [True, True] Translation: X:93.37, Y:16.99, Z:-1.45 [[ 9.34427959e-01 -3.56023576e-01 9.57089292e-03 9.33690025e+01] [ 3.56006458e-01 9.34476962e-01 3.49414530e-03 1.69933690e+01] [-1.01877770e-02 1.42272626e-04 9.99948093e-01 -1.44583274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53999999999999 meters 0.01721959530277297 Centerline is valid? [True, True] Translation: X:93.43, Y:17.01, Z:-1.45 [[ 9.32000378e-01 -3.62290582e-01 1.09922650e-02 9.34257122e+01] [ 3.62268385e-01 9.32065168e-01 4.01735101e-03 1.70108711e+01] [-1.17009558e-02 2.37977442e-04 9.99931513e-01 -1.44669979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.6 meters 0.017679618351697342 Centerline is valid? [True, True] Translation: X:93.48, Y:17.03, Z:-1.45 [[ 9.30176425e-01 -3.66924740e-01 1.17496177e-02 9.34823785e+01] [ 3.66899740e-01 9.30250577e-01 4.29484080e-03 1.70271941e+01] [-1.25059720e-02 3.15972000e-04 9.99921747e-01 -1.44595240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66 meters 0.02002024829401772 Centerline is valid? [True, True] Translation: X:93.54, Y:17.04, Z:-1.45 [[ 9.27529915e-01 -3.73542990e-01 1.24052958e-02 9.35394084e+01] [ 3.73515696e-01 9.27612771e-01 4.53566882e-03 1.70438697e+01] [-1.32015781e-02 4.26604187e-04 9.99912764e-01 -1.44649578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72 meters 0.02057776181624661 Centerline is valid? [True, True] Translation: X:93.60, Y:17.06, Z:-1.45 [[ 9.25471534e-01 -3.78614762e-01 1.23814956e-02 9.35951259e+01] [ 3.78588018e-01 9.25554220e-01 4.52749873e-03 1.70645017e+01] [-1.31739234e-02 4.97414691e-04 9.99913096e-01 -1.44756840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78 meters 0.020304217569552592 Centerline is valid? [True, True] Translation: X:93.65, Y:17.09, Z:-1.45 [[ 9.25102359e-01 -3.79517071e-01 1.23457785e-02 9.36495509e+01] [ 3.79490549e-01 9.25184595e-01 4.51533415e-03 1.70858311e+01] [-1.31357705e-02 5.07960004e-04 9.99913593e-01 -1.44793040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84 meters 0.02003734881852855 Centerline is valid? [True, True] Translation: X:93.70, Y:17.11, Z:-1.45 [[ 9.26481879e-01 -3.76186095e-01 1.07400735e-02 9.37032219e+01] [ 3.76165788e-01 9.26544042e-01 3.92910890e-03 1.71103040e+01] [-1.14292272e-02 3.99800001e-04 9.99934604e-01 -1.45052388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89999999999999 meters 0.01761474790882425 Centerline is valid? [True, True] Translation: X:93.76, Y:17.14, Z:-1.45 [[ 9.29201363e-01 -3.69463932e-01 9.01273284e-03 9.37558380e+01] [ 3.69449321e-01 9.29245033e-01 3.29659720e-03 1.71406395e+01] [-9.59301099e-03 2.66545421e-04 9.99953950e-01 -1.45440380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96 meters 0.01624994187789296 Centerline is valid? [True, True] Translation: X:93.81, Y:17.17, Z:-1.46 [[ 9.31103239e-01 -3.64651570e-01 8.71724370e-03 9.38090921e+01] [ 3.64637662e-01 9.31144022e-01 3.19151855e-03 1.71667004e+01] [-9.28080161e-03 2.07002105e-04 9.99956911e-01 -1.45554631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02 meters 0.0167966025677295 Centerline is valid? [True, True] Translation: X:93.86, Y:17.20, Z:-1.46 [[ 9.33795876e-01 -3.57676794e-01 9.62151301e-03 9.38621486e+01] [ 3.57659473e-01 9.33845431e-01 3.52320893e-03 1.71956995e+01] [-1.02451760e-02 1.51267303e-04 9.99947505e-01 -1.45598141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08 meters 0.015197636896791022 Centerline is valid? [True, True] Translation: X:93.91, Y:17.22, Z:-1.46 [[ 9.36987884e-01 -3.49166050e-01 1.16950834e-02 9.39133757e+01] [ 3.49139780e-01 9.37060865e-01 4.28356820e-03 1.72246132e+01] [-1.24546815e-02 6.95673357e-05 9.99922435e-01 -1.45522334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14 meters 0.017537366963014684 Centerline is valid? [True, True] Translation: X:93.97, Y:17.25, Z:-1.46 [[ 9.38860319e-01 -3.44115502e-01 1.12170941e-02 9.39663483e+01] [ 3.44090968e-01 9.38927325e-01 4.10903137e-03 1.72507132e+01] [-1.19460175e-02 1.89425560e-06 9.99928644e-01 -1.45688860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.2 meters 0.01738288093473243 Centerline is valid? [True, True] Translation: X:94.02, Y:17.28, Z:-1.46 [[ 9.41064144e-01 -3.38089762e-01 9.67415327e-03 9.40190621e+01] [ 3.38071173e-01 9.41113866e-01 3.54601716e-03 1.72778927e+01] [-1.03033519e-02 -6.64772602e-05 9.99946917e-01 -1.45856289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25999999999999 meters 0.016567595923591076 Centerline is valid? [True, True] Translation: X:94.07, Y:17.30, Z:-1.46 [[ 9.42166003e-01 -3.35054540e-01 7.85356703e-03 9.40726222e+01] [ 3.35042161e-01 9.42198731e-01 2.88125687e-03 1.73013791e+01] [-8.36499908e-03 -8.33461979e-05 9.99965009e-01 -1.46068646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32 meters 0.016799845937076736 Centerline is valid? [True, True] Translation: X:94.13, Y:17.32, Z:-1.46 [[ 9.42850377e-01 -3.33180142e-01 4.91524176e-03 9.41254745e+01] [ 3.33175269e-01 9.42863187e-01 1.80305692e-03 1.73237985e+01] [-5.23514327e-03 -6.23759012e-05 9.99986295e-01 -1.46435511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38 meters 0.016358637847651392 Centerline is valid? [True, True] Translation: X:94.18, Y:17.34, Z:-1.47 [[ 9.42607342e-01 -3.33881598e-01 3.80479838e-03 9.41806732e+01] [ 3.33878693e-01 9.42615020e-01 1.39367343e-03 1.73432858e+01] [-4.05178202e-03 -4.33457029e-05 9.99991791e-01 -1.46618765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44 meters 0.01453959894281527 Centerline is valid? [True, True] Translation: X:94.24, Y:17.36, Z:-1.47 [[ 9.42138880e-01 -3.35189141e-01 4.75091944e-03 9.42360578e+01] [ 3.35184602e-01 9.42150857e-01 1.74505578e-03 1.73613629e+01] [-5.06100656e-03 -5.16498530e-05 9.99987192e-01 -1.46618922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.5 meters 0.01813440468987297 Centerline is valid? [True, True] Translation: X:94.29, Y:17.38, Z:-1.47 [[ 9.41676614e-01 -3.36502532e-01 3.34659156e-03 9.42910912e+01] [ 3.36500298e-01 9.41682561e-01 1.22672857e-03 1.73793833e+01] [-3.56422418e-03 -2.90525495e-05 9.99993648e-01 -1.46724752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56 meters 0.014740753714280361 Centerline is valid? [True, True] Translation: X:94.35, Y:17.40, Z:-1.47 [[ 9.42428079e-01 -3.34382642e-01 4.19106948e-03 9.43468609e+01] [ 3.34379103e-01 9.42437396e-01 1.53921166e-03 1.73988474e+01] [-4.46450627e-03 -4.91902309e-05 9.99990033e-01 -1.46793663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61999999999999 meters 0.01715538592565492 Centerline is valid? [True, True] Translation: X:94.40, Y:17.42, Z:-1.47 [[ 9.42634451e-01 -3.33824340e-01 1.26555395e-03 9.44032193e+01] [ 3.33824020e-01 9.42635301e-01 4.62361452e-04 1.74162021e+01] [-1.34730334e-03 -1.33655259e-05 9.99999092e-01 -1.47031436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67999999999999 meters 0.016140225325218912 Centerline is valid? [True, True] Translation: X:94.46, Y:17.44, Z:-1.47 [[ 9.43378991e-01 -3.31711757e-01 1.84121747e-03 9.44568084e+01] [ 3.31711067e-01 9.43380787e-01 6.77019237e-04 1.74366158e+01] [-1.96154443e-03 -2.79335135e-05 9.99998076e-01 -1.47267231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74 meters 0.01730466763647219 Centerline is valid? [True, True] Translation: X:94.51, Y:17.45, Z:-1.47 [[ 9.43814235e-01 -3.30474887e-01 -1.01930441e-03 9.45142939e+01] [ 3.30474669e-01 9.43814785e-01 -3.80072709e-04 1.74516013e+01] [ 1.08763906e-03 2.18637454e-05 9.99999408e-01 -1.47258645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.8 meters 0.015969736091182754 Centerline is valid? [True, True] Translation: X:94.57, Y:17.47, Z:-1.47 [[ 9.44046153e-01 -3.29813238e-01 -2.99669667e-04 9.45701318e+01] [ 3.29813218e-01 9.44046200e-01 -1.15206939e-04 1.74691550e+01] [ 3.20898784e-04 9.92565004e-06 9.99999948e-01 -1.47279860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86 meters 0.015281187584181717 Centerline is valid? [True, True] Translation: X:94.63, Y:17.48, Z:-1.47 [[ 9.43102820e-01 -3.32495334e-01 1.98086660e-03 9.46280386e+01] [ 3.32494539e-01 9.43104900e-01 7.27919354e-04 1.74819019e+01] [-2.11019479e-03 -2.78754693e-05 9.99997773e-01 -1.47042616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92 meters 0.014272367389891589 Centerline is valid? [True, True] Translation: X:94.69, Y:17.49, Z:-1.47 [[ 9.40583243e-01 -3.39518007e-01 5.53948367e-03 9.46873797e+01] [ 3.39511853e-01 9.40599554e-01 2.04465587e-03 1.74925271e+01] [-5.90463336e-03 -4.24486841e-05 9.99982567e-01 -1.46845813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97999999999999 meters 0.013975780232448162 Centerline is valid? [True, True] Translation: X:94.75, Y:17.51, Z:-1.47 [[ 9.38272303e-01 -3.45827844e-01 6.94177861e-03 9.47454496e+01] [ 3.45818333e-01 9.38297981e-01 2.56484705e-03 1.75052639e+01] [-7.40045238e-03 -5.93064315e-06 9.99972616e-01 -1.46818443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03999999999999 meters 0.01423101595025307 Centerline is valid? [True, True] Translation: X:94.80, Y:17.51, Z:-1.47 [[ 9.35291057e-01 -3.53820981e-01 6.43049464e-03 9.48044646e+01] [ 3.53812997e-01 9.35313162e-01 2.37745596e-03 1.75149188e+01] [-6.85572007e-03 5.15792850e-05 9.99976498e-01 -1.47000887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.1 meters 0.016598091294711646 Centerline is valid? [True, True] Translation: X:94.86, Y:17.53, Z:-1.47 [[ 9.33774041e-01 -3.57841506e-01 3.93657703e-03 9.48609154e+01] [ 3.57838546e-01 9.33782338e-01 1.45628005e-03 1.75305269e+01] [-4.19702355e-03 4.88224912e-05 9.99991191e-01 -1.47336779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16 meters 0.01508567436487305 Centerline is valid? [True, True] Translation: X:94.91, Y:17.55, Z:-1.48 [[ 9.34568441e-01 -3.55768418e-01 3.26537501e-03 9.49143234e+01] [ 3.55766366e-01 9.34574145e-01 1.20868446e-03 1.75517261e+01] [-3.48174682e-03 3.21122514e-05 9.99993938e-01 -1.47586869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22 meters 0.016405913417923496 Centerline is valid? [True, True] Translation: X:94.97, Y:17.58, Z:-1.48 [[ 9.35966484e-01 -3.52075057e-01 3.14559072e-03 9.49673682e+01] [ 3.52073138e-01 9.35971770e-01 1.16260279e-03 1.75792293e+01] [-3.35350756e-03 1.93207467e-05 9.99994377e-01 -1.47773777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28 meters 0.013902631179553544 Centerline is valid? [True, True] Translation: X:95.02, Y:17.60, Z:-1.48 [[ 9.36475943e-01 -3.50710209e-01 3.89331952e-03 9.50218048e+01] [ 3.50707249e-01 9.36484035e-01 1.44100607e-03 1.76006767e+01] [-4.15140712e-03 1.59478668e-05 9.99991383e-01 -1.47795506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33999999999999 meters 0.01392579517265287 Centerline is valid? [True, True] Translation: X:95.08, Y:17.62, Z:-1.48 [[ 9.36513813e-01 -3.50599265e-01 4.69390732e-03 9.50773340e+01] [ 3.50594952e-01 9.36525576e-01 1.73909907e-03 1.76193969e+01] [-5.00569111e-03 1.69699068e-05 9.99987471e-01 -1.47878882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39999999999999 meters 0.015607710909368678 Centerline is valid? [True, True] Translation: X:95.13, Y:17.64, Z:-1.48 [[ 9.36580777e-01 -3.50419327e-01 4.76899035e-03 9.51319234e+01] [ 3.50414865e-01 9.36592918e-01 1.76846645e-03 1.76397988e+01] [-5.08630741e-03 1.48134317e-05 9.99987065e-01 -1.48023553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46 meters 0.016457016407432135 Centerline is valid? [True, True] Translation: X:95.18, Y:17.66, Z:-1.48 [[ 9.38353731e-01 -3.45636489e-01 5.26232092e-03 9.51842323e+01] [ 3.45630959e-01 9.38368487e-01 1.95527632e-03 1.76621958e+01] [-5.61381096e-03 -1.59198071e-05 9.99984242e-01 -1.48181100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52 meters 0.016737966090863626 Centerline is valid? [True, True] Translation: X:95.24, Y:17.69, Z:-1.48 [[ 9.40239952e-01 -3.40481751e-01 4.58375675e-03 9.52377259e+01] [ 3.40477489e-01 9.40251124e-01 1.70395180e-03 1.76856797e+01] [-4.89004693e-03 -4.14575667e-05 9.99988043e-01 -1.48210458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58 meters 0.017543757891367067 Centerline is valid? [True, True] Translation: X:95.29, Y:17.71, Z:-1.48 [[ 9.43453794e-01 -3.31462789e-01 5.23050787e-03 9.52904595e+01] [ 3.31457096e-01 9.43468287e-01 1.94540060e-03 1.77136566e+01] [-5.57964621e-03 -1.01706629e-04 9.99984428e-01 -1.48206849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64 meters 0.02021998438445602 Centerline is valid? [True, True] Translation: X:95.34, Y:17.74, Z:-1.48 [[ 9.45632890e-01 -3.25173164e-01 6.39152690e-03 9.53431854e+01] [ 3.25164514e-01 9.45654474e-01 2.37780201e-03 1.77416411e+01] [-6.81737341e-03 -1.70230041e-04 9.99976747e-01 -1.48375425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.7 meters 0.01810920659745455 Centerline is valid? [True, True] Translation: X:95.40, Y:17.76, Z:-1.48 [[ 9.45845510e-01 -3.24538148e-01 7.15974526e-03 9.53976658e+01] [ 3.24527284e-01 9.45872588e-01 2.66260864e-03 1.77635365e+01] [-7.63632486e-03 -1.94883742e-04 9.99970824e-01 -1.48393723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75999999999999 meters 0.019610203777931174 Centerline is valid? [True, True] Translation: X:95.45, Y:17.78, Z:-1.48 [[ 9.44748541e-01 -3.27728668e-01 6.64181030e-03 9.54547775e+01] [ 3.27719387e-01 9.44771875e-01 2.47151760e-03 1.77795038e+01] [-7.08498274e-03 -1.58312643e-04 9.99974889e-01 -1.48491469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82 meters 0.017293618872398903 Centerline is valid? [True, True] Translation: X:95.51, Y:17.80, Z:-1.49 [[ 9.44079451e-01 -3.29651328e-01 6.63264248e-03 9.55108322e+01] [ 3.29642106e-01 9.44102739e-01 2.46998807e-03 1.77983314e+01] [-7.07613078e-03 -1.45466745e-04 9.99974953e-01 -1.48565572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88 meters 0.01627855642675537 Centerline is valid? [True, True] Translation: X:95.57, Y:17.82, Z:-1.49 [[ 9.43462250e-01 -3.31444454e-01 4.85362232e-03 9.55655708e+01] [ 3.31439531e-01 9.43474729e-01 1.80904650e-03 1.78169137e+01] [-5.17886843e-03 -9.80847749e-05 9.99986585e-01 -1.48840873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94 meters 0.01712815751889132 Centerline is valid? [True, True] Translation: X:95.62, Y:17.83, Z:-1.49 [[ 9.41547662e-01 -3.36876105e-01 1.57821616e-03 9.56230303e+01] [ 3.36875596e-01 9.41548984e-01 5.85417766e-04 1.78316805e+01] [-1.68318108e-03 -1.95362178e-05 9.99998583e-01 -1.49254751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.0 meters 0.014430969854329236 Centerline is valid? [True, True] Translation: X:95.68, Y:17.85, Z:-1.49 [[ 9.39816306e-01 -3.41678260e-01 1.13002168e-03 9.56804540e+01] [ 3.41678004e-01 9.39816986e-01 4.18275766e-04 1.78470302e+01] [-1.20492931e-03 -6.99883308e-06 9.99999274e-01 -1.49119634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06 meters 0.015758191993114564 Centerline is valid? [True, True] Translation: X:95.74, Y:17.87, Z:-1.49 [[ 9.38396307e-01 -3.45551830e-01 2.51066978e-03 9.57359892e+01] [ 3.45550565e-01 9.38399666e-01 9.34977129e-04 1.78659372e+01] [-2.67909474e-03 -9.81572191e-06 9.99996411e-01 -1.49052853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11999999999999 meters 0.01444483946903698 Centerline is valid? [True, True] Translation: X:95.79, Y:17.88, Z:-1.49 [[ 9.36315827e-01 -3.51139851e-01 3.67104122e-03 9.57925121e+01] [ 3.51137178e-01 9.36323024e-01 1.37005478e-03 1.78839582e+01] [-3.91836125e-03 6.23507510e-06 9.99992323e-01 -1.48878844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17999999999999 meters 0.01675440315995798 Centerline is valid? [True, True] Translation: X:95.85, Y:17.90, Z:-1.49 [[ 9.34021935e-01 -3.57170229e-01 5.69679804e-03 9.58484909e+01] [ 3.57163883e-01 9.34039306e-01 2.12949743e-03 1.79008774e+01] [-6.08162637e-03 4.56932015e-05 9.99981506e-01 -1.48739574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24 meters 0.015983766314600543 Centerline is valid? [True, True] Translation: X:95.90, Y:17.92, Z:-1.49 [[ 9.33083657e-01 -3.59599386e-01 6.57036211e-03 9.59032679e+01] [ 3.59590984e-01 9.33106787e-01 2.45921747e-03 1.79215366e+01] [-7.01518257e-03 6.79873429e-05 9.99975391e-01 -1.48742297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.3 meters 0.017441395820654515 Centerline is valid? [True, True] Translation: X:95.96, Y:17.95, Z:-1.49 [[ 9.32881011e-01 -3.60142516e-01 5.51242074e-03 9.59571124e+01] [ 3.60136606e-01 9.32897296e-01 2.06418361e-03 1.79450407e+01] [-5.88592269e-03 5.95867975e-05 9.99982676e-01 -1.48989779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36 meters 0.014514756253423081 Centerline is valid? [True, True] Translation: X:96.01, Y:17.97, Z:-1.49 [[ 9.33803925e-01 -3.57761615e-01 4.10554394e-03 9.60104200e+01] [ 3.57758315e-01 9.33812950e-01 1.53710923e-03 1.79677028e+01] [-4.38372878e-03 3.34338453e-05 9.99990391e-01 -1.49098025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42 meters 0.014209197462353496 Centerline is valid? [True, True] Translation: X:96.06, Y:17.99, Z:-1.49 [[ 9.35110191e-01 -3.54348485e-01 2.46623299e-03 9.60632796e+01] [ 3.54347285e-01 9.35113443e-01 9.22310999e-04 1.79909550e+01] [-2.63302713e-03 1.14405522e-05 9.99996534e-01 -1.49255476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47999999999999 meters 0.013962152568196093 Centerline is valid? [True, True] Translation: X:96.12, Y:18.01, Z:-1.49 [[ 9.36370960e-01 -3.50988657e-01 4.04825849e-03 9.61174253e+01] [ 3.50985371e-01 9.36379711e-01 1.51865104e-03 1.80148206e+01] [-4.32373640e-03 -1.14122391e-06 9.99990653e-01 -1.49301147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53999999999999 meters 0.013891366978091846 Centerline is valid? [True, True] Translation: X:96.17, Y:18.04, Z:-1.49 [[ 9.37200597e-01 -3.48736242e-01 6.17047073e-03 9.61721844e+01] [ 3.48728535e-01 9.37220909e-01 2.31858431e-03 1.80365830e+01] [-6.59166857e-03 -2.11593756e-05 9.99978274e-01 -1.49101818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.6 meters 0.016362083057245687 Centerline is valid? [True, True] Translation: X:96.23, Y:18.06, Z:-1.49 [[ 9.38267236e-01 -3.45811045e-01 8.32551953e-03 9.62263767e+01] [ 3.45796867e-01 9.38304171e-01 3.13196354e-03 1.80575763e+01] [-8.89493729e-03 -5.96802093e-05 9.99960437e-01 -1.49035680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66 meters 0.019076680163885574 Centerline is valid? [True, True] Translation: X:96.28, Y:18.08, Z:-1.49 [[ 9.39515062e-01 -3.42376777e-01 9.46522735e-03 9.62805379e+01] [ 3.42358237e-01 9.39562734e-01 3.56465244e-03 1.80804580e+01] [-1.01136291e-02 -1.08546105e-04 9.99948850e-01 -1.49206855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72 meters 0.015601229588096248 Centerline is valid? [True, True] Translation: X:96.34, Y:18.10, Z:-1.49 [[ 9.40491104e-01 -3.39705769e-01 8.74488448e-03 9.63352237e+01] [ 3.39689808e-01 9.40531750e-01 3.29558799e-03 1.81031307e+01] [-9.34437176e-03 -1.28923062e-04 9.99956332e-01 -1.49225186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78 meters 0.015467789055869116 Centerline is valid? [True, True] Translation: X:96.39, Y:18.12, Z:-1.49 [[ 9.41777314e-01 -3.36174845e-01 6.47804542e-03 9.63894227e+01] [ 3.36165987e-01 9.41799585e-01 2.44347468e-03 1.81245833e+01] [-6.92245522e-03 -1.23510486e-04 9.99976032e-01 -1.49479349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83999999999999 meters 0.01598282304717655 Centerline is valid? [True, True] Translation: X:96.44, Y:18.14, Z:-1.50 [[ 9.42236491e-01 -3.34924309e-01 4.01276011e-03 9.64448065e+01] [ 3.34920907e-01 9.42245032e-01 1.51161128e-03 1.81447326e+01] [-4.28727864e-03 -8.03380462e-05 9.99990806e-01 -1.49783358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89999999999999 meters 0.017559699371650785 Centerline is valid? [True, True] Translation: X:96.50, Y:18.16, Z:-1.50 [[ 9.41506564e-01 -3.36981045e-01 3.02743694e-03 9.65013515e+01] [ 3.36979119e-01 9.41511430e-01 1.14050703e-03 1.81629438e+01] [-3.23469573e-03 -5.36118189e-05 9.99994767e-01 -1.50083584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96 meters 0.015383725542336956 Centerline is valid? [True, True] Translation: X:96.56, Y:18.18, Z:-1.50 [[ 9.39666884e-01 -3.42082548e-01 2.38264590e-03 9.65592978e+01] [ 3.42081372e-01 9.39669905e-01 8.97450259e-04 1.81773374e+01] [-2.54590271e-03 -2.82455133e-05 9.99996759e-01 -1.50099971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02 meters 0.014070888117976786 Centerline is valid? [True, True] Translation: X:96.62, Y:18.19, Z:-1.50 [[ 9.38040143e-01 -3.46514861e-01 2.85310890e-03 9.66167969e+01] [ 3.46513191e-01 9.38044482e-01 1.07616155e-03 1.81931741e+01] [-3.04924903e-03 -2.08428711e-05 9.99995351e-01 -1.50008060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08 meters 0.013616680760486985 Centerline is valid? [True, True] Translation: X:96.67, Y:18.21, Z:-1.50 [[ 9.35733160e-01 -3.52678776e-01 4.59713049e-03 9.66743485e+01] [ 3.52674496e-01 9.35744453e-01 1.73748439e-03 1.82089660e+01] [-4.91451322e-03 -4.53107951e-06 9.99987924e-01 -1.49838581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14 meters 0.013658632143137514 Centerline is valid? [True, True] Translation: X:96.73, Y:18.23, Z:-1.50 [[ 9.34150275e-01 -3.56831218e-01 5.89458498e-03 9.67297354e+01] [ 3.56824239e-01 9.34168872e-01 2.23184905e-03 1.82273103e+01] [-6.30293122e-03 1.84483942e-05 9.99980136e-01 -1.49817271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.2 meters 0.013624851953391205 Centerline is valid? [True, True] Translation: X:96.78, Y:18.25, Z:-1.50 [[ 9.33803567e-01 -3.57733354e-01 6.14373522e-03 9.67839050e+01] [ 3.57725800e-01 9.33823777e-01 2.32504303e-03 1.82483799e+01] [-6.56891147e-03 2.66391176e-05 9.99978424e-01 -1.49792962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25999999999999 meters 0.013784843282847027 Centerline is valid? [True, True] Translation: X:96.84, Y:18.27, Z:-1.50 [[ 9.33572451e-01 -3.58333979e-01 6.26404482e-03 9.68367056e+01] [ 3.58326114e-01 9.33593466e-01 2.37420234e-03 1.82695950e+01] [-6.69882868e-03 2.80809384e-05 9.99977562e-01 -1.49972909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32 meters 0.013645862314899388 Centerline is valid? [True, True] Translation: X:96.89, Y:18.29, Z:-1.50 [[ 9.33751177e-01 -3.57882924e-01 5.34346146e-03 9.68894202e+01] [ 3.57877200e-01 9.33766466e-01 2.02419539e-03 1.82931049e+01] [-5.71397008e-03 2.22082018e-05 9.99983675e-01 -1.50107914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38 meters 0.013528498393846221 Centerline is valid? [True, True] Translation: X:96.94, Y:18.32, Z:-1.50 [[ 9.33960670e-01 -3.57351459e-01 4.17145597e-03 9.69438132e+01] [ 3.57347962e-01 9.33969986e-01 1.58094110e-03 1.83158976e+01] [-4.46096628e-03 1.41244824e-05 9.99990050e-01 -1.50299631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44 meters 0.013666392071798737 Centerline is valid? [True, True] Translation: X:97.00, Y:18.34, Z:-1.51 [[ 9.33940413e-01 -3.57415969e-01 3.02152686e-03 9.69974575e+01] [ 3.57414131e-01 9.33945301e-01 1.14636253e-03 1.83380995e+01] [-3.23166909e-03 9.30210129e-06 9.99994778e-01 -1.50509380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.5 meters 0.013593445809006219 Centerline is valid? [True, True] Translation: X:97.05, Y:18.36, Z:-1.50 [[ 9.33397647e-01 -3.58823842e-01 3.77929610e-03 9.70518148e+01] [ 3.58820981e-01 9.33405298e-01 1.43302922e-03 1.83595682e+01] [-4.04182005e-03 1.85046319e-05 9.99991832e-01 -1.50428837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56 meters 0.013824887286824582 Centerline is valid? [True, True] Translation: X:97.11, Y:18.38, Z:-1.50 [[ 9.31720493e-01 -3.63133350e-01 5.57611334e-03 9.71062762e+01] [ 3.63127163e-01 9.31737177e-01 2.12039554e-03 1.83781493e+01] [-5.96545844e-03 4.92222418e-05 9.99982205e-01 -1.50293451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61999999999999 meters 0.014599791585836075 Centerline is valid? [True, True] Translation: X:97.16, Y:18.40, Z:-1.50 [[ 9.29137839e-01 -3.69660600e-01 7.34281869e-03 9.71622784e+01] [ 3.69650074e-01 9.29166845e-01 2.79216958e-03 1.83973988e+01] [-7.85485876e-03 1.19963065e-04 9.99969143e-01 -1.50256805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67999999999999 meters 0.01767393934935091 Centerline is valid? [True, True] Translation: X:97.22, Y:18.42, Z:-1.51 [[ 9.27276112e-01 -3.74305354e-01 7.38341904e-03 9.72185469e+01] [ 3.74294831e-01 9.27305493e-01 2.81107850e-03 1.84163711e+01] [-7.89888676e-03 1.56929643e-04 9.99968791e-01 -1.50519210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74 meters 0.018441133127248596 Centerline is valid? [True, True] Translation: X:97.27, Y:18.44, Z:-1.51 [[ 9.25875174e-01 -3.77746038e-01 7.94310548e-03 9.72731632e+01] [ 3.77733979e-01 9.25909224e-01 3.02484796e-03 1.84372976e+01] [-8.49721897e-03 1.99749213e-04 9.99963878e-01 -1.50515571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.8 meters 0.01945062451499031 Centerline is valid? [True, True] Translation: X:97.33, Y:18.46, Z:-1.51 [[ 9.25593812e-01 -3.78453277e-01 7.01519004e-03 9.73278884e+01] [ 3.78443897e-01 9.25620378e-01 2.67076015e-03 1.84594067e+01] [-7.50416079e-03 1.82816785e-04 9.99971827e-01 -1.50734682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86 meters 0.015544373803209655 Centerline is valid? [True, True] Translation: X:97.38, Y:18.49, Z:-1.51 [[ 9.27347589e-01 -3.74171870e-01 4.67553629e-03 9.73809661e+01] [ 3.74167639e-01 9.27359371e-01 1.78191275e-03 1.84859719e+01] [-5.00264402e-03 9.69818839e-05 9.99987482e-01 -1.50760430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92 meters 0.015951870256749864 Centerline is valid? [True, True] Translation: X:97.44, Y:18.51, Z:-1.51 [[ 9.28300434e-01 -3.71814108e-01 3.54600605e-03 9.74351145e+01] [ 3.71811665e-01 9.28307204e-01 1.34950705e-03 1.85104907e+01] [-3.79354872e-03 6.56984355e-05 9.99992802e-01 -1.50982403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97999999999999 meters 0.014134609967011933 Centerline is valid? [True, True] Translation: X:97.49, Y:18.54, Z:-1.51 [[ 9.30107363e-01 -3.67277722e-01 2.71439809e-03 9.74881534e+01] [ 3.67276272e-01 9.30111323e-01 1.03261947e-03 1.85361347e+01] [-2.90395052e-03 3.64870394e-05 9.99995783e-01 -1.50998738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03999999999999 meters 0.014817619243451428 Centerline is valid? [True, True] Translation: X:97.54, Y:18.56, Z:-1.51 [[ 9.31653362e-01 -3.63332609e-01 3.38066511e-03 9.75411477e+01] [ 3.63330322e-01 9.31659495e-01 1.28952448e-03 1.85598120e+01] [-3.61815504e-03 2.69083273e-05 9.99993454e-01 -1.51068431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.1 meters 0.014526729355194825 Centerline is valid? [True, True] Translation: X:97.59, Y:18.58, Z:-1.51 [[ 9.33196658e-01 -3.59339058e-01 4.40885988e-03 9.75947655e+01] [ 3.59335123e-01 9.33207073e-01 1.68175251e-03 1.85841733e+01] [-4.71869859e-03 1.48523867e-05 9.99988867e-01 -1.51075178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16 meters 0.013449908976689668 Centerline is valid? [True, True] Translation: X:97.65, Y:18.61, Z:-1.51 [[ 9.35926724e-01 -3.52153822e-01 5.37148815e-03 9.76464739e+01] [ 3.52147852e-01 9.35942137e-01 2.05084966e-03 1.86109450e+01] [-5.74961665e-03 -2.78869877e-05 9.99983470e-01 -1.50940469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22 meters 0.014242999080422482 Centerline is valid? [True, True] Translation: X:97.70, Y:18.64, Z:-1.51 [[ 9.37759374e-01 -3.47255394e-01 4.58782723e-03 9.76989744e+01] [ 3.47250965e-01 9.37770595e-01 1.75463453e-03 1.86358593e+01] [-4.91163578e-03 -5.22975453e-05 9.99987936e-01 -1.51125532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28 meters 0.0166570594367314 Centerline is valid? [True, True] Translation: X:97.75, Y:18.66, Z:-1.51 [[ 9.39762551e-01 -3.41810068e-01 3.49629000e-03 9.77530510e+01] [ 3.41807463e-01 9.39769053e-01 1.33602692e-03 1.86610870e+01] [-3.74237260e-03 -6.04900518e-05 9.99992995e-01 -1.51404150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33999999999999 meters 0.01666423532002464 Centerline is valid? [True, True] Translation: X:97.81, Y:18.68, Z:-1.51 [[ 9.40877540e-01 -3.38726838e-01 3.68562156e-03 9.78067945e+01] [ 3.38723918e-01 9.40884756e-01 1.40851558e-03 1.86846656e+01] [-3.94484717e-03 -7.68324960e-05 9.99992216e-01 -1.51459399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39999999999999 meters 0.018031403032257552 Centerline is valid? [True, True] Translation: X:97.86, Y:18.71, Z:-1.52 [[ 9.41717105e-01 -3.36385723e-01 3.67959516e-03 9.78607393e+01] [ 3.36382790e-01 9.41724290e-01 1.40730190e-03 1.87075058e+01] [-3.93856040e-03 -8.75277825e-05 9.99992240e-01 -1.51652489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46 meters 0.017663258553577994 Centerline is valid? [True, True] Translation: X:97.92, Y:18.73, Z:-1.52 [[ 9.42241153e-01 -3.34912421e-01 3.90886555e-03 9.79161820e+01] [ 3.34909094e-01 9.42249256e-01 1.49636711e-03 1.87284116e+01] [-4.18427759e-03 -1.00824055e-04 9.99991241e-01 -1.51609261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52 meters 0.018291392563799563 Centerline is valid? [True, True] Translation: X:97.97, Y:18.75, Z:-1.52 [[ 9.42288409e-01 -3.34773048e-01 4.42269322e-03 9.79718829e+01] [ 3.34768780e-01 9.42298781e-01 1.69435271e-03 1.87460284e+01] [-4.73472205e-03 -1.15989307e-04 9.99988784e-01 -1.51656191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58 meters 0.020022500402549447 Centerline is valid? [True, True] Translation: X:98.03, Y:18.77, Z:-1.52 [[ 9.42330608e-01 -3.34658777e-01 4.06555428e-03 9.80260633e+01] [ 3.34655156e-01 9.42339371e-01 1.56080331e-03 1.87658109e+01] [-4.35346839e-03 -1.10234026e-04 9.99990518e-01 -1.51968459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64 meters 0.01923922486528098 Centerline is valid? [True, True] Translation: X:98.08, Y:18.78, Z:-1.52 [[ 9.42158374e-01 -3.35127859e-01 5.18813139e-03 9.80824635e+01] [ 3.35121972e-01 9.42172648e-01 1.99101428e-03 1.87838419e+01] [-5.55535984e-03 -1.37193955e-04 9.99984559e-01 -1.51905340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.7 meters 0.018863610903223423 Centerline is valid? [True, True] Translation: X:98.14, Y:18.80, Z:-1.52 [[ 9.41130095e-01 -3.37988456e-01 6.16015995e-03 9.81399197e+01] [ 3.37980194e-01 9.41150244e-01 2.36776997e-03 1.87998268e+01] [-6.59791496e-03 -1.46367525e-04 9.99978223e-01 -1.51881597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75999999999999 meters 0.01941676862988921 Centerline is valid? [True, True] Translation: X:98.20, Y:18.82, Z:-1.52 [[ 9.40020998e-01 -3.41067760e-01 5.77119263e-03 9.81965299e+01] [ 3.41060569e-01 9.40038707e-01 2.21780359e-03 1.88173978e+01] [-6.18156576e-03 -1.16455707e-04 9.99980887e-01 -1.52088818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82 meters 0.015041819451772912 Centerline is valid? [True, True] Translation: X:98.25, Y:18.83, Z:-1.52 [[ 9.38252425e-01 -3.45899432e-01 5.99751550e-03 9.82523663e+01] [ 3.45891743e-01 9.38271589e-01 2.30814767e-03 1.88328707e+01] [-6.42568536e-03 -9.11340585e-05 9.99979351e-01 -1.51981115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88 meters 0.01396514308435728 Centerline is valid? [True, True] Translation: X:98.31, Y:18.85, Z:-1.52 [[ 9.35487998e-01 -3.53298605e-01 6.50401630e-03 9.83113165e+01] [ 3.53289743e-01 9.35510606e-01 2.50267960e-03 1.88452792e+01] [-6.96876944e-03 -4.34244834e-05 9.99975717e-01 -1.51998084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94 meters 0.013543998854729263 Centerline is valid? [True, True] Translation: X:98.37, Y:18.86, Z:-1.52 [[ 9.33170244e-01 -3.59381866e-01 6.16195315e-03 9.83694288e+01] [ 3.59374036e-01 9.33190589e-01 2.37229593e-03 1.88594256e+01] [-6.60283683e-03 6.89998565e-07 9.99978201e-01 -1.52069108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.0 meters 0.013925063572756054 Centerline is valid? [True, True] Translation: X:98.43, Y:18.87, Z:-1.52 [[ 9.30314540e-01 -3.66715630e-01 5.87400832e-03 9.84274023e+01] [ 3.66708652e-01 9.30333082e-01 2.26277305e-03 1.88725785e+01] [-6.29457851e-03 4.89590062e-05 9.99980188e-01 -1.52150589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06 meters 0.01436486511485796 Centerline is valid? [True, True] Translation: X:98.48, Y:18.89, Z:-1.52 [[ 9.29993619e-01 -3.67522251e-01 6.26608436e-03 9.84808742e+01] [ 3.67514317e-01 9.30014727e-01 2.41553199e-03 1.88941374e+01] [-6.71531249e-03 5.64463794e-05 9.99977450e-01 -1.52280070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11999999999999 meters 0.01383126003971895 Centerline is valid? [True, True] Translation: X:98.54, Y:18.92, Z:-1.52 [[ 9.30102495e-01 -3.67247500e-01 6.21474686e-03 9.85350149e+01] [ 3.67239676e-01 9.30123256e-01 2.39770609e-03 1.89159501e+01] [-6.66103216e-03 5.21892066e-05 9.99977814e-01 -1.52261241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17999999999999 meters 0.01526038158909973 Centerline is valid? [True, True] Translation: X:98.59, Y:18.94, Z:-1.52 [[ 9.30257308e-01 -3.66855594e-01 6.18987954e-03 9.85884611e+01] [ 3.66847810e-01 9.30277900e-01 2.39018475e-03 1.89391535e+01] [-6.63516079e-03 4.72569285e-05 9.99977986e-01 -1.52423114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24 meters 0.01433055710242001 Centerline is valid? [True, True] Translation: X:98.64, Y:18.96, Z:-1.52 [[ 9.30375938e-01 -3.66556356e-01 6.08702472e-03 9.86414103e+01] [ 3.66548800e-01 9.30395849e-01 2.35387091e-03 1.89607067e+01] [-6.52616888e-03 4.12067549e-05 9.99978703e-01 -1.52429849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.3 meters 0.014638999358863473 Centerline is valid? [True, True] Translation: X:98.69, Y:18.98, Z:-1.53 [[ 9.30046847e-01 -3.67379192e-01 6.73738367e-03 9.86949252e+01] [ 3.67369958e-01 9.30071248e-01 2.60520424e-03 1.89838939e+01] [-7.22334467e-03 5.21503650e-05 9.99973910e-01 -1.52571159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36 meters 0.015367226223373616 Centerline is valid? [True, True] Translation: X:98.75, Y:19.01, Z:-1.52 [[ 9.29868691e-01 -3.67810290e-01 7.73350023e-03 9.87481940e+01] [ 3.67798114e-01 9.29900848e-01 2.99350932e-03 1.90062553e+01] [-8.29243196e-03 6.07961984e-05 9.99965615e-01 -1.52497299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42 meters 0.015198168226877648 Centerline is valid? [True, True] Translation: X:98.80, Y:19.03, Z:-1.53 [[ 9.30074366e-01 -3.67286473e-01 7.89425573e-03 9.88016930e+01] [ 3.67273744e-01 9.30107867e-01 3.05835858e-03 1.90299485e+01] [-8.46580309e-03 5.48519361e-05 9.99964163e-01 -1.52521745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.47999999999999 meters 0.01587775404080376 Centerline is valid? [True, True] Translation: X:98.85, Y:19.05, Z:-1.53 [[ 9.30638902e-01 -3.65878720e-01 6.63293381e-03 9.88539767e+01] [ 3.65869677e-01 9.30662539e-01 2.57255605e-03 1.90536437e+01] [-7.11426654e-03 3.26686085e-05 9.99974693e-01 -1.52768896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53999999999999 meters 0.013418938902739623 Centerline is valid? [True, True] Translation: X:98.91, Y:19.08, Z:-1.53 [[ 9.31286870e-01 -3.64236244e-01 6.06002696e-03 9.89075504e+01] [ 3.64228666e-01 9.31306587e-01 2.34956238e-03 1.90776165e+01] [-6.49953880e-03 1.91189404e-05 9.99978878e-01 -1.52676899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.6 meters 0.0160130034287481 Centerline is valid? [True, True] Translation: X:98.96, Y:19.10, Z:-1.53 [[ 9.31282434e-01 -3.64272747e-01 4.28885486e-03 9.89620086e+01] [ 3.64268950e-01 9.31292309e-01 1.66330535e-03 1.91008406e+01] [-4.60007436e-03 1.32896009e-05 9.99989420e-01 -1.53103643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66 meters 0.013526820717779059 Centerline is valid? [True, True] Translation: X:99.02, Y:19.12, Z:-1.53 [[ 9.32125915e-01 -3.62105904e-01 4.53785318e-03 9.90151359e+01] [ 3.62101613e-01 9.32136961e-01 1.76280069e-03 1.91230355e+01] [-4.86822121e-03 1.17491517e-08 9.99988150e-01 -1.52918407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72 meters 0.015964546654540418 Centerline is valid? [True, True] Translation: X:99.07, Y:19.15, Z:-1.53 [[ 9.32745762e-01 -3.60513967e-01 3.87606663e-03 9.90690353e+01] [ 3.60510828e-01 9.32753815e-01 1.50445870e-03 1.91459799e+01] [-4.15779431e-03 -5.91349096e-06 9.99991356e-01 -1.53117722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78 meters 0.01646459634094966 Centerline is valid? [True, True] Translation: X:99.12, Y:19.17, Z:-1.53 [[ 9.34559838e-01 -3.55796695e-01 2.57301113e-03 9.91225157e+01] [ 3.55795296e-01 9.34563380e-01 9.98079175e-04 1.91717137e+01] [-2.75975525e-03 -1.72994554e-05 9.99996192e-01 -1.53269634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83999999999999 meters 0.016669391259027326 Centerline is valid? [True, True] Translation: X:99.18, Y:19.20, Z:-1.53 [[ 9.35651478e-01 -3.52918413e-01 2.21495547e-03 9.91763443e+01] [ 3.52917367e-01 9.35654099e-01 8.59285981e-04 1.91959387e+01] [-2.37569001e-03 -2.22959433e-05 9.99997178e-01 -1.53394988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89999999999999 meters 0.017839667449597724 Centerline is valid? [True, True] Translation: X:99.23, Y:19.22, Z:-1.53 [[ 9.36511500e-01 -3.50633189e-01 1.60547269e-03 9.92310080e+01] [ 3.50632637e-01 9.36512876e-01 6.22193690e-04 1.92188502e+01] [-1.72170761e-03 -1.97604207e-05 9.99998518e-01 -1.53431353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96 meters 0.014780307638398143 Centerline is valid? [True, True] Translation: X:99.29, Y:19.24, Z:-1.53 [[ 9.36952604e-01 -3.49446298e-01 2.66521080e-03 9.92855305e+01] [ 3.49444765e-01 9.36956394e-01 1.03577214e-03 1.92399250e+01] [-2.85913303e-03 -3.91254403e-05 9.99995912e-01 -1.53178226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02 meters 0.015936427068841182 Centerline is valid? [True, True] Translation: X:99.34, Y:19.26, Z:-1.54 [[ 9.37040378e-01 -3.49219291e-01 1.10318963e-03 9.93395075e+01] [ 3.49219027e-01 9.37041027e-01 4.29342775e-04 1.92612744e+01] [-1.18366872e-03 -1.70567081e-05 9.99999299e-01 -1.53574086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08 meters 0.014910069550163477 Centerline is valid? [True, True] Translation: X:99.40, Y:19.28, Z:-1.54 [[ 9.36506519e-01 -3.50649343e-01 7.59658480e-04 9.93957044e+01] [ 3.50649221e-01 9.36506828e-01 2.92795602e-04 1.92797522e+01] [-8.14093939e-04 -7.83133583e-06 9.99999669e-01 -1.53609885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14 meters 0.016343854430569228 Centerline is valid? [True, True] Translation: X:99.45, Y:19.30, Z:-1.54 [[ 9.35275354e-01 -3.53920362e-01 6.24428165e-04 9.94522550e+01] [ 3.53920281e-01 9.35275562e-01 2.40166451e-04 1.92972012e+01] [-6.69012200e-04 -3.62397084e-06 9.99999776e-01 -1.53701670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.2 meters 0.018704585238715085 Centerline is valid? [True, True] Translation: X:99.51, Y:19.31, Z:-1.54 [[ 9.34099844e-01 -3.57010407e-01 1.02478180e-03 9.95088734e+01] [ 3.57010186e-01 9.34100407e-01 3.97030363e-04 1.93137276e+01] [-1.09899307e-03 -5.00845898e-06 9.99999396e-01 -1.53738768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25999999999999 meters 0.014189613327003614 Centerline is valid? [True, True] Translation: X:99.56, Y:19.33, Z:-1.54 [[ 9.34133299e-01 -3.56903170e-01 3.88673456e-03 9.95627151e+01] [ 3.56899935e-01 9.34141384e-01 1.52007700e-03 1.93339335e+01] [-4.17327991e-03 -3.27792356e-05 9.99991291e-01 -1.53545507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32 meters 0.014130082326744101 Centerline is valid? [True, True] Translation: X:99.62, Y:19.35, Z:-1.54 [[ 9.34083478e-01 -3.57024048e-01 4.67811679e-03 9.96181143e+01] [ 3.57019369e-01 9.34095192e-01 1.82823332e-03 1.93521318e+01] [-5.02252966e-03 -3.75442310e-05 9.99987386e-01 -1.53545289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38 meters 0.01485516813949176 Centerline is valid? [True, True] Translation: X:99.67, Y:19.37, Z:-1.54 [[ 9.34398938e-01 -3.56199031e-01 4.56891002e-03 9.96721012e+01] [ 3.56194541e-01 9.34410107e-01 1.78908782e-03 1.93719913e+01] [-4.90650705e-03 -4.43009523e-05 9.99987962e-01 -1.53583427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44 meters 0.016969841262497398 Centerline is valid? [True, True] Translation: X:99.73, Y:19.39, Z:-1.54 [[ 9.35455974e-01 -3.53421920e-01 3.88155029e-03 9.97268494e+01] [ 3.53418663e-01 9.35464026e-01 1.51820965e-03 1.93943952e+01] [-4.16761923e-03 -4.84059787e-05 9.99991314e-01 -1.53785869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.5 meters 0.0162160534573247 Centerline is valid? [True, True] Translation: X:99.78, Y:19.42, Z:-1.54 [[ 9.35924813e-01 -3.52185488e-01 3.18221517e-03 9.97800132e+01] [ 3.52183285e-01 9.35930222e-01 1.24634176e-03 1.94177218e+01] [-3.41727483e-03 -4.57591822e-05 9.99994160e-01 -1.54047001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56 meters 0.014885860579871145 Centerline is valid? [True, True] Translation: X:99.83, Y:19.44, Z:-1.54 [[ 9.35526314e-01 -3.53245599e-01 2.83957986e-03 9.98343938e+01] [ 3.53243856e-01 9.35530622e-01 1.11040558e-03 1.94380640e+01] [-3.04875980e-03 -3.57495021e-05 9.99995352e-01 -1.54138851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61999999999999 meters 0.015945388981463023 Centerline is valid? [True, True] Translation: X:99.89, Y:19.46, Z:-1.54 [[ 9.34331702e-01 -3.56398120e-01 2.15657161e-03 9.98895972e+01] [ 3.56397117e-01 9.34334191e-01 8.45591243e-04 1.94558232e+01] [-2.31632572e-03 -2.14667999e-05 9.99997317e-01 -1.54267475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67999999999999 meters 0.016121870550040898 Centerline is valid? [True, True] Translation: X:99.95, Y:19.47, Z:-1.54 [[ 9.33390580e-01 -3.58850657e-01 2.86906584e-03 9.99456577e+01] [ 3.58848898e-01 9.33394989e-01 1.12363859e-03 1.94743051e+01] [-3.08119013e-03 -1.92325560e-05 9.99995253e-01 -1.54167402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74 meters 0.015015866723532308 Centerline is valid? [True, True] Translation: X:100.00, Y:19.49, Z:-1.54 [[ 9.31605175e-01 -3.63429641e-01 5.54019798e-03 1.00001379e+02] [ 3.63423123e-01 9.31621649e-01 2.17663838e-03 1.94912899e+01] [-5.95242327e-03 -1.43315259e-05 9.99982284e-01 -1.54136303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.8 meters 0.01349245593083017 Centerline is valid? [True, True] Translation: X:100.06, Y:19.51, Z:-1.54 [[ 9.30647511e-01 -3.65846301e-01 7.18980013e-03 1.00057203e+02] [ 3.65835397e-01 9.30675284e-01 2.82465619e-03 1.95113173e+01] [-7.72475929e-03 1.52412570e-06 9.99970164e-01 -1.53986034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86 meters 0.01463980003173389 Centerline is valid? [True, True] Translation: X:100.11, Y:19.53, Z:-1.54 [[ 9.29143535e-01 -3.69669879e-01 6.03922678e-03 1.00112621e+02] [ 3.69662259e-01 9.29163161e-01 2.37361357e-03 1.95319409e+01] [-6.48888049e-03 2.70465089e-05 9.99978947e-01 -1.54070396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92 meters 0.016686770283028035 Centerline is valid? [True, True] Translation: X:100.17, Y:19.55, Z:-1.54 [[ 9.27587974e-01 -3.73576232e-01 4.62049879e-03 1.00167795e+02] [ 3.73571818e-01 9.27599481e-01 1.81637047e-03 1.95526799e+01] [-4.96452512e-03 4.12447311e-05 9.99987676e-01 -1.54355149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97999999999999 meters 0.01481370799285209 Centerline is valid? [True, True] Translation: X:100.22, Y:19.57, Z:-1.55 [[ 9.24931271e-01 -3.80108658e-01 4.42170045e-03 1.00223548e+02] [ 3.80104685e-01 9.24941838e-01 1.73931648e-03 1.95724217e+01] [-4.75094499e-03 7.19608578e-05 9.99988712e-01 -1.54553842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03999999999999 meters 0.015785780018138768 Centerline is valid? [True, True] Translation: X:100.28, Y:19.59, Z:-1.55 [[ 9.23716719e-01 -3.83058905e-01 3.64671256e-03 1.00277872e+02] [ 3.83056219e-01 9.23723915e-01 1.43623383e-03 1.95920103e+01] [-3.91871776e-03 7.02227257e-05 9.99992319e-01 -1.54769005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.1 meters 0.01799792306265659 Centerline is valid? [True, True] Translation: X:100.33, Y:19.61, Z:-1.55 [[ 9.20146968e-01 -3.91564774e-01 2.56591294e-03 1.00334827e+02] [ 3.91563480e-01 9.20150543e-01 1.00979931e-03 1.96109299e+01] [-2.75642803e-03 7.55540235e-05 9.99996198e-01 -1.54876912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16 meters 0.018657203224655024 Centerline is valid? [True, True] Translation: X:100.39, Y:19.63, Z:-1.55 [[ 9.17889153e-01 -3.96817959e-01 3.87440842e-03 1.00389395e+02] [ 3.96815038e-01 9.17897320e-01 1.52832484e-03 1.96337503e+01] [-4.16277584e-03 1.34590732e-04 9.99991327e-01 -1.54684385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22 meters 0.020592389608419276 Centerline is valid? [True, True] Translation: X:100.44, Y:19.66, Z:-1.55 [[ 9.17294248e-01 -3.98185471e-01 4.42639247e-03 1.00442589e+02] [ 3.98181684e-01 9.17304914e-01 1.74427874e-03 1.96584689e+01] [-4.75489802e-03 1.62491551e-04 9.99988682e-01 -1.54838172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28 meters 0.02197648127273168 Centerline is valid? [True, True] Translation: X:100.49, Y:19.68, Z:-1.55 [[ 9.18494818e-01 -3.95397038e-01 5.33391221e-03 1.00494432e+02] [ 3.95391469e-01 9.18510289e-01 2.10590774e-03 1.96841014e+01] [-5.73192293e-03 1.74718037e-04 9.99983557e-01 -1.55146676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33999999999999 meters 0.017463169985278408 Centerline is valid? [True, True] Translation: X:100.55, Y:19.72, Z:-1.55 [[ 9.21412361e-01 -3.88536426e-01 6.22139044e-03 1.00545067e+02] [ 3.88528686e-01 9.21433352e-01 2.45727979e-03 1.97185927e+01] [-6.68733935e-03 1.53020673e-04 9.99977628e-01 -1.55012495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39999999999999 meters 0.015385535028886524 Centerline is valid? [True, True] Translation: X:100.60, Y:19.75, Z:-1.55 [[ 9.23762234e-01 -3.82889494e-01 7.67925543e-03 1.00597022e+02] [ 3.82877497e-01 9.23794142e-01 3.03415762e-03 1.97462975e+01] [-8.25579826e-03 1.37373877e-04 9.99965911e-01 -1.55032581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46 meters 0.013720151123774236 Centerline is valid? [True, True] Translation: X:100.65, Y:19.78, Z:-1.55 [[ 9.27341329e-01 -3.74138243e-01 7.65735907e-03 1.00647483e+02] [ 3.74126011e-01 9.27372941e-01 3.02597282e-03 1.97780004e+01] [-8.23335975e-03 5.87075437e-05 9.99966104e-01 -1.55155126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52 meters 0.013323069907534265 Centerline is valid? [True, True] Translation: X:100.70, Y:19.81, Z:-1.55 [[ 9.29499675e-01 -3.68754060e-01 7.12730055e-03 1.00699453e+02] [ 3.68743311e-01 9.29527000e-01 2.81557472e-03 1.98061243e+01] [-7.66327291e-03 1.10686095e-05 9.99970637e-01 -1.55351477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58 meters 0.013528084686392489 Centerline is valid? [True, True] Translation: X:100.75, Y:19.84, Z:-1.56 [[ 9.32785923e-01 -3.60359940e-01 7.15095961e-03 1.00750666e+02] [ 3.60348856e-01 9.32813331e-01 2.82698231e-03 1.98371074e+01] [-7.68924163e-03 -6.01291937e-05 9.99970436e-01 -1.55562983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64 meters 0.017451910041308274 Centerline is valid? [True, True] Translation: X:100.80, Y:19.86, Z:-1.56 [[ 9.34300314e-01 -3.56406107e-01 7.59017941e-03 1.00802397e+02] [ 3.56393459e-01 9.34331138e-01 3.00430391e-03 1.98635571e+01] [-8.16249323e-03 -1.01831788e-04 9.99966681e-01 -1.55764586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.7 meters 0.014357392970472942 Centerline is valid? [True, True] Translation: X:100.86, Y:19.89, Z:-1.56 [[ 9.34708768e-01 -3.55313583e-01 8.47210430e-03 1.00857445e+02] [ 3.55297779e-01 9.34747154e-01 3.35340894e-03 1.98854049e+01] [-9.11078713e-03 -1.24340896e-04 9.99958488e-01 -1.55623389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75999999999999 meters 0.014219201085602096 Centerline is valid? [True, True] Translation: X:100.91, Y:19.91, Z:-1.56 [[ 9.34587616e-01 -3.55633292e-01 8.42311798e-03 1.00912111e+02] [ 3.55617665e-01 9.34625565e-01 3.33615376e-03 1.99056027e+01] [-9.05890874e-03 -1.22518438e-04 9.99958960e-01 -1.55703314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82 meters 0.014347169350201609 Centerline is valid? [True, True] Translation: X:100.97, Y:19.93, Z:-1.56 [[ 9.34715926e-01 -3.55312326e-01 7.69988737e-03 1.00967222e+02] [ 3.55299237e-01 9.34747633e-01 3.05208513e-03 1.99263683e+01] [-8.28189496e-03 -1.17068474e-04 9.99965698e-01 -1.55818477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88 meters 0.014455909110314944 Centerline is valid? [True, True] Translation: X:101.02, Y:19.95, Z:-1.56 [[ 9.34753407e-01 -3.55230918e-01 6.86019042e-03 1.01022537e+02] [ 3.55220514e-01 9.34778575e-01 2.72081930e-03 1.99458305e+01] [-7.37927816e-03 -1.06414743e-04 9.99972767e-01 -1.55933303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94 meters 0.014092396774074225 Centerline is valid? [True, True] Translation: X:101.08, Y:19.96, Z:-1.56 [[ 9.34087417e-01 -3.56984142e-01 6.55902587e-03 1.01079053e+02] [ 3.56974661e-01 9.34110440e-01 2.60324486e-03 1.99644058e+01] [-7.05617168e-03 -9.02522243e-05 9.99975101e-01 -1.56074422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.0 meters 0.013390609972916663 Centerline is valid? [True, True] Translation: X:101.14, Y:19.98, Z:-1.56 [[ 9.31791960e-01 -3.62935051e-01 6.47234929e-03 1.01137172e+02] [ 3.62925951e-01 9.31814438e-01 2.57052940e-03 1.99789389e+01] [-6.96396373e-03 -4.62151100e-05 9.99975750e-01 -1.56189136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06 meters 0.013251166975409037 Centerline is valid? [True, True] Translation: X:101.20, Y:19.99, Z:-1.56 [[ 9.27885573e-01 -3.72792061e-01 7.37849750e-03 1.01196840e+02] [ 3.72780526e-01 9.27914909e-01 2.93282802e-03 1.99891074e+01] [-7.93995284e-03 2.92313666e-05 9.99968478e-01 -1.56125996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11999999999999 meters 0.013988751593198031 Centerline is valid? [True, True] Translation: X:101.25, Y:20.00, Z:-1.56 [[ 9.25196464e-01 -3.79399649e-01 8.21028069e-03 1.01254103e+02] [ 3.79385591e-01 9.25232888e-01 3.26733704e-03 2.00031708e+01] [-8.83604825e-03 9.19335138e-05 9.99960957e-01 -1.56075573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17999999999999 meters 0.015289689382398372 Centerline is valid? [True, True] Translation: X:101.31, Y:20.02, Z:-1.56 [[ 9.21747616e-01 -3.87690027e-01 8.81903030e-03 1.01312541e+02] [ 3.87674173e-01 9.21789786e-01 3.51081394e-03 2.00165504e+01] [-9.49039961e-03 1.82825899e-04 9.99954948e-01 -1.56135074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24 meters 0.015742886153362508 Centerline is valid? [True, True] Translation: X:101.37, Y:20.04, Z:-1.56 [[ 9.20323552e-01 -3.91049784e-01 9.19922300e-03 1.01368460e+02] [ 3.91032706e-01 9.20369499e-01 3.66166597e-03 2.00356132e+01] [-9.89857795e-03 2.27279628e-04 9.99950982e-01 -1.56197647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.3 meters 0.016381024131385553 Centerline is valid? [True, True] Translation: X:101.42, Y:20.06, Z:-1.56 [[ 9.20692943e-01 -3.90162270e-01 9.89483461e-03 1.01422792e+02] [ 3.90142420e-01 9.20746083e-01 3.94233804e-03 2.00559054e+01] [-1.06487818e-02 2.30711909e-04 9.99943274e-01 -1.56175772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36 meters 0.015252050116999157 Centerline is valid? [True, True] Translation: X:101.48, Y:20.08, Z:-1.56 [[ 9.21999729e-01 -3.87116048e-01 7.59373939e-03 1.01475803e+02] [ 3.87104255e-01 9.22030988e-01 3.02546810e-03 2.00831513e+01] [-8.17287029e-03 1.50088055e-04 9.99966590e-01 -1.56444660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42 meters 0.01641744867016789 Centerline is valid? [True, True] Translation: X:101.53, Y:20.11, Z:-1.57 [[ 9.23074931e-01 -3.84578873e-01 5.63582442e-03 1.01528618e+02] [ 3.84572328e-01 9.23092130e-01 2.24576222e-03 2.01086454e+01] [-6.06605787e-03 9.43753086e-05 9.99981597e-01 -1.56784950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47999999999999 meters 0.014038240794779432 Centerline is valid? [True, True] Translation: X:101.58, Y:20.14, Z:-1.57 [[ 9.24476175e-01 -3.81198969e-01 5.58096789e-03 1.01582113e+02] [ 3.81192473e-01 9.24493018e-01 2.22660521e-03 2.01350390e+01] [-6.00834546e-03 6.89794860e-05 9.99981947e-01 -1.56685377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53999999999999 meters 0.01564040222457886 Centerline is valid? [True, True] Translation: X:101.64, Y:20.16, Z:-1.57 [[ 9.24481832e-01 -3.81185261e-01 5.58025518e-03 1.01635278e+02] [ 3.81178760e-01 9.24498671e-01 2.22724867e-03 2.01554041e+01] [-6.00793287e-03 6.80238213e-05 9.99981950e-01 -1.56779526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.6 meters 0.016166910772107645 Centerline is valid? [True, True] Translation: X:101.69, Y:20.18, Z:-1.57 [[ 9.24368277e-01 -3.81450999e-01 6.19869547e-03 1.01689145e+02] [ 3.81442986e-01 9.24389057e-01 2.47373582e-03 2.01778488e+01] [-6.67361526e-03 7.78059847e-05 9.99977728e-01 -1.56730482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66 meters 0.014321687925185062 Centerline is valid? [True, True] Translation: X:101.74, Y:20.20, Z:-1.57 [[ 9.25054465e-01 -3.79745798e-01 8.20762665e-03 1.01742930e+02] [ 3.79731642e-01 9.25090872e-01 3.27989264e-03 2.02026750e+01] [-8.83832595e-03 8.26162130e-05 9.99960938e-01 -1.56626752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72 meters 0.013477856782985643 Centerline is valid? [True, True] Translation: X:101.80, Y:20.23, Z:-1.57 [[ 9.25928217e-01 -3.77603911e-01 8.49839935e-03 1.01795980e+02] [ 3.77588613e-01 9.25967215e-01 3.39947266e-03 2.02264495e+01] [-9.15289334e-03 6.12311578e-05 9.99958110e-01 -1.56715740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78 meters 0.013192457792034037 Centerline is valid? [True, True] Translation: X:101.85, Y:20.25, Z:-1.57 [[ 9.27081242e-01 -3.74778367e-01 7.84516636e-03 1.01849501e+02] [ 3.74765228e-01 9.27114435e-01 3.13837697e-03 2.02520893e+01] [-8.44956277e-03 3.05651343e-05 9.99964301e-01 -1.56914974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83999999999999 meters 0.013093139549665223 Centerline is valid? [True, True] Translation: X:101.90, Y:20.28, Z:-1.57 [[ 9.27832458e-01 -3.72928971e-01 7.13523004e-03 1.01902313e+02] [ 3.72918037e-01 9.27859894e-01 2.85579404e-03 2.02761668e+01] [-7.68550212e-03 1.11575682e-05 9.99970466e-01 -1.57111061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89999999999999 meters 0.014801350092735968 Centerline is valid? [True, True] Translation: X:101.96, Y:20.30, Z:-1.57 [[ 9.28442461e-01 -3.71438320e-01 5.30768059e-03 1.01956685e+02] [ 3.71432240e-01 9.28457632e-01 2.12521501e-03 2.03000210e+01] [-5.71734285e-03 -1.69616535e-06 9.99983656e-01 -1.57475331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96 meters 0.017903082601295986 Centerline is valid? [True, True] Translation: X:102.01, Y:20.32, Z:-1.58 [[ 9.29084708e-01 -3.69853878e-01 3.11681850e-03 1.02010968e+02] [ 3.69851775e-01 9.29089936e-01 1.24723737e-03 2.03228321e+01] [-3.35710027e-03 -6.02831119e-06 9.99994365e-01 -1.57817364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02 meters 0.013028132581756325 Centerline is valid? [True, True] Translation: X:102.07, Y:20.34, Z:-1.58 [[ 9.29145071e-01 -3.69694360e-01 3.93923255e-03 1.02065114e+02] [ 3.69690993e-01 9.29153421e-01 1.57801345e-03 2.03444548e+01] [-4.24353408e-03 -9.90463040e-06 9.99990996e-01 -1.57519570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08 meters 0.014239273041847833 Centerline is valid? [True, True] Translation: X:102.12, Y:20.37, Z:-1.58 [[ 9.28860574e-01 -3.70404105e-01 4.33981327e-03 1.02119787e+02] [ 3.70400016e-01 9.28870712e-01 1.74047251e-03 2.03654947e+01] [-4.67580360e-03 -9.18938673e-06 9.99989068e-01 -1.57593944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14 meters 0.014606564125010803 Centerline is valid? [True, True] Translation: X:102.17, Y:20.39, Z:-1.58 [[ 9.28479112e-01 -3.71341537e-01 5.65703373e-03 1.02174840e+02] [ 3.71334584e-01 9.28496345e-01 2.27244701e-03 2.03863889e+01] [-6.09638910e-03 -9.26731725e-06 9.99981417e-01 -1.57659476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.2 meters 0.014685692311701352 Centerline is valid? [True, True] Translation: X:102.23, Y:20.41, Z:-1.58 [[ 9.27779962e-01 -3.73087673e-01 5.47086873e-03 1.02229284e+02] [ 3.73081193e-01 9.27796092e-01 2.19876976e-03 2.04060690e+01] [-5.89618452e-03 1.10371107e-06 9.99982617e-01 -1.57745521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25999999999999 meters 0.014972397623482087 Centerline is valid? [True, True] Translation: X:102.28, Y:20.43, Z:-1.58 [[ 9.27012284e-01 -3.75000418e-01 4.78656077e-03 1.02284465e+02] [ 3.74995478e-01 9.27024642e-01 1.92473840e-03 2.04255393e+01] [-5.15903749e-03 1.06825071e-05 9.99986692e-01 -1.57833918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32 meters 0.012971630948449475 Centerline is valid? [True, True] Translation: X:102.34, Y:20.44, Z:-1.58 [[ 9.25892771e-01 -3.77749166e-01 5.30512513e-03 1.02339388e+02] [ 3.77743131e-01 9.25907969e-01 2.13552627e-03 2.04438165e+01] [-5.71875090e-03 2.67062344e-05 9.99983647e-01 -1.57786182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38 meters 0.015604644970897325 Centerline is valid? [True, True] Translation: X:102.39, Y:20.46, Z:-1.58 [[ 9.24649854e-01 -3.80768371e-01 6.17218027e-03 1.02394504e+02] [ 3.80760249e-01 9.24670452e-01 2.48740962e-03 2.04614628e+01] [-6.65435963e-03 5.01379536e-05 9.99977858e-01 -1.57977747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44 meters 0.013466140392789795 Centerline is valid? [True, True] Translation: X:102.45, Y:20.48, Z:-1.58 [[ 9.23291224e-01 -3.84006142e-01 8.52051645e-03 1.02451344e+02] [ 3.83990758e-01 9.23330533e-01 3.43858082e-03 2.04794569e+01] [-9.18768915e-03 9.69880766e-05 9.99957788e-01 -1.57760996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.5 meters 0.01351891705903677 Centerline is valid? [True, True] Translation: X:102.51, Y:20.50, Z:-1.58 [[ 9.22873016e-01 -3.85003348e-01 8.82148979e-03 1.02506190e+02] [ 3.84986881e-01 9.22915169e-01 3.56250683e-03 2.04990232e+01] [-9.51306380e-03 1.08416421e-04 9.99954744e-01 -1.57750005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56 meters 0.013423934124501841 Centerline is valid? [True, True] Translation: X:102.56, Y:20.52, Z:-1.58 [[ 9.23272084e-01 -3.84050291e-01 8.60421537e-03 1.02561441e+02] [ 3.84034555e-01 9.23312171e-01 3.47777246e-03 2.05205748e+01] [-9.28001630e-03 9.33857895e-05 9.99956935e-01 -1.57856603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61999999999999 meters 0.013246058715737074 Centerline is valid? [True, True] Translation: X:102.62, Y:20.54, Z:-1.58 [[ 9.23895478e-01 -3.82546792e-01 8.66587842e-03 1.02616237e+02] [ 3.82530739e-01 9.23936116e-01 3.50535869e-03 2.05435714e+01] [-9.34768177e-03 7.63798267e-05 9.99956307e-01 -1.58007651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67999999999999 meters 0.01296379896764647 Centerline is valid? [True, True] Translation: X:102.67, Y:20.57, Z:-1.58 [[ 9.24862093e-01 -3.80214573e-01 8.18456591e-03 1.02670089e+02] [ 3.80200146e-01 9.24898306e-01 3.31244875e-03 2.05667570e+01] [-8.82933243e-03 4.82148752e-05 9.99961020e-01 -1.58011204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74 meters 0.012836150975664542 Centerline is valid? [True, True] Translation: X:102.72, Y:20.59, Z:-1.58 [[ 9.25854558e-01 -3.77773016e-01 8.99369979e-03 1.02724013e+02] [ 3.77755451e-01 9.25898239e-01 3.64297794e-03 2.05909341e+01] [-9.70346955e-03 2.45513862e-05 9.99952920e-01 -1.58117755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.8 meters 0.012832064552337838 Centerline is valid? [True, True] Translation: X:102.78, Y:20.61, Z:-1.58 [[ 9.26290522e-01 -3.76724989e-01 8.00945652e-03 1.02777564e+02] [ 3.76711006e-01 9.26325149e-01 3.24593204e-03 2.06135361e+01] [-8.64218472e-03 1.05743386e-05 9.99962656e-01 -1.58213122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86 meters 0.012848339047869623 Centerline is valid? [True, True] Translation: X:102.83, Y:20.64, Z:-1.58 [[ 9.26306944e-01 -3.76707187e-01 6.86597044e-03 1.02832218e+02] [ 3.76696896e-01 9.26332389e-01 2.78447983e-03 2.06363535e+01] [-7.40910437e-03 7.10674988e-06 9.99972552e-01 -1.58437293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92 meters 0.012862739652622279 Centerline is valid? [True, True] Translation: X:102.89, Y:20.66, Z:-1.59 [[ 9.25812004e-01 -3.77933751e-01 6.18168893e-03 1.02886501e+02] [ 3.77925430e-01 9.25832641e-01 2.50801354e-03 2.06573678e+01] [-6.67107236e-03 1.42684030e-05 9.99977748e-01 -1.58544252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97999999999999 meters 0.014152335978239977 Centerline is valid? [True, True] Translation: X:102.94, Y:20.68, Z:-1.59 [[ 9.25133379e-01 -3.79607443e-01 5.14013456e-03 1.02941521e+02] [ 3.79601707e-01 9.25147658e-01 2.08676004e-03 2.06784076e+01] [-5.54753309e-03 2.06724879e-05 9.99984612e-01 -1.58625863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03999999999999 meters 0.012960710485474935 Centerline is valid? [True, True] Translation: X:102.99, Y:20.70, Z:-1.59 [[ 9.24963362e-01 -3.80006920e-01 6.12526318e-03 1.02994687e+02] [ 3.79998770e-01 9.24983643e-01 2.48888294e-03 2.07008053e+01] [-6.61156099e-03 2.54669481e-05 9.99978143e-01 -1.58536179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.1 meters 0.012829323334508255 Centerline is valid? [True, True] Translation: X:103.05, Y:20.72, Z:-1.59 [[ 9.24772741e-01 -3.80470033e-01 6.15880241e-03 1.03047932e+02] [ 3.80461791e-01 9.24793249e-01 2.50457765e-03 2.07230033e+01] [-6.64853563e-03 2.70238587e-05 9.99977898e-01 -1.58580719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16 meters 0.012871113725686952 Centerline is valid? [True, True] Translation: X:103.10, Y:20.75, Z:-1.59 [[ 9.24682979e-01 -3.80703276e-01 5.13852000e-03 1.03102369e+02] [ 3.80697534e-01 9.24697256e-01 2.09097217e-03 2.07462584e+01] [-5.54761529e-03 2.27355190e-05 9.99984612e-01 -1.58764382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22 meters 0.014983061024105557 Centerline is valid? [True, True] Translation: X:103.16, Y:20.77, Z:-1.59 [[ 9.24629134e-01 -3.80857065e-01 2.97666812e-03 1.03155377e+02] [ 3.80855135e-01 9.24633926e-01 1.21250731e-03 2.07682686e+01] [-3.21412030e-03 1.25597513e-05 9.99994835e-01 -1.59093336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28 meters 0.012731965278045891 Centerline is valid? [True, True] Translation: X:103.21, Y:20.79, Z:-1.59 [[ 9.24869194e-01 -3.80272021e-01 3.18819039e-03 1.03208453e+02] [ 3.80269811e-01 9.24874689e-01 1.29660066e-03 2.07912183e+01] [-3.44173755e-03 1.31865478e-05 9.99994077e-01 -1.58962339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33999999999999 meters 0.012580268403806355 Centerline is valid? [True, True] Translation: X:103.26, Y:20.81, Z:-1.59 [[ 9.25440414e-01 -3.78872054e-01 4.00082165e-03 1.03262155e+02] [ 3.78868548e-01 9.25449062e-01 1.63002600e-03 2.08147687e+01] [-4.32012794e-03 7.29355536e-06 9.99990668e-01 -1.58938545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39999999999999 meters 0.012611019772803059 Centerline is valid? [True, True] Translation: X:103.31, Y:20.84, Z:-1.59 [[ 9.26513771e-01 -3.76231453e-01 4.70386303e-03 1.03313443e+02] [ 3.76226558e-01 9.26525711e-01 1.91918597e-03 2.08393013e+01] [-5.08030817e-03 -8.43403233e-06 9.99987095e-01 -1.59035866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46 meters 0.012542111995177432 Centerline is valid? [True, True] Translation: X:103.37, Y:20.86, Z:-1.59 [[ 9.27406134e-01 -3.74025056e-01 4.80834721e-03 1.03367450e+02] [ 3.74019908e-01 9.27418599e-01 1.96233275e-03 2.08638176e+01] [-5.19331225e-03 -2.14618504e-05 9.99986514e-01 -1.59022153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52 meters 0.012914186566611096 Centerline is valid? [True, True] Translation: X:103.42, Y:20.89, Z:-1.59 [[ 9.28877028e-01 -3.70368317e-01 3.84391413e-03 1.03419786e+02] [ 3.70364987e-01 9.28884981e-01 1.57099283e-03 2.08894462e+01] [-4.15240008e-03 -3.56079475e-05 9.99991378e-01 -1.59213757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58 meters 0.01348560904433644 Centerline is valid? [True, True] Translation: X:103.47, Y:20.91, Z:-1.60 [[ 9.29613553e-01 -3.68524159e-01 2.93030734e-03 1.03472153e+02] [ 3.68522216e-01 9.29618171e-01 1.19702957e-03 2.09138420e+01] [-3.16520127e-03 -3.28915519e-05 9.99994990e-01 -1.59502947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64 meters 0.016760408226653825 Centerline is valid? [True, True] Translation: X:103.53, Y:20.94, Z:-1.60 [[ 9.29602850e-01 -3.68558885e-01 1.69997594e-03 1.03526515e+02] [ 3.68558236e-01 9.29604404e-01 6.92189930e-04 2.09367574e+01] [-1.83541787e-03 -1.69215970e-05 9.99998315e-01 -1.59628860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.7 meters 0.013529229060885278 Centerline is valid? [True, True] Translation: X:103.58, Y:20.96, Z:-1.59 [[ 9.29797070e-01 -3.68062664e-01 2.69870112e-03 1.03580192e+02] [ 3.68061018e-01 9.29800986e-01 1.10144520e-03 2.09578432e+01] [-2.91465582e-03 -3.08338367e-05 9.99995752e-01 -1.59425152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75999999999999 meters 0.013824421240113372 Centerline is valid? [True, True] Translation: X:103.63, Y:20.98, Z:-1.60 [[ 9.29739171e-01 -3.68212029e-01 2.23078128e-03 1.03633853e+02] [ 3.68210898e-01 9.29741847e-01 9.13092330e-04 2.09806920e+01] [-2.41026229e-03 -2.75397268e-05 9.99997095e-01 -1.59560392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82 meters 0.013511904603833514 Centerline is valid? [True, True] Translation: X:103.69, Y:21.00, Z:-1.60 [[ 9.29810189e-01 -3.68035472e-01 1.70396361e-03 1.03689094e+02] [ 3.68034817e-01 9.29811750e-01 6.94924877e-04 2.10020319e+01] [-1.84012239e-03 -1.90302954e-05 9.99998307e-01 -1.59516108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88 meters 0.013805132146266913 Centerline is valid? [True, True] Translation: X:103.74, Y:21.03, Z:-1.60 [[ 9.30604500e-01 -3.66026260e-01 -2.02816163e-04 1.03743062e+02] [ 3.66026250e-01 9.30604522e-01 -8.73822398e-05 2.10264799e+01] [ 2.20725833e-04 7.08226610e-06 9.99999976e-01 -1.59686733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94 meters 0.014273048819447678 Centerline is valid? [True, True] Translation: X:103.80, Y:21.05, Z:-1.60 [[ 9.31156335e-01 -3.64614316e-01 -2.06877474e-03 1.03796555e+02] [ 3.64613325e-01 9.31158633e-01 -8.50990625e-04 2.10500443e+01] [ 2.23664082e-03 3.81024757e-05 9.99997498e-01 -1.59821851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.0 meters 0.015066167475595487 Centerline is valid? [True, True] Translation: X:103.85, Y:21.07, Z:-1.60 [[ 9.32057431e-01 -3.62301114e-01 -2.61672933e-03 1.03849243e+02] [ 3.62299520e-01 9.32061103e-01 -1.07625536e-03 2.10743657e+01] [ 2.82888015e-03 5.50920266e-05 9.99995997e-01 -1.59931938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06 meters 0.018255880863951558 Centerline is valid? [True, True] Translation: X:103.90, Y:21.10, Z:-1.60 [[ 9.32352403e-01 -3.61535130e-01 -3.36845327e-03 1.03902794e+02] [ 3.61532480e-01 9.32358485e-01 -1.38623765e-03 2.10978191e+01] [ 3.64177960e-03 7.46567432e-05 9.99993366e-01 -1.60006844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11999999999999 meters 0.01587009019424323 Centerline is valid? [True, True] Translation: X:103.96, Y:21.12, Z:-1.60 [[ 9.32828941e-01 -3.60309853e-01 -2.64146005e-03 1.03957152e+02] [ 3.60308210e-01 9.32832678e-01 -1.09004813e-03 2.11212622e+01] [ 2.85679534e-03 6.50887022e-05 9.99995917e-01 -1.60048522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17999999999999 meters 0.01606664591887453 Centerline is valid? [True, True] Translation: X:104.01, Y:21.14, Z:-1.60 [[ 9.32515038e-01 -3.61120978e-01 -2.70998969e-03 1.04012635e+02] [ 3.61119249e-01 9.32518973e-01 -1.11915799e-03 2.11419102e+01] [ 2.93126823e-03 6.50022084e-05 9.99995702e-01 -1.59977279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24 meters 0.014000596661981479 Centerline is valid? [True, True] Translation: X:104.07, Y:21.16, Z:-1.60 [[ 9.31923098e-01 -3.62655789e-01 -3.45202405e-04 1.04068179e+02] [ 3.62655759e-01 9.31923161e-01 -1.46270718e-04 2.11617438e+01] [ 3.74748039e-04 1.11234200e-05 9.99999930e-01 -1.59844233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.3 meters 0.012460890532836454 Centerline is valid? [True, True] Translation: X:104.12, Y:21.18, Z:-1.60 [[ 9.28990520e-01 -3.70098476e-01 1.93168575e-03 1.04124357e+02] [ 3.70097624e-01 9.28992528e-01 7.94590547e-04 2.11807338e+01] [-2.08859838e-03 -2.32547813e-05 9.99997819e-01 -1.59875278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36 meters 0.015469898372964712 Centerline is valid? [True, True] Translation: X:104.18, Y:21.20, Z:-1.60 [[ 9.25630720e-01 -3.78412557e-01 3.42155087e-03 1.04181151e+02] [ 3.78409936e-01 9.25637044e-01 1.40825974e-03 2.11966502e+01] [-3.70001740e-03 -8.77963141e-06 9.99993155e-01 -1.59788174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42 meters 0.011576838275896204 Centerline is valid? [True, True] Translation: X:104.24, Y:21.21, Z:-1.60 [[ 9.23885075e-01 -3.82650951e-01 3.82341522e-03 1.04236472e+02] [ 3.82647723e-01 9.23892986e-01 1.57158072e-03 2.12145228e+01] [-4.13379336e-03 1.10611632e-05 9.99991456e-01 -1.59913499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47999999999999 meters 0.01223533810070323 Centerline is valid? [True, True] Translation: X:104.29, Y:21.23, Z:-1.60 [[ 9.21424785e-01 -3.88554973e-01 1.18275307e-03 1.04292266e+02] [ 3.88554671e-01 9.21425544e-01 4.83899887e-04 2.12342495e+01] [-1.27784059e-03 1.36868796e-05 9.99999183e-01 -1.60382561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53999999999999 meters 0.012389481049825435 Centerline is valid? [True, True] Translation: X:104.35, Y:21.26, Z:-1.60 [[ 9.20404341e-01 -3.90965515e-01 1.34760166e-03 1.04347178e+02] [ 3.90965125e-01 9.20405327e-01 5.52269799e-04 2.12550413e+01] [-1.45625820e-03 1.85537332e-05 9.99998939e-01 -1.60422165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.6 meters 0.012921112213119722 Centerline is valid? [True, True] Translation: X:104.40, Y:21.27, Z:-1.60 [[ 9.19643198e-01 -3.92744345e-01 2.87536471e-03 1.04401430e+02] [ 3.92742558e-01 9.19647692e-01 1.18547372e-03 2.12731565e+01] [-3.10991062e-03 3.90652503e-05 9.99995163e-01 -1.60308381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66 meters 0.012072869085997048 Centerline is valid? [True, True] Translation: X:104.45, Y:21.30, Z:-1.60 [[ 9.19844427e-01 -3.92257860e-01 4.47221764e-03 1.04454660e+02] [ 3.92253529e-01 9.19855297e-01 1.84416342e-03 2.12976584e+01] [-4.83718068e-03 5.78997057e-05 9.99988299e-01 -1.60286001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72 meters 0.011740143500015681 Centerline is valid? [True, True] Translation: X:104.51, Y:21.32, Z:-1.60 [[ 9.20630133e-01 -3.90403972e-01 4.98971418e-03 1.04508535e+02] [ 3.90398544e-01 9.20643653e-01 2.05951126e-03 2.13214708e+01] [-5.39779006e-03 5.19290217e-05 9.99985430e-01 -1.60402879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78 meters 0.011178123566100354 Centerline is valid? [True, True] Translation: X:104.56, Y:21.35, Z:-1.61 [[ 9.22807982e-01 -3.85230136e-01 4.81368946e-03 1.04560583e+02] [ 3.85224997e-01 9.22820536e-01 1.98985459e-03 2.13462314e+01] [-5.20872345e-03 1.80998073e-05 9.99986434e-01 -1.60596581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83999999999999 meters 0.010936034114645183 Centerline is valid? [True, True] Translation: X:104.61, Y:21.37, Z:-1.61 [[ 9.24742533e-01 -3.80564210e-01 4.70425358e-03 1.04612935e+02] [ 3.80559251e-01 9.24754498e-01 1.94287812e-03 2.13726842e+01] [-5.08966954e-03 -6.41481355e-06 9.99987048e-01 -1.60641198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89999999999999 meters 0.011744332755855501 Centerline is valid? [True, True] Translation: X:104.66, Y:21.40, Z:-1.61 [[ 9.28456550e-01 -3.71404223e-01 5.22865114e-03 1.04664447e+02] [ 3.71397935e-01 9.28471270e-01 2.16214814e-03 2.14032621e+01] [-5.65768331e-03 -6.55503607e-05 9.99983993e-01 -1.60762224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96 meters 0.016727553841608563 Centerline is valid? [True, True] Translation: X:104.72, Y:21.43, Z:-1.61 [[ 9.31949494e-01 -3.62560727e-01 4.45632595e-03 1.04715816e+02] [ 3.62556045e-01 9.31960143e-01 1.84554999e-03 2.14319574e+01] [-4.82224212e-03 -1.04291469e-04 9.99988367e-01 -1.60812351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02 meters 0.01620172297086835 Centerline is valid? [True, True] Translation: X:104.77, Y:21.46, Z:-1.61 [[ 9.33360796e-01 -3.58903110e-01 5.11689379e-03 1.04770067e+02] [ 3.58896878e-01 9.33374811e-01 2.11981953e-03 2.14559051e+01] [-5.53678959e-03 -1.42119240e-04 9.99984662e-01 -1.60839439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08 meters 0.015865800272733148 Centerline is valid? [True, True] Translation: X:104.82, Y:21.48, Z:-1.61 [[ 9.34173930e-01 -3.56768204e-01 5.95965959e-03 1.04824055e+02] [ 3.56759715e-01 9.34192922e-01 2.46763541e-03 2.14792685e+01] [-6.44784566e-03 -1.79034208e-04 9.99979196e-01 -1.60930601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14 meters 0.015330062656785427 Centerline is valid? [True, True] Translation: X:104.88, Y:21.50, Z:-1.61 [[ 9.34055333e-01 -3.57079332e-01 5.91480356e-03 1.04878118e+02] [ 3.57070968e-01 9.34074044e-01 2.45037719e-03 2.15001795e+01] [-6.39984353e-03 -1.76783246e-04 9.99979505e-01 -1.60990836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.2 meters 0.01581430435027737 Centerline is valid? [True, True] Translation: X:104.93, Y:21.52, Z:-1.61 [[ 9.33834165e-01 -3.57665557e-01 5.39456750e-03 1.04932117e+02] [ 3.57658589e-01 9.33849733e-01 2.23833645e-03 2.15217713e+01] [-5.83829128e-03 -1.60821650e-04 9.99982944e-01 -1.61048195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25999999999999 meters 0.018941308153247946 Centerline is valid? [True, True] Translation: X:104.99, Y:21.54, Z:-1.61 [[ 9.33261632e-01 -3.59166243e-01 4.72608818e-03 1.04985762e+02] [ 3.59160913e-01 9.33273589e-01 1.96131005e-03 2.15440559e+01] [-5.11516964e-03 -1.32989273e-04 9.99986909e-01 -1.61265071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32 meters 0.01749604829326253 Centerline is valid? [True, True] Translation: X:105.04, Y:21.56, Z:-1.61 [[ 9.31853578e-01 -3.62824891e-01 2.64704967e-03 1.05042846e+02] [ 3.62823241e-01 9.31857336e-01 1.09598387e-03 2.15607303e+01] [-2.86432289e-03 -6.08853508e-05 9.99995896e-01 -1.61400232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38 meters 0.014097343386784955 Centerline is valid? [True, True] Translation: X:105.10, Y:21.58, Z:-1.61 [[ 9.30620574e-01 -3.65981213e-01 1.76059536e-03 1.05098310e+02] [ 3.65980490e-01 9.30622239e-01 7.28136632e-04 2.15801169e+01] [-1.90493352e-03 -3.32753774e-05 9.99998185e-01 -1.61454798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44 meters 0.012505929830546283 Centerline is valid? [True, True] Translation: X:105.15, Y:21.60, Z:-1.62 [[ 9.27894971e-01 -3.72837732e-01 1.71722471e-03 1.05154895e+02] [ 3.72837051e-01 9.27896559e-01 7.13165894e-04 2.15978854e+01] [-1.85930206e-03 -2.14980480e-05 9.99998271e-01 -1.61547768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.5 meters 0.01447874717671432 Centerline is valid? [True, True] Translation: X:105.21, Y:21.61, Z:-1.62 [[ 9.24270210e-01 -3.81724840e-01 3.27488068e-03 1.05212757e+02] [ 3.81722420e-01 9.24276012e-01 1.35939816e-03 2.16137527e+01] [-3.54580970e-03 -6.35584466e-06 9.99993714e-01 -1.61629661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56 meters 0.012294724238909241 Centerline is valid? [True, True] Translation: X:105.27, Y:21.63, Z:-1.61 [[ 9.18824331e-01 -3.94637702e-01 4.78888987e-03 1.05271603e+02] [ 3.94632686e-01 9.18836809e-01 1.99065180e-03 2.16254366e+01] [-5.18579454e-03 6.07931635e-05 9.99986552e-01 -1.61351620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61999999999999 meters 0.01440420092746613 Centerline is valid? [True, True] Translation: X:105.33, Y:21.65, Z:-1.61 [[ 9.15923697e-01 -4.01315028e-01 5.48003202e-03 1.05327896e+02] [ 4.01308563e-01 9.15940083e-01 2.28051886e-03 2.16462493e+01] [-5.93458748e-03 1.10402515e-04 9.99982384e-01 -1.61383541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67999999999999 meters 0.015117654355534384 Centerline is valid? [True, True] Translation: X:105.38, Y:21.67, Z:-1.62 [[ 9.13491274e-01 -4.06827700e-01 4.99154335e-03 1.05382771e+02] [ 4.06822405e-01 9.13504902e-01 2.07965151e-03 2.16688377e+01] [-5.40585915e-03 1.30928166e-04 9.99985380e-01 -1.61504247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74 meters 0.015684360975409328 Centerline is valid? [True, True] Translation: X:105.44, Y:21.69, Z:-1.62 [[ 9.12749581e-01 -4.08490162e-01 4.89788373e-03 1.05436857e+02] [ 4.08485096e-01 9.12762712e-01 2.03923281e-03 2.16916478e+01] [-5.30361218e-03 1.39403609e-04 9.99985926e-01 -1.61655877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.8 meters 0.019195661508438495 Centerline is valid? [True, True] Translation: X:105.49, Y:21.72, Z:-1.62 [[ 9.10713629e-01 -4.13007873e-01 5.01825223e-03 1.05491923e+02] [ 4.13002611e-01 9.10727439e-01 2.09156965e-03 2.17150806e+01] [-5.43409473e-03 1.67730289e-04 9.99985221e-01 -1.61767696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86 meters 0.018834437470181438 Centerline is valid? [True, True] Translation: X:105.55, Y:21.74, Z:-1.62 [[ 9.10164353e-01 -4.14214568e-01 5.20973854e-03 1.05545277e+02] [ 4.14208904e-01 9.10179246e-01 2.17361064e-03 2.17387960e+01] [-5.64213708e-03 1.79577171e-04 9.99984067e-01 -1.61870629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92 meters 0.017583983499419687 Centerline is valid? [True, True] Translation: X:105.60, Y:21.77, Z:-1.62 [[ 9.11370028e-01 -4.11550980e-01 5.51926829e-03 1.05597792e+02] [ 4.11544578e-01 9.11386724e-01 2.30206268e-03 2.17667020e+01] [-5.97760399e-03 1.73394011e-04 9.99982119e-01 -1.61949074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97999999999999 meters 0.018379975402491224 Centerline is valid? [True, True] Translation: X:105.65, Y:21.80, Z:-1.62 [[ 9.13218685e-01 -4.07432752e-01 5.49419516e-03 1.05650429e+02] [ 4.07426324e-01 9.13235201e-01 2.29308916e-03 2.17952909e+01] [-5.95177205e-03 1.44387870e-04 9.99982278e-01 -1.62043135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03999999999999 meters 0.01346240920941917 Centerline is valid? [True, True] Translation: X:105.70, Y:21.83, Z:-1.62 [[ 9.17511859e-01 -3.97668679e-01 5.62235677e-03 1.05699993e+02] [ 3.97661747e-01 9.17529081e-01 2.34941996e-03 2.18273310e+01] [-6.09296657e-03 8.01755406e-05 9.99981434e-01 -1.62147205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.1 meters 0.011581705014496959 Centerline is valid? [True, True] Translation: X:105.75, Y:21.86, Z:-1.62 [[ 9.20464315e-01 -3.90792310e-01 5.17841456e-03 1.05750205e+02] [ 3.90786328e-01 9.20478881e-01 2.16247901e-03 2.18591427e+01] [-5.61170141e-03 3.31688476e-05 9.99984254e-01 -1.62209719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16 meters 0.014317201874902725 Centerline is valid? [True, True] Translation: X:105.80, Y:21.89, Z:-1.62 [[ 9.24174900e-01 -3.81941322e-01 4.64553510e-03 1.05799705e+02] [ 3.81936393e-01 9.24186575e-01 1.94054105e-03 2.18903215e+01] [-5.03451399e-03 -1.91004146e-05 9.99987327e-01 -1.62458479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22 meters 0.014244581628375849 Centerline is valid? [True, True] Translation: X:105.85, Y:21.92, Z:-1.62 [[ 9.26178956e-01 -3.77045482e-01 5.40802010e-03 1.05852633e+02] [ 3.77038701e-01 9.26194743e-01 2.26193218e-03 2.19170953e+01] [-5.86173109e-03 -5.59211171e-05 9.99982818e-01 -1.62438414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28 meters 0.01677387187782932 Centerline is valid? [True, True] Translation: X:105.90, Y:21.95, Z:-1.62 [[ 9.28731768e-01 -3.70670234e-01 7.80261127e-03 1.05904386e+02] [ 3.70655859e-01 9.28764533e-01 3.26766153e-03 2.19467986e+01] [-8.45801347e-03 -1.42697494e-04 9.99964220e-01 -1.62454549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33999999999999 meters 0.016065048547517963 Centerline is valid? [True, True] Translation: X:105.96, Y:21.97, Z:-1.62 [[ 9.30105828e-01 -3.67183325e-01 8.91937682e-03 1.05957214e+02] [ 3.67164348e-01 9.30148572e-01 3.73854451e-03 2.19726548e+01] [-9.66907680e-03 -2.02364864e-04 9.99953233e-01 -1.62498949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39999999999999 meters 0.017936870465421983 Centerline is valid? [True, True] Translation: X:106.01, Y:22.00, Z:-1.63 [[ 9.31261847e-01 -3.64260158e-01 8.11852072e-03 1.06010026e+02] [ 3.64244307e-01 9.31297209e-01 3.40487259e-03 2.19982293e+01] [-8.80101512e-03 -2.13702980e-04 9.99961247e-01 -1.62831983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46 meters 0.017782053314368815 Centerline is valid? [True, True] Translation: X:106.06, Y:22.02, Z:-1.63 [[ 9.31439834e-01 -3.63825803e-01 7.11482612e-03 1.06064510e+02] [ 3.63813604e-01 9.31466987e-01 2.98553450e-03 2.20214696e+01] [-7.71344013e-03 -1.92375227e-04 9.99970232e-01 -1.63002055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52 meters 0.016180347224890815 Centerline is valid? [True, True] Translation: X:106.12, Y:22.04, Z:-1.63 [[ 9.31092073e-01 -3.64725711e-01 6.53511815e-03 1.06119553e+02] [ 3.64715429e-01 9.31114991e-01 2.74390311e-03 2.20429370e+01] [-7.08571849e-03 -1.71368011e-04 9.99974881e-01 -1.63099949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58 meters 0.017314192538764834 Centerline is valid? [True, True] Translation: X:106.17, Y:22.06, Z:-1.63 [[ 9.30373627e-01 -3.66570238e-01 5.58342740e-03 1.06174896e+02] [ 3.66562760e-01 9.30390371e-01 2.34537164e-03 2.20638255e+01] [-6.05451053e-03 -1.35395369e-04 9.99981662e-01 -1.63262684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64 meters 0.01587380110034021 Centerline is valid? [True, True] Translation: X:106.23, Y:22.08, Z:-1.63 [[ 9.29140927e-01 -3.69673288e-01 6.22874593e-03 1.06230354e+02] [ 3.69664035e-01 9.29161796e-01 2.61877743e-03 2.20834048e+01] [-6.75560481e-03 -1.30669931e-04 9.99977172e-01 -1.63425562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.7 meters 0.015191421068263801 Centerline is valid? [True, True] Translation: X:106.29, Y:22.10, Z:-1.63 [[ 9.28266322e-01 -3.71850060e-01 7.01201768e-03 1.06286125e+02] [ 3.71838377e-01 9.28292796e-01 2.95059104e-03 2.21026820e+01] [-7.60638296e-03 -1.31597019e-04 9.99971062e-01 -1.63385156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75999999999999 meters 0.012619870501184622 Centerline is valid? [True, True] Translation: X:106.34, Y:22.12, Z:-1.63 [[ 9.26992147e-01 -3.74929607e-01 1.06465455e-02 1.06340760e+02] [ 3.74902806e-01 9.27053268e-01 4.48602084e-03 2.21214303e+01] [-1.15518569e-02 -1.67086300e-04 9.99933261e-01 -1.63214254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82 meters 0.012338161536347437 Centerline is valid? [True, True] Translation: X:106.40, Y:22.14, Z:-1.63 [[ 9.26336724e-01 -3.76519140e-01 1.15590481e-02 1.06395676e+02] [ 3.76487659e-01 9.26408825e-01 4.87142768e-03 2.21425771e+01] [-1.25425900e-02 -1.60743382e-04 9.99921326e-01 -1.63209647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88 meters 0.012283180213204167 Centerline is valid? [True, True] Translation: X:106.45, Y:22.16, Z:-1.63 [[ 9.26255505e-01 -3.76726292e-01 1.13155182e-02 1.06449675e+02] [ 3.76696101e-01 9.26324606e-01 4.77193924e-03 2.21649686e+01] [-1.22795579e-02 -1.57523393e-04 9.99924591e-01 -1.63337328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94 meters 0.014694586937495232 Centerline is valid? [True, True] Translation: X:106.50, Y:22.19, Z:-1.64 [[ 9.27056711e-01 -3.74792108e-01 9.83510333e-03 1.06503071e+02] [ 3.74769161e-01 9.27108866e-01 4.15052237e-03 2.21896772e+01] [-1.06737945e-02 -1.61876202e-04 9.99943020e-01 -1.63642438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.0 meters 0.01395329971774823 Centerline is valid? [True, True] Translation: X:106.56, Y:22.21, Z:-1.64 [[ 9.27834352e-01 -3.72885969e-01 8.91450449e-03 1.06555178e+02] [ 3.72866999e-01 9.27877161e-01 3.76512402e-03 2.22136595e+01] [-9.67552703e-03 -1.69486871e-04 9.99953177e-01 -1.63854693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06 meters 0.013593425252495522 Centerline is valid? [True, True] Translation: X:106.61, Y:22.23, Z:-1.64 [[ 9.28356590e-01 -3.71622834e-01 7.10714160e-03 1.06610562e+02] [ 3.71610744e-01 9.28383783e-01 3.00112061e-03 2.22347690e+01] [-7.71343995e-03 -1.45019915e-04 9.99970240e-01 -1.64053164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11999999999999 meters 0.016629456266445006 Centerline is valid? [True, True] Translation: X:106.66, Y:22.26, Z:-1.64 [[ 9.28197232e-01 -3.72036164e-01 6.24430930e-03 1.06664331e+02] [ 3.72026834e-01 9.28218227e-01 2.63780173e-03 2.22565495e+01] [-6.77743934e-03 -1.25349646e-04 9.99977025e-01 -1.64215566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17999999999999 meters 0.01539775554799085 Centerline is valid? [True, True] Translation: X:106.72, Y:22.28, Z:-1.64 [[ 9.27343366e-01 -3.74129664e-01 7.82787605e-03 1.06719379e+02] [ 3.74115040e-01 9.27376393e-01 3.31093826e-03 2.22761841e+01] [-8.49810767e-03 -1.41850469e-04 9.99963880e-01 -1.64179803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24 meters 0.016830056357411798 Centerline is valid? [True, True] Translation: X:106.78, Y:22.30, Z:-1.64 [[ 9.26278633e-01 -3.76732432e-01 8.97600138e-03 1.06775635e+02] [ 3.76713294e-01 9.26322112e-01 3.79977270e-03 2.22951576e+01] [-9.74616617e-03 -1.38269214e-04 9.99952495e-01 -1.64156142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.3 meters 0.015068850810564449 Centerline is valid? [True, True] Translation: X:106.83, Y:22.32, Z:-1.64 [[ 9.25470425e-01 -3.78687017e-01 1.00317537e-02 1.06831256e+02] [ 3.78663189e-01 9.25524784e-01 4.25026051e-03 2.23157787e+01] [-1.08941551e-02 -1.34834561e-04 9.99940648e-01 -1.64175220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36 meters 0.01573101868685929 Centerline is valid? [True, True] Translation: X:106.89, Y:22.34, Z:-1.64 [[ 9.25050872e-01 -3.79731580e-01 9.20927818e-03 1.06885352e+02] [ 3.79711518e-01 9.25096705e-01 3.90512602e-03 2.23369928e+01] [-1.00023726e-02 -1.15571234e-04 9.99949968e-01 -1.64440845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42 meters 0.012748075744349635 Centerline is valid? [True, True] Translation: X:106.94, Y:22.36, Z:-1.65 [[ 9.24843892e-01 -3.80280117e-01 7.12798575e-03 1.06941012e+02] [ 3.80268120e-01 9.24871356e-01 3.02175670e-03 2.23565707e+01] [-7.74158384e-03 -8.41074845e-05 9.99970030e-01 -1.64667785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47999999999999 meters 0.01294276416224868 Centerline is valid? [True, True] Translation: X:107.00, Y:22.38, Z:-1.65 [[ 9.24609206e-01 -3.80874598e-01 5.68837308e-03 1.06996002e+02] [ 3.80866964e-01 9.24626701e-01 2.41232706e-03 2.23767917e+01] [-6.17841574e-03 -6.39464240e-05 9.99980911e-01 -1.64870746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53999999999999 meters 0.014393868299203916 Centerline is valid? [True, True] Translation: X:107.05, Y:22.40, Z:-1.65 [[ 9.24498519e-01 -3.81162823e-01 4.17011310e-03 1.07051877e+02] [ 3.81158723e-01 9.24507923e-01 1.76849099e-03 2.23968765e+01] [-4.52938562e-03 -4.54923114e-05 9.99989741e-01 -1.65038512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.6 meters 0.015337403440115114 Centerline is valid? [True, True] Translation: X:107.11, Y:22.42, Z:-1.65 [[ 9.24886502e-01 -3.80226960e-01 3.52381465e-03 1.07105070e+02] [ 3.80224016e-01 9.24893214e-01 1.49679991e-03 2.24184380e+01] [-3.82827594e-03 -4.45310803e-05 9.99992671e-01 -1.65342472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66 meters 0.013311928688671568 Centerline is valid? [True, True] Translation: X:107.16, Y:22.44, Z:-1.65 [[ 9.25120290e-01 -3.79652351e-01 4.06721766e-03 1.07158939e+02] [ 3.79648431e-01 9.25129229e-01 1.72598638e-03 2.24401567e+01] [-4.41797672e-03 -5.26322132e-05 9.99990239e-01 -1.65212261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72 meters 0.014651896244327911 Centerline is valid? [True, True] Translation: X:107.21, Y:22.46, Z:-1.65 [[ 9.24784069e-01 -3.80468041e-01 4.30070599e-03 1.07210943e+02] [ 3.80463648e-01 9.24794067e-01 1.82900767e-03 2.24647416e+01] [-4.67314635e-03 -5.51748634e-05 9.99989079e-01 -1.65478149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78 meters 0.01474092176936285 Centerline is valid? [True, True] Translation: X:107.26, Y:22.49, Z:-1.65 [[ 9.24626357e-01 -3.80848969e-01 4.49034592e-03 1.07264405e+02] [ 3.80844194e-01 9.24637258e-01 1.90795338e-03 2.24875705e+01] [-4.87858323e-03 -5.40218124e-05 9.99988098e-01 -1.65425416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83999999999999 meters 0.013779219461093796 Centerline is valid? [True, True] Translation: X:107.32, Y:22.51, Z:-1.65 [[ 9.25477000e-01 -3.78767810e-01 5.22193935e-03 1.07315794e+02] [ 3.78761292e-01 9.25491729e-01 2.22339775e-03 2.25141354e+01] [-5.67501317e-03 -7.98349829e-05 9.99983894e-01 -1.65471975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89999999999999 meters 0.01453033551730969 Centerline is valid? [True, True] Translation: X:107.37, Y:22.54, Z:-1.66 [[ 9.26835650e-01 -3.75427001e-01 5.49954899e-03 1.07368897e+02] [ 3.75419720e-01 9.26851960e-01 2.34064396e-03 2.25407369e+01] [-5.97600870e-03 -1.04753131e-04 9.99982138e-01 -1.65534983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96 meters 0.0183947079571413 Centerline is valid? [True, True] Translation: X:107.42, Y:22.57, Z:-1.66 [[ 9.28077412e-01 -3.72358026e-01 4.67105700e-03 1.07421760e+02] [ 3.72352730e-01 9.28089160e-01 1.98877876e-03 2.25678008e+01] [-5.07569510e-03 -1.06459816e-04 9.99987113e-01 -1.65802010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02 meters 0.017691581308381926 Centerline is valid? [True, True] Translation: X:107.47, Y:22.60, Z:-1.66 [[ 9.29994106e-01 -3.67533546e-01 5.48224644e-03 1.07473799e+02] [ 3.67526141e-01 9.30010251e-01 2.33846128e-03 2.25982463e+01] [-5.95800836e-03 -1.59886332e-04 9.99982238e-01 -1.65951411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08 meters 0.02114875229577829 Centerline is valid? [True, True] Translation: X:107.53, Y:22.63, Z:-1.66 [[ 9.31205377e-01 -3.64463366e-01 4.79587319e-03 1.07526070e+02] [ 3.64457658e-01 9.31217714e-01 2.04590834e-03 2.26262197e+01] [-5.21166070e-03 -1.57268139e-04 9.99986407e-01 -1.66119498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14 meters 0.018833999616730296 Centerline is valid? [True, True] Translation: X:107.58, Y:22.65, Z:-1.66 [[ 9.32795736e-01 -3.60331390e-01 7.30787187e-03 1.07578705e+02] [ 3.60318002e-01 9.32824321e-01 3.11825329e-03 2.26542947e+01] [-7.94056516e-03 -2.75535580e-04 9.99968435e-01 -1.66092037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19999999999999 meters 0.023350585674787816 Centerline is valid? [True, True] Translation: X:107.63, Y:22.68, Z:-1.66 [[ 9.33134861e-01 -3.59438179e-01 7.97038687e-03 1.07629552e+02] [ 3.59422215e-01 9.33168849e-01 3.40171605e-03 2.26824185e+01] [-8.66042336e-03 -3.09525730e-04 9.99962450e-01 -1.66275550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25999999999999 meters 0.021172421547858387 Centerline is valid? [True, True] Translation: X:107.68, Y:22.71, Z:-1.66 [[ 9.32508631e-01 -3.61007853e-01 1.00490481e-02 1.07683302e+02] [ 3.60982559e-01 9.32562701e-01 4.28960425e-03 2.27056435e+01] [-1.09199483e-02 -3.72561892e-04 9.99940306e-01 -1.66236476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32 meters 0.02102217536623774 Centerline is valid? [True, True] Translation: X:107.74, Y:22.73, Z:-1.66 [[ 9.31400779e-01 -3.63851723e-01 1.02231882e-02 1.07738398e+02] [ 3.63825672e-01 9.31456817e-01 4.36782226e-03 2.27271842e+01] [-1.11116980e-02 -3.48734726e-04 9.99938202e-01 -1.66329538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38 meters 0.020328035533271505 Centerline is valid? [True, True] Translation: X:107.79, Y:22.75, Z:-1.67 [[ 9.28946341e-01 -3.70066712e-01 1.04558530e-02 1.07794278e+02] [ 3.70039850e-01 9.29005140e-01 4.46755537e-03 2.27482660e+01] [-1.13668347e-02 -2.81036942e-04 9.99935356e-01 -1.66519201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44 meters 0.01768337532462895 Centerline is valid? [True, True] Translation: X:107.85, Y:22.77, Z:-1.67 [[ 9.26715904e-01 -3.75609412e-01 1.07332365e-02 1.07849187e+02] [ 3.75581436e-01 9.26778032e-01 4.58958691e-03 2.27684874e+01] [-1.16712199e-02 -2.22038793e-04 9.99931864e-01 -1.66674097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.5 meters 0.013754416942606786 Centerline is valid? [True, True] Translation: X:107.91, Y:22.79, Z:-1.67 [[ 9.23212612e-01 -3.84089262e-01 1.24060940e-02 1.07906266e+02] [ 3.84052630e-01 9.23295955e-01 5.30630009e-03 2.27862698e+01] [-1.34925893e-02 -1.34250115e-04 9.99908962e-01 -1.66736485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56 meters 0.016381387805491684 Centerline is valid? [True, True] Translation: X:107.96, Y:22.81, Z:-1.67 [[ 9.20861066e-01 -3.89692488e-01 1.24363164e-02 1.07962070e+02] [ 3.89656182e-01 9.20945037e-01 5.31956970e-03 2.28058896e+01] [-1.35261602e-02 -5.26970632e-05 9.99908516e-01 -1.66988331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61999999999999 meters 0.013102080504172125 Centerline is valid? [True, True] Translation: X:108.02, Y:22.83, Z:-1.67 [[ 9.19449869e-01 -3.92961497e-01 1.38996741e-02 1.08016886e+02] [ 3.92916447e-01 9.19554926e-01 5.95013034e-03 2.28256803e+01] [-1.51196859e-02 -9.43599418e-06 9.99885691e-01 -1.66894319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67999999999999 meters 0.013171994191703432 Centerline is valid? [True, True] Translation: X:108.07, Y:22.85, Z:-1.67 [[ 9.18039046e-01 -3.96218719e-01 1.46641311e-02 1.08071246e+02] [ 3.96168909e-01 9.18156155e-01 6.28259213e-03 2.28452812e+01] [-1.59532428e-02 4.18079236e-05 9.99872738e-01 -1.67062164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74 meters 0.013197219401335177 Centerline is valid? [True, True] Translation: X:108.13, Y:22.87, Z:-1.67 [[ 9.17642977e-01 -3.97117847e-01 1.51255700e-02 1.08125072e+02] [ 3.97064892e-01 9.17767625e-01 6.48524051e-03 2.28664385e+01] [-1.64571632e-02 5.46974048e-05 9.99864570e-01 -1.67212519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.8 meters 0.014001428628674263 Centerline is valid? [True, True] Translation: X:108.18, Y:22.89, Z:-1.67 [[ 9.17268135e-01 -3.97980737e-01 1.51822789e-02 1.08179313e+02] [ 3.97927472e-01 9.17393769e-01 6.51144835e-03 2.28885046e+01] [-1.65195590e-02 6.87017569e-05 9.99863540e-01 -1.67460970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86 meters 0.014835173986437815 Centerline is valid? [True, True] Translation: X:108.23, Y:22.91, Z:-1.68 [[ 9.16805680e-01 -3.99032677e-01 1.55005941e-02 1.08233378e+02] [ 3.98977221e-01 9.16936702e-01 6.65294946e-03 2.29094025e+01] [-1.68678078e-02 8.49221036e-05 9.99857725e-01 -1.67593312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92 meters 0.01481211095889141 Centerline is valid? [True, True] Translation: X:108.29, Y:22.93, Z:-1.68 [[ 9.16463152e-01 -3.99798978e-01 1.60021112e-02 1.08286803e+02] [ 3.99739953e-01 9.16602840e-01 6.87042597e-03 2.29311375e+01] [-1.74143698e-02 1.00190920e-04 9.99848353e-01 -1.67626953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97999999999999 meters 0.013561537325736154 Centerline is valid? [True, True] Translation: X:108.34, Y:22.95, Z:-1.67 [[ 9.16192792e-01 -4.00360871e-01 1.73764316e-02 1.08340618e+02] [ 4.00291253e-01 9.16357550e-01 7.46678535e-03 2.29527214e+01] [-1.89124330e-02 1.14618664e-04 9.99821137e-01 -1.67457166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03999999999999 meters 0.01431345622589751 Centerline is valid? [True, True] Translation: X:108.39, Y:22.97, Z:-1.67 [[ 9.15190706e-01 -4.02548147e-01 1.95182112e-02 1.08394967e+02] [ 4.02460656e-01 9.15398798e-01 8.39408770e-03 2.29745657e+01] [-2.12459715e-02 1.73121025e-04 9.99774264e-01 -1.67362022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.1 meters 0.014639158136858586 Centerline is valid? [True, True] Translation: X:108.45, Y:23.00, Z:-1.67 [[ 9.14604978e-01 -4.03795535e-01 2.11399869e-02 1.08449191e+02] [ 4.03693080e-01 9.14849234e-01 9.09815429e-03 2.29984806e+01] [-2.30136949e-02 2.12849214e-04 9.99735127e-01 -1.67434920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16 meters 0.016988140085601827 Centerline is valid? [True, True] Translation: X:108.50, Y:23.02, Z:-1.68 [[ 9.13565168e-01 -4.06164458e-01 2.07151209e-02 1.08503106e+02] [ 4.06066551e-01 9.13799959e-01 8.92142236e-03 2.30210091e+01] [-2.25530413e-02 2.61416996e-04 9.99745614e-01 -1.67801634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22 meters 0.014472423132115522 Centerline is valid? [True, True] Translation: X:108.56, Y:23.04, Z:-1.68 [[ 9.13420055e-01 -4.06578002e-01 1.89243664e-02 1.08556788e+02] [ 4.06496268e-01 9.13616040e-01 8.15568911e-03 2.30435954e+01] [-2.06055285e-02 2.43114328e-04 9.99787654e-01 -1.67892242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28 meters 0.01468062077302142 Centerline is valid? [True, True] Translation: X:108.61, Y:23.07, Z:-1.68 [[ 9.12639411e-01 -4.08390587e-01 1.75052456e-02 1.08611713e+02] [ 4.08320882e-01 9.12807242e-01 7.54955045e-03 2.30660450e+01] [-1.90620803e-02 2.57740043e-04 9.99818269e-01 -1.68193033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33999999999999 meters 0.016518345786024256 Centerline is valid? [True, True] Translation: X:108.67, Y:23.09, Z:-1.69 [[ 9.11928338e-01 -4.09981181e-01 1.73821153e-02 1.08665980e+02] [ 4.09912644e-01 9.12093937e-01 7.50161558e-03 2.30892740e+01] [-1.89296432e-02 2.84213015e-04 9.99820778e-01 -1.68509346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39999999999999 meters 0.015017161385306543 Centerline is valid? [True, True] Translation: X:108.72, Y:23.11, Z:-1.68 [[ 9.12080682e-01 -4.09681281e-01 1.64340411e-02 1.08720605e+02] [ 4.09619884e-01 9.12228689e-01 7.09713383e-03 2.31116920e+01] [-1.78991667e-02 2.58551365e-04 9.99839764e-01 -1.68412914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46 meters 0.01492199315459815 Centerline is valid? [True, True] Translation: X:108.77, Y:23.14, Z:-1.69 [[ 9.12482987e-01 -4.08780325e-01 1.65361576e-02 1.08774422e+02] [ 4.08717927e-01 9.12632779e-01 7.14614622e-03 2.31350112e+01] [-1.80126435e-02 2.37887211e-04 9.99837731e-01 -1.68518782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52 meters 0.014707562268051215 Centerline is valid? [True, True] Translation: X:108.83, Y:23.16, Z:-1.69 [[ 9.12544760e-01 -4.08642315e-01 1.65384252e-02 1.08827684e+02] [ 4.08579787e-01 9.12694585e-01 7.15209697e-03 2.31584410e+01] [-1.80171806e-02 2.30657626e-04 9.99837651e-01 -1.68567306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58 meters 0.014386397601569716 Centerline is valid? [True, True] Translation: X:108.88, Y:23.18, Z:-1.69 [[ 9.13164038e-01 -4.07206419e-01 1.77305360e-02 1.08881599e+02] [ 4.07134161e-01 9.13336131e-01 7.67381202e-03 2.31825090e+01] [-1.93187647e-02 2.11257750e-04 9.99813353e-01 -1.68527075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64 meters 0.014373336483924368 Centerline is valid? [True, True] Translation: X:108.93, Y:23.21, Z:-1.68 [[ 9.13770783e-01 -4.05831216e-01 1.79994487e-02 1.08934494e+02] [ 4.05756390e-01 9.13948025e-01 7.79485970e-03 2.32054406e+01] [-1.96139580e-02 1.80676277e-04 9.99807611e-01 -1.68469892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69999999999999 meters 0.016397253447949713 Centerline is valid? [True, True] Translation: X:108.99, Y:23.23, Z:-1.69 [[ 9.14319499e-01 -4.04516528e-01 1.96527782e-02 1.08986881e+02] [ 4.04426943e-01 9.14530673e-01 8.51444284e-03 2.32313787e+01] [-2.14173013e-02 1.63191877e-04 9.99770610e-01 -1.68748610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75999999999999 meters 0.015164562622511491 Centerline is valid? [True, True] Translation: X:109.04, Y:23.26, Z:-1.69 [[ 9.15656163e-01 -4.01525799e-01 1.87303093e-02 1.09039855e+02] [ 4.01443679e-01 9.15847709e-01 8.12078625e-03 2.32576951e+01] [-2.04148161e-02 8.33162988e-05 9.99791592e-01 -1.68877670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82 meters 0.014607296590599485 Centerline is valid? [True, True] Translation: X:109.09, Y:23.28, Z:-1.69 [[ 9.16448475e-01 -3.99788160e-01 1.70768944e-02 1.09092261e+02] [ 3.99719517e-01 9.16607564e-01 7.40824633e-03 2.32816874e+01] [-1.86145397e-02 3.66919135e-05 9.99826734e-01 -1.68972192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88 meters 0.013523158123007558 Centerline is valid? [True, True] Translation: X:109.15, Y:23.31, Z:-1.69 [[ 9.17224317e-01 -3.98131143e-01 1.38255330e-02 1.09145503e+02] [ 3.98085936e-01 9.17328509e-01 5.99953191e-03 2.33052709e+01] [-1.50711561e-02 8.33712445e-07 9.99886424e-01 -1.69127024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94 meters 0.015034411751072686 Centerline is valid? [True, True] Translation: X:109.20, Y:23.33, Z:-1.69 [[ 9.17436563e-01 -3.97643952e-01 1.37637772e-02 1.09198004e+02] [ 3.97599024e-01 9.17539802e-01 5.97731348e-03 2.33289674e+01] [-1.50056559e-02 -1.13415700e-05 9.99887409e-01 -1.69482961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.0 meters 0.013564439761948694 Centerline is valid? [True, True] Translation: X:109.25, Y:23.35, Z:-1.69 [[ 9.18112528e-01 -3.96101386e-01 1.31558977e-02 1.09250900e+02] [ 3.96060119e-01 9.18206780e-01 5.71765126e-03 2.33522204e+01] [-1.43446041e-02 -3.89208370e-05 9.99897110e-01 -1.69379001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06 meters 0.013546343974452459 Centerline is valid? [True, True] Translation: X:109.30, Y:23.38, Z:-1.69 [[ 9.18481079e-01 -3.95236511e-01 1.34390681e-02 1.09303885e+02] [ 3.95193337e-01 9.18579391e-01 5.84203924e-03 2.33750732e+01] [-1.46538382e-02 -5.47723543e-05 9.99892625e-01 -1.69406294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11999999999999 meters 0.013689688691892346 Centerline is valid? [True, True] Translation: X:109.36, Y:23.40, Z:-1.69 [[ 9.19360623e-01 -3.93169681e-01 1.39156828e-02 1.09357788e+02] [ 3.93123083e-01 9.19465928e-01 6.05385570e-03 2.33986089e+01] [-1.51751887e-02 -9.51004298e-05 9.99884846e-01 -1.69398440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17999999999999 meters 0.017444258501376955 Centerline is valid? [True, True] Translation: X:109.41, Y:23.43, Z:-1.70 [[ 9.21492913e-01 -3.88192469e-01 1.25466573e-02 1.09410382e+02] [ 3.88154080e-01 9.21578309e-01 5.46162372e-03 2.34256427e+01] [-1.36828885e-02 -1.62811307e-04 9.99906372e-01 -1.69961657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24 meters 0.016451667487911333 Centerline is valid? [True, True] Translation: X:109.46, Y:23.45, Z:-1.70 [[ 9.22871061e-01 -3.84944704e-01 1.12507529e-02 1.09461932e+02] [ 3.84913553e-01 9.22939618e-01 4.90095528e-03 2.34514249e+01] [-1.22703624e-02 -1.92382531e-04 9.99924698e-01 -1.69936444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.3 meters 0.018663780491600335 Centerline is valid? [True, True] Translation: X:109.52, Y:23.47, Z:-1.70 [[ 9.24324134e-01 -3.81470306e-01 1.02616139e-02 1.09516229e+02] [ 3.81444174e-01 9.24381067e-01 4.47034488e-03 2.34744107e+01] [-1.11909454e-02 -2.17814830e-04 9.99937356e-01 -1.70360768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36 meters 0.01682114067523653 Centerline is valid? [True, True] Translation: X:109.57, Y:23.50, Z:-1.70 [[ 9.24576711e-01 -3.80919864e-01 7.61331240e-03 1.09569386e+02] [ 3.80905441e-01 9.24608041e-01 3.31906385e-03 2.34973730e+01] [-8.30362721e-03 -1.68777024e-04 9.99965510e-01 -1.70385667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42 meters 0.016799194387885394 Centerline is valid? [True, True] Translation: X:109.63, Y:23.52, Z:-1.71 [[ 9.24045969e-01 -3.82220685e-01 6.81140732e-03 1.09625339e+02] [ 3.82209182e-01 9.24071062e-01 2.96870369e-03 2.35162452e+01] [-7.42892436e-03 -1.39836254e-04 9.99972395e-01 -1.70624442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47999999999999 meters 0.016754221179380076 Centerline is valid? [True, True] Translation: X:109.68, Y:23.53, Z:-1.71 [[ 9.22902646e-01 -3.84970539e-01 6.95629040e-03 1.09682187e+02] [ 3.84958603e-01 9.22928854e-01 3.03401430e-03 2.35342340e+01] [-7.58816725e-03 -1.22215994e-04 9.99971202e-01 -1.70703080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53999999999999 meters 0.017198564777572912 Centerline is valid? [True, True] Translation: X:109.74, Y:23.55, Z:-1.71 [[ 9.21578315e-01 -3.88108523e-01 8.07359364e-03 1.09738022e+02] [ 3.88092538e-01 9.21613672e-01 3.52432653e-03 2.35526045e+01] [-8.80855545e-03 -1.14641455e-04 9.99961197e-01 -1.70806629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.6 meters 0.013734568942108926 Centerline is valid? [True, True] Translation: X:109.80, Y:23.57, Z:-1.70 [[ 9.19614091e-01 -3.92718760e-01 9.04979968e-03 1.09795023e+02] [ 3.92698866e-01 9.19658615e-01 3.95374007e-03 2.35704196e+01] [-9.87543414e-03 -8.20690057e-05 9.99951233e-01 -1.70490669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66 meters 0.013367287458554932 Centerline is valid? [True, True] Translation: X:109.85, Y:23.59, Z:-1.71 [[ 9.17023823e-01 -3.98736199e-01 8.76086620e-03 1.09851755e+02] [ 3.98717808e-01 9.17065670e-01 3.82966604e-03 2.35868818e+01] [-9.56131611e-03 -1.87816263e-05 9.99954289e-01 -1.70609555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72 meters 0.013297868984711182 Centerline is valid? [True, True] Translation: X:109.90, Y:23.61, Z:-1.71 [[ 9.17325624e-01 -3.98045329e-01 8.57997228e-03 1.09904355e+02] [ 3.98027639e-01 9.17365748e-01 3.75280224e-03 2.36118816e+01] [-9.36475809e-03 -2.74755489e-05 9.99956149e-01 -1.70698706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78 meters 0.013877996138214105 Centerline is valid? [True, True] Translation: X:109.96, Y:23.64, Z:-1.71 [[ 9.19779594e-01 -3.92375525e-01 6.85170660e-03 1.09955491e+02] [ 3.92364073e-01 9.19805111e-01 2.99859329e-03 2.36420494e+01] [-7.47880936e-03 -6.96814151e-05 9.99972031e-01 -1.70928297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83999999999999 meters 0.017261111410614555 Centerline is valid? [True, True] Translation: X:110.01, Y:23.67, Z:-1.71 [[ 9.21490614e-01 -3.88352951e-01 6.08557022e-03 1.10006606e+02] [ 3.88343811e-01 9.21510703e-01 2.66613156e-03 2.36708749e+01] [-6.64331816e-03 -9.35216746e-05 9.99977929e-01 -1.71404834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89999999999999 meters 0.017798838394001978 Centerline is valid? [True, True] Translation: X:110.06, Y:23.70, Z:-1.72 [[ 9.23010079e-01 -3.84726440e-01 6.16123083e-03 1.10057756e+02] [ 3.84716985e-01 9.23030634e-01 2.69995816e-03 2.36993815e+01] [-6.72575009e-03 -1.21758443e-04 9.99977374e-01 -1.71514875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96 meters 0.018412628827169507 Centerline is valid? [True, True] Translation: X:110.11, Y:23.72, Z:-1.72 [[ 9.23422096e-01 -3.83724380e-01 6.87262440e-03 1.10111084e+02] [ 3.83712591e-01 9.23447659e-01 3.01123257e-03 2.37245356e+01] [-7.50199226e-03 -1.43526173e-04 9.99971849e-01 -1.71584934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02 meters 0.018252663827146746 Centerline is valid? [True, True] Translation: X:110.16, Y:23.75, Z:-1.72 [[ 9.23873912e-01 -3.82622888e-01 7.53129836e-03 1.10162389e+02] [ 3.82608662e-01 9.23904593e-01 3.30375020e-03 2.37516124e+01] [-8.22229159e-03 -1.70708629e-04 9.99966182e-01 -1.71612096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08 meters 0.017913621863974195 Centerline is valid? [True, True] Translation: X:110.22, Y:23.78, Z:-1.72 [[ 9.24217214e-01 -3.81799642e-01 7.18159419e-03 1.10215909e+02] [ 3.81786686e-01 9.24245100e-01 3.14982577e-03 2.37773126e+01] [-7.84015559e-03 -1.69286155e-04 9.99969251e-01 -1.71625231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14 meters 0.016667617969385113 Centerline is valid? [True, True] Translation: X:110.27, Y:23.80, Z:-1.72 [[ 9.24514893e-01 -3.81081308e-01 7.01778464e-03 1.10269040e+02] [ 3.81068901e-01 9.24541512e-01 3.07987789e-03 2.38020670e+01] [-7.66191712e-03 -1.73133502e-04 9.99970632e-01 -1.71617235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19999999999999 meters 0.017684901391460055 Centerline is valid? [True, True] Translation: X:110.32, Y:23.83, Z:-1.72 [[ 9.23937846e-01 -3.82486669e-01 6.54262104e-03 1.10323453e+02] [ 3.82475909e-01 9.23960998e-01 2.87296665e-03 2.38252249e+01] [-7.14399810e-03 -1.52047686e-04 9.99974470e-01 -1.71989646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25999999999999 meters 0.017840878203734745 Centerline is valid? [True, True] Translation: X:110.38, Y:23.85, Z:-1.72 [[ 9.22806262e-01 -3.85202759e-01 6.88745989e-03 1.10378045e+02] [ 3.85190893e-01 9.22831954e-01 3.02669741e-03 2.38474236e+01] [-7.52186026e-03 -1.40068496e-04 9.99971701e-01 -1.72102651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32 meters 0.014340749202118567 Centerline is valid? [True, True] Translation: X:110.43, Y:23.87, Z:-1.72 [[ 9.20519388e-01 -3.90618228e-01 7.83943767e-03 1.10434033e+02] [ 3.90603015e-01 9.20552762e-01 3.44923468e-03 2.38671964e+01] [-8.56394994e-03 -1.12979409e-04 9.99963322e-01 -1.71695185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38 meters 0.01611714211224352 Centerline is valid? [True, True] Translation: X:110.49, Y:23.89, Z:-1.72 [[ 9.18172130e-01 -3.96111454e-01 7.46028618e-03 1.10489730e+02] [ 3.96097864e-01 9.18202435e-01 3.28178261e-03 2.38877966e+01] [-8.15000463e-03 -5.82379133e-05 9.99966786e-01 -1.72130971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44 meters 0.015053697155466745 Centerline is valid? [True, True] Translation: X:110.54, Y:23.91, Z:-1.72 [[ 9.15724091e-01 -4.01716133e-01 8.57535571e-03 1.10544940e+02] [ 4.01698395e-01 9.15764243e-01 3.77508955e-03 2.39082293e+01] [-9.36951850e-03 -1.22338190e-05 9.99956105e-01 -1.72200225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.5 meters 0.013220468055541107 Centerline is valid? [True, True] Translation: X:110.60, Y:23.93, Z:-1.72 [[ 9.13523281e-01 -4.06695967e-01 8.57939715e-03 1.10599040e+02] [ 4.06678403e-01 9.13563566e-01 3.77983623e-03 2.39278002e+01] [-9.37506881e-03 3.60871356e-05 9.99956052e-01 -1.72045377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56 meters 0.015238785202136514 Centerline is valid? [True, True] Translation: X:110.65, Y:23.95, Z:-1.72 [[ 9.11278860e-01 -4.11735060e-01 6.71417839e-03 1.10654387e+02] [ 4.11724437e-01 9.11303591e-01 2.95848574e-03 2.39479832e+01] [-7.33676719e-03 6.83858045e-05 9.99973083e-01 -1.72437246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61999999999999 meters 0.014082152742492613 Centerline is valid? [True, True] Translation: X:110.71, Y:23.97, Z:-1.72 [[ 9.10410386e-01 -4.13660051e-01 6.18802255e-03 1.10707652e+02] [ 4.13651052e-01 9.10431412e-01 2.72948653e-03 2.39694092e+01] [-6.76284965e-03 7.47291588e-05 9.99977129e-01 -1.72359834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67999999999999 meters 0.014444167593776773 Centerline is valid? [True, True] Translation: X:110.76, Y:23.99, Z:-1.73 [[ 9.09645710e-01 -4.15346829e-01 5.62979066e-03 1.10762562e+02] [ 4.15339418e-01 9.09663127e-01 2.48247049e-03 2.39918810e+01] [-6.15229923e-03 8.01053455e-05 9.99981071e-01 -1.72509150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74 meters 0.014509288385313034 Centerline is valid? [True, True] Translation: X:110.82, Y:24.01, Z:-1.73 [[ 9.08584219e-01 -4.17665310e-01 5.51416923e-03 1.10816896e+02] [ 4.17658234e-01 9.08600947e-01 2.43291679e-03 2.40148770e+01] [-6.02632433e-03 9.25283801e-05 9.99981837e-01 -1.72596616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.8 meters 0.0166620517887655 Centerline is valid? [True, True] Translation: X:110.87, Y:24.04, Z:-1.73 [[ 9.08163009e-01 -4.18570083e-01 6.24779032e-03 1.10869923e+02] [ 4.18560995e-01 9.08184493e-01 2.76047240e-03 2.40369327e+01] [-6.82959744e-03 1.08122408e-04 9.99976672e-01 -1.72897108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86 meters 0.017600004856746582 Centerline is valid? [True, True] Translation: X:110.92, Y:24.06, Z:-1.73 [[ 9.08112789e-01 -4.18642375e-01 8.35011138e-03 1.10924001e+02] [ 4.18626141e-01 9.08151166e-01 3.68966607e-03 2.40612810e+01] [-9.12781396e-03 1.44941954e-04 9.99958330e-01 -1.72774216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92 meters 0.014127080531333215 Centerline is valid? [True, True] Translation: X:110.98, Y:24.09, Z:-1.72 [[ 9.08845889e-01 -4.17011134e-01 1.00431144e-02 1.10977524e+02] [ 4.16987507e-01 9.08901365e-01 4.44153024e-03 2.40863111e+01] [-1.09803679e-02 1.51186717e-04 9.99939703e-01 -1.72320834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97999999999999 meters 0.01634726655904484 Centerline is valid? [True, True] Translation: X:111.03, Y:24.11, Z:-1.73 [[ 9.09564946e-01 -4.15470298e-01 8.72005086e-03 1.11031130e+02] [ 4.15452396e-01 9.09606738e-01 3.85849891e-03 2.41111540e+01] [-9.53490871e-03 1.13210673e-04 9.99954535e-01 -1.72875276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03999999999999 meters 0.01756359562769977 Centerline is valid? [True, True] Translation: X:111.08, Y:24.14, Z:-1.73 [[ 9.10809086e-01 -4.12773524e-01 6.69532770e-03 1.11083929e+02] [ 4.12762889e-01 9.10833692e-01 2.96364653e-03 2.41366266e+01] [-7.32164487e-03 6.42666204e-05 9.99973194e-01 -1.73250385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.1 meters 0.015275396661073528 Centerline is valid? [True, True] Translation: X:111.14, Y:24.16, Z:-1.73 [[ 9.12606491e-01 -4.08799545e-01 5.68547932e-03 1.11136354e+02] [ 4.08791793e-01 9.12624201e-01 2.51769023e-03 2.41637649e+01] [-6.21793664e-03 2.65168328e-05 9.99980668e-01 -1.73276350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16 meters 0.013331394494385309 Centerline is valid? [True, True] Translation: X:111.19, Y:24.19, Z:-1.73 [[ 9.13734171e-01 -4.06263553e-01 6.30795749e-03 1.11189553e+02] [ 4.06253934e-01 9.13755944e-01 2.79567737e-03 2.41893528e+01] [-6.89971548e-03 8.12660477e-06 9.99976197e-01 -1.73039049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22 meters 0.0159025929111947 Centerline is valid? [True, True] Translation: X:111.24, Y:24.21, Z:-1.73 [[ 9.13733865e-01 -4.06259604e-01 6.59989993e-03 1.11242894e+02] [ 4.06249061e-01 9.13757700e-01 2.92691219e-03 2.42129942e+01] [-7.21979557e-03 6.78436172e-06 9.99973937e-01 -1.73358402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28 meters 0.014355599662550317 Centerline is valid? [True, True] Translation: X:111.30, Y:24.24, Z:-1.73 [[ 9.14517876e-01 -4.04464516e-01 8.09379919e-03 1.11296694e+02] [ 4.04448556e-01 9.14553692e-01 3.59314436e-03 2.42362994e+01] [-8.85551333e-03 -1.24693550e-05 9.99960789e-01 -1.73039174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33999999999999 meters 0.016365503852514365 Centerline is valid? [True, True] Translation: X:111.35, Y:24.26, Z:-1.73 [[ 9.14835307e-01 -4.03755688e-01 7.59636145e-03 1.11349413e+02] [ 4.03741585e-01 9.14866845e-01 3.37463611e-03 2.42602331e+01] [-8.31218776e-03 -2.02692441e-05 9.99965453e-01 -1.73355538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39999999999999 meters 0.015590471504411717 Centerline is valid? [True, True] Translation: X:111.40, Y:24.29, Z:-1.73 [[ 9.15713626e-01 -4.01770269e-01 7.01475628e-03 1.11402105e+02] [ 4.01758157e-01 9.15740493e-01 3.11988019e-03 2.42854235e+01] [-7.67717148e-03 -3.86812464e-05 9.99970529e-01 -1.73499791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46 meters 0.013737304665948698 Centerline is valid? [True, True] Translation: X:111.46, Y:24.31, Z:-1.73 [[ 9.16867707e-01 -3.99138631e-01 6.47768769e-03 1.11455557e+02] [ 3.99128243e-01 9.16890588e-01 2.88019377e-03 2.43102012e+01] [-7.08892748e-03 -5.53285527e-05 9.99974872e-01 -1.73380433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52 meters 0.016975859874800138 Centerline is valid? [True, True] Translation: X:111.51, Y:24.33, Z:-1.74 [[ 9.16925584e-01 -3.99023068e-01 5.29764839e-03 1.11508926e+02] [ 3.99016114e-01 9.16940886e-01 2.35635158e-03 2.43342237e+01] [-5.79786905e-03 -4.67519767e-05 9.99983191e-01 -1.73881011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58 meters 0.01440545577563072 Centerline is valid? [True, True] Translation: X:111.56, Y:24.36, Z:-1.74 [[ 9.16692029e-01 -3.99559203e-01 5.30737995e-03 1.11563024e+02] [ 3.99552218e-01 9.16707391e-01 2.36295027e-03 2.43568289e+01] [-5.80945295e-03 -4.55222502e-05 9.99983124e-01 -1.73645827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64 meters 0.01587824411189706 Centerline is valid? [True, True] Translation: X:111.62, Y:24.38, Z:-1.74 [[ 9.14203740e-01 -4.05219256e-01 5.37374839e-03 1.11617791e+02] [ 4.05212190e-01 9.14219533e-01 2.39295940e-03 2.43777717e+01] [-5.88245897e-03 -1.01440821e-05 9.99982698e-01 -1.74000435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69999999999999 meters 0.013045661978210036 Centerline is valid? [True, True] Translation: X:111.67, Y:24.40, Z:-1.74 [[ 9.13057570e-01 -4.07769701e-01 7.05301094e-03 1.11672609e+02] [ 4.07757579e-01 9.13084810e-01 3.14421963e-03 2.43997385e+01] [-7.72211465e-03 5.06513290e-06 9.99970184e-01 -1.73606844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75999999999999 meters 0.013944394505878808 Centerline is valid? [True, True] Translation: X:111.73, Y:24.42, Z:-1.74 [[ 9.11910608e-01 -4.10314249e-01 7.82684046e-03 1.11725991e+02] [ 4.10299392e-01 9.11944196e-01 3.49173722e-03 2.44219109e+01] [-8.57035126e-03 2.71956745e-05 9.99963273e-01 -1.73781919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82 meters 0.0143169364668139 Centerline is valid? [True, True] Translation: X:111.78, Y:24.45, Z:-1.74 [[ 9.11671270e-01 -4.10855871e-01 7.27662254e-03 1.11778296e+02] [ 4.10843030e-01 9.11700309e-01 3.24840796e-03 2.44466777e+01] [-7.96872649e-03 2.80694445e-05 9.99968249e-01 -1.73990522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88 meters 0.013356780807808687 Centerline is valid? [True, True] Translation: X:111.83, Y:24.47, Z:-1.74 [[ 9.12185390e-01 -4.09705241e-01 7.70913042e-03 1.11830086e+02] [ 4.09690762e-01 9.12217965e-01 3.44441774e-03 2.44724759e+01] [-8.44360326e-03 1.64119794e-05 9.99964352e-01 -1.73953249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94 meters 0.01293215154031818 Centerline is valid? [True, True] Translation: X:111.88, Y:24.50, Z:-1.74 [[ 9.13799769e-01 -4.06091234e-01 7.73898154e-03 1.11881004e+02] [ 4.06076491e-01 9.13832539e-01 3.46035370e-03 2.45005495e+01] [-8.47735245e-03 -1.94519416e-05 9.99964066e-01 -1.73844165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.0 meters 0.014809987898177468 Centerline is valid? [True, True] Translation: X:111.93, Y:24.53, Z:-1.74 [[ 9.14479236e-01 -4.04567104e-01 7.29282444e-03 1.11933472e+02] [ 4.04553943e-01 9.14508315e-01 3.26336590e-03 2.45270742e+01] [-7.98959908e-03 -3.39394676e-05 9.99968082e-01 -1.74246804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06 meters 0.014975613609343647 Centerline is valid? [True, True] Translation: X:111.98, Y:24.55, Z:-1.74 [[ 9.15082661e-01 -4.03181676e-01 8.26192229e-03 1.11984998e+02] [ 4.03164705e-01 9.15119955e-01 3.69972952e-03 2.45531184e+01] [-9.05231311e-03 -5.46428750e-05 9.99959025e-01 -1.74286227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11999999999999 meters 0.015845793225196803 Centerline is valid? [True, True] Translation: X:112.04, Y:24.58, Z:-1.74 [[ 9.14555023e-01 -4.04370440e-01 8.58241878e-03 1.12037937e+02] [ 4.04352149e-01 9.14595290e-01 3.84640744e-03 2.45775157e+01] [-9.40481326e-03 -4.74317723e-05 9.99955773e-01 -1.74457279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17999999999999 meters 0.013335103663476455 Centerline is valid? [True, True] Translation: X:112.09, Y:24.60, Z:-1.74 [[ 9.14164678e-01 -4.05248496e-01 8.75209588e-03 1.12090677e+02] [ 4.05229473e-01 9.14206571e-01 3.92674637e-03 2.46004973e+01] [-9.59253163e-03 -4.30856325e-05 9.99953990e-01 -1.74159164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24 meters 0.013421976854564482 Centerline is valid? [True, True] Translation: X:112.14, Y:24.62, Z:-1.74 [[ 9.13425746e-01 -4.06930422e-01 7.81271333e-03 1.12144250e+02] [ 4.06915332e-01 9.13459157e-01 3.50454867e-03 2.46226671e+01] [-8.56270200e-03 -2.20321471e-05 9.99963339e-01 -1.74219508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.3 meters 0.013385284195695119 Centerline is valid? [True, True] Translation: X:112.20, Y:24.65, Z:-1.74 [[ 9.12232010e-01 -4.09609869e-01 7.24677824e-03 1.12198267e+02] [ 4.09596953e-01 9.12260793e-01 3.25280618e-03 2.46452151e+01] [-7.94333318e-03 9.44365313e-07 9.99968451e-01 -1.74379064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36 meters 0.016896489867615116 Centerline is valid? [True, True] Translation: X:112.25, Y:24.67, Z:-1.75 [[ 9.11328554e-01 -4.11614918e-01 7.30931061e-03 1.12250812e+02] [ 4.11601823e-01 9.11357865e-01 3.28339909e-03 2.46689451e+01] [-8.01289377e-03 1.62702288e-05 9.99967896e-01 -1.74946631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42 meters 0.013367096958150334 Centerline is valid? [True, True] Translation: X:112.30, Y:24.69, Z:-1.75 [[ 9.11058077e-01 -4.12194581e-01 8.29502639e-03 1.12304319e+02] [ 4.12177696e-01 9.11095838e-01 3.73102671e-03 2.46922859e+01] [-9.09547302e-03 1.98428451e-05 9.99958635e-01 -1.74616720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47999999999999 meters 0.01341212819306932 Centerline is valid? [True, True] Translation: X:112.36, Y:24.71, Z:-1.75 [[ 9.10433132e-01 -4.13575090e-01 8.19498811e-03 1.12357982e+02] [ 4.13558669e-01 9.10470013e-01 3.68558862e-03 2.47149091e+01] [-8.98555858e-03 3.36263806e-05 9.99959628e-01 -1.74736871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53999999999999 meters 0.01579592495233597 Centerline is valid? [True, True] Translation: X:112.41, Y:24.74, Z:-1.75 [[ 9.10001698e-01 -4.14506695e-01 9.00606765e-03 1.12410818e+02] [ 4.14486873e-01 9.10046261e-01 4.05388690e-03 2.47393194e+01] [-9.87630145e-03 4.38528568e-05 9.99951227e-01 -1.75115144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.6 meters 0.01572576669566207 Centerline is valid? [True, True] Translation: X:112.46, Y:24.76, Z:-1.75 [[ 9.10061347e-01 -4.14350084e-01 1.01169106e-02 1.12463691e+02] [ 4.14325007e-01 9.10117578e-01 4.55881292e-03 2.47632817e+01] [-1.10965227e-02 4.28896374e-05 9.99938431e-01 -1.75193427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66 meters 0.01586565890368446 Centerline is valid? [True, True] Translation: X:112.52, Y:24.79, Z:-1.75 [[ 9.10707098e-01 -4.12933255e-01 9.93524450e-03 1.12515084e+02] [ 4.12908976e-01 9.10761290e-01 4.47782057e-03 2.47875149e+01] [-1.08976771e-02 2.43686545e-05 9.99940618e-01 -1.75444845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72 meters 0.01655239556776337 Centerline is valid? [True, True] Translation: X:112.57, Y:24.81, Z:-1.76 [[ 9.11345488e-01 -4.11527191e-01 9.73517006e-03 1.12567841e+02] [ 4.11503794e-01 9.11397483e-01 4.38819516e-03 2.48124772e+01] [-1.06784711e-02 6.89755237e-06 9.99942983e-01 -1.75587926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78 meters 0.014767687985072726 Centerline is valid? [True, True] Translation: X:112.62, Y:24.84, Z:-1.75 [[ 9.12049955e-01 -4.09917533e-01 1.15106936e-02 1.12620059e+02] [ 4.09884633e-01 9.12122588e-01 5.19339527e-03 2.48377966e+01] [-1.26280274e-02 -1.85794906e-05 9.99920263e-01 -1.75432385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83999999999999 meters 0.014035211377755335 Centerline is valid? [True, True] Translation: X:112.67, Y:24.86, Z:-1.75 [[ 9.11939409e-01 -4.10107874e-01 1.33433965e-02 1.12672661e+02] [ 4.10063606e-01 9.12037023e-01 6.02561568e-03 2.48614719e+01] [-1.46408241e-02 -2.33551159e-05 9.99892817e-01 -1.75363142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89999999999999 meters 0.01321322603533303 Centerline is valid? [True, True] Translation: X:112.73, Y:24.88, Z:-1.75 [[ 9.11414713e-01 -4.11254718e-01 1.38844395e-02 1.12726529e+02] [ 4.11206845e-01 9.11520464e-01 6.27486418e-03 2.48834355e+01] [-1.52365183e-02 -9.62696248e-06 9.99883917e-01 -1.75362189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96 meters 0.013252439180072888 Centerline is valid? [True, True] Translation: X:112.78, Y:24.91, Z:-1.76 [[ 9.11124319e-01 -4.11923300e-01 1.31022593e-02 1.12780283e+02] [ 4.11880678e-01 9.11218522e-01 5.92559253e-03 2.49066755e+01] [-1.43799110e-02 -2.38401282e-06 9.99896604e-01 -1.75616358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02 meters 0.013275558645692255 Centerline is valid? [True, True] Translation: X:112.83, Y:24.93, Z:-1.76 [[ 9.10943365e-01 -4.12344369e-01 1.24220640e-02 1.12833441e+02] [ 4.12306041e-01 9.11028058e-01 5.62198869e-03 2.49307322e+01] [-1.36350442e-02 3.78721900e-07 9.99907038e-01 -1.75806182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08 meters 0.01325416637512344 Centerline is valid? [True, True] Translation: X:112.89, Y:24.96, Z:-1.76 [[ 9.10728268e-01 -4.12817071e-01 1.24934907e-02 1.12885250e+02] [ 4.12778287e-01 9.10813958e-01 5.65861864e-03 2.49559641e+01] [-1.37152201e-02 3.57774326e-06 9.99905942e-01 -1.75944794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14 meters 0.013293666799202073 Centerline is valid? [True, True] Translation: X:112.94, Y:24.98, Z:-1.76 [[ 9.09411688e-01 -4.15674510e-01 1.36045534e-02 1.12937776e+02] [ 4.15628763e-01 9.09513441e-01 6.16700265e-03 2.49813792e+01] [-1.49369899e-02 4.60994048e-05 9.99888436e-01 -1.75989099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19999999999999 meters 0.015190868368710732 Centerline is valid? [True, True] Translation: X:112.99, Y:25.00, Z:-1.76 [[ 9.07607444e-01 -4.19577817e-01 1.42542487e-02 1.12990819e+02] [ 4.19528052e-01 9.07719363e-01 6.46308080e-03 2.50038549e+01] [-1.56506229e-02 1.14116967e-04 9.99877515e-01 -1.76312700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25999999999999 meters 0.014465134417416092 Centerline is valid? [True, True] Translation: X:113.05, Y:25.02, Z:-1.76 [[ 9.04019379e-01 -4.27238934e-01 1.46920529e-02 1.13046386e+02] [ 4.27187048e-01 9.04138722e-01 6.66308289e-03 2.50249363e+01] [-1.61303824e-02 2.52698650e-04 9.99869865e-01 -1.76117745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32 meters 0.015299384314570248 Centerline is valid? [True, True] Translation: X:113.10, Y:25.05, Z:-1.76 [[ 9.02161123e-01 -4.31138100e-01 1.50082527e-02 1.13100058e+02] [ 4.31084477e-01 9.02285892e-01 6.80753800e-03 2.50481123e+01] [-1.64767237e-02 3.28328639e-04 9.99864196e-01 -1.76237968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38 meters 0.015391255174262502 Centerline is valid? [True, True] Translation: X:113.15, Y:25.07, Z:-1.76 [[ 9.01774609e-01 -4.31988994e-01 1.37136373e-02 1.13152755e+02] [ 4.31944302e-01 9.01878823e-01 6.22166916e-03 2.50742791e+01] [-1.50557317e-02 3.12984232e-04 9.99886607e-01 -1.76493306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44 meters 0.015005182627959102 Centerline is valid? [True, True] Translation: X:113.21, Y:25.10, Z:-1.77 [[ 9.02708417e-01 -4.30076953e-01 1.23015327e-02 1.13206145e+02] [ 4.30040769e-01 9.02792198e-01 5.58433970e-03 2.51004519e+01] [-1.35074236e-02 2.49130129e-04 9.99908740e-01 -1.76656377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.5 meters 0.013973413833772336 Centerline is valid? [True, True] Translation: X:113.26, Y:25.13, Z:-1.77 [[ 9.05565050e-01 -4.24055840e-01 1.13395352e-02 1.13257020e+02] [ 4.24024580e-01 9.05636033e-01 5.15094256e-03 2.51302978e+01] [-1.24537790e-02 1.43728101e-04 9.99922438e-01 -1.76871168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56 meters 0.01330616791706044 Centerline is valid? [True, True] Translation: X:113.31, Y:25.16, Z:-1.77 [[ 9.08051042e-01 -4.18700887e-01 1.15270605e-02 1.13308276e+02] [ 4.18668144e-01 9.08124200e-01 5.23666519e-03 2.51600489e+01] [-1.26605990e-02 7.08537677e-05 9.99919849e-01 -1.76973310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61999999999999 meters 0.016488402801592354 Centerline is valid? [True, True] Translation: X:113.36, Y:25.19, Z:-1.77 [[ 9.11796928e-01 -4.10480511e-01 1.14939821e-02 1.13357172e+02] [ 4.10447259e-01 9.11869370e-01 5.22490548e-03 2.51920869e+01] [-1.26257321e-02 -4.63793258e-05 9.99920291e-01 -1.77295797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67999999999999 meters 0.017893394450066494 Centerline is valid? [True, True] Translation: X:113.41, Y:25.22, Z:-1.77 [[ 9.14321775e-01 -4.04809182e-01 1.20506425e-02 1.13408022e+02] [ 4.04772074e-01 9.14401174e-01 5.48273905e-03 2.52213420e+01] [-1.32385847e-02 -1.35224152e-04 9.99912357e-01 -1.77408582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74 meters 0.016768932742170853 Centerline is valid? [True, True] Translation: X:113.46, Y:25.25, Z:-1.77 [[ 9.17570749e-01 -3.97336237e-01 1.37052981e-02 1.13459034e+02] [ 3.97287376e-01 9.17673056e-01 6.23724870e-03 2.52519683e+01] [-1.50552677e-02 -2.78175039e-04 9.99886624e-01 -1.77282056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.8 meters 0.015852093455954824 Centerline is valid? [True, True] Translation: X:113.51, Y:25.28, Z:-1.77 [[ 9.18831917e-01 -3.94386187e-01 1.44028761e-02 1.13511901e+02] [ 3.94331845e-01 9.18944730e-01 6.55586822e-03 2.52780228e+01] [-1.58209910e-02 -3.44228267e-04 9.99874781e-01 -1.77060824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86 meters 0.0166335151362844 Centerline is valid? [True, True] Translation: X:113.56, Y:25.30, Z:-1.77 [[ 9.19435614e-01 -3.92974626e-01 1.44601167e-02 1.13564777e+02] [ 3.92919605e-01 9.19549239e-01 6.58639954e-03 2.53045360e+01] [-1.58850772e-02 -3.74106975e-04 9.99873754e-01 -1.77131355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92 meters 0.018948434750262647 Centerline is valid? [True, True] Translation: X:113.62, Y:25.33, Z:-1.78 [[ 9.19742123e-01 -3.92354317e-01 1.15115864e-02 1.13617323e+02] [ 3.92319366e-01 9.19814109e-01 5.24600833e-03 2.53309435e+01] [-1.26468136e-02 -3.08756567e-04 9.99919978e-01 -1.77800674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97999999999999 meters 0.019263527201087757 Centerline is valid? [True, True] Translation: X:113.67, Y:25.36, Z:-1.78 [[ 9.19234627e-01 -3.93621859e-01 8.33858289e-03 1.13670129e+02] [ 3.93603550e-01 9.19272422e-01 3.80248633e-03 2.53555343e+01] [-9.16217103e-03 -2.13281277e-04 9.99958004e-01 -1.78247660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03999999999999 meters 0.016902849159985304 Centerline is valid? [True, True] Translation: X:113.73, Y:25.38, Z:-1.78 [[ 9.18159169e-01 -3.96145263e-01 7.25747509e-03 1.13725493e+02] [ 3.96131478e-01 9.18187837e-01 3.30878000e-03 2.53761908e+01] [-7.97448288e-03 -1.63072362e-04 9.99968190e-01 -1.78239972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.1 meters 0.014874928076177107 Centerline is valid? [True, True] Translation: X:113.78, Y:25.40, Z:-1.78 [[ 9.16767169e-01 -3.99342111e-01 7.98981140e-03 1.13779528e+02] [ 3.99325489e-01 9.16801972e-01 3.64669742e-03 2.53979331e+01] [-8.78135469e-03 -1.52637118e-04 9.99961432e-01 -1.78053830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16 meters 0.013435299632523838 Centerline is valid? [True, True] Translation: X:113.84, Y:25.42, Z:-1.78 [[ 9.14150059e-01 -4.05252542e-01 1.00023153e-02 1.13836012e+02] [ 4.05226829e-01 9.14204770e-01 4.56676654e-03 2.54159073e+01] [-1.09948581e-02 -1.21503391e-04 9.99939547e-01 -1.77818772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22 meters 0.013024441845582442 Centerline is valid? [True, True] Translation: X:113.89, Y:25.44, Z:-1.78 [[ 9.12270230e-01 -4.09432716e-01 1.13083028e-02 1.13890170e+02] [ 4.09400155e-01 9.12340312e-01 5.16414510e-03 2.54361235e+01] [-1.24313905e-02 -8.14749028e-05 9.99922724e-01 -1.77724977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28 meters 0.015115158971829917 Centerline is valid? [True, True] Translation: X:113.95, Y:25.46, Z:-1.78 [[ 9.10144943e-01 -4.14142683e-01 1.10463263e-02 1.13945023e+02] [ 4.14111952e-01 9.10211974e-01 5.04515052e-03 2.54570060e+01] [-1.21439106e-02 -1.74024890e-05 9.99926260e-01 -1.78056794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33999999999999 meters 0.012721711947618774 Centerline is valid? [True, True] Translation: X:114.00, Y:25.48, Z:-1.78 [[ 9.08481209e-01 -4.17754098e-01 1.19752661e-02 1.13999015e+02] [ 4.17718243e-01 9.08560131e-01 5.47331620e-03 2.54781053e+01] [-1.31667496e-02 2.98821851e-05 9.99913314e-01 -1.77820108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39999999999999 meters 0.013992874143049424 Centerline is valid? [True, True] Translation: X:114.05, Y:25.50, Z:-1.78 [[ 9.05777165e-01 -4.23582820e-01 1.20549960e-02 1.14054189e+02] [ 4.23546943e-01 9.05857374e-01 5.51406359e-03 2.54991685e+01] [-1.32557696e-02 1.11343795e-04 9.99912132e-01 -1.78025326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46 meters 0.013406581055201804 Centerline is valid? [True, True] Translation: X:114.11, Y:25.52, Z:-1.78 [[ 9.04686620e-01 -4.25885695e-01 1.27864885e-02 1.14108694e+02] [ 4.25845504e-01 9.04776963e-01 5.85278223e-03 2.55228345e+01] [-1.40615365e-02 1.50134877e-04 9.99901120e-01 -1.77978999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52 meters 0.013587210130502162 Centerline is valid? [True, True] Translation: X:114.16, Y:25.55, Z:-1.78 [[ 9.04072092e-01 -4.27211498e-01 1.19995686e-02 1.14162626e+02] [ 4.27176173e-01 9.04151708e-01 5.49597117e-03 2.55469399e+01] [-1.31973726e-02 1.57175651e-04 9.99912899e-01 -1.78115033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58 meters 0.013411657878417992 Centerline is valid? [True, True] Translation: X:114.22, Y:25.57, Z:-1.78 [[ 9.04557072e-01 -4.26208355e-01 1.10879129e-02 1.14215449e+02] [ 4.26178082e-01 9.04625017e-01 5.08141538e-03 2.55727848e+01] [-1.21961451e-02 1.28995234e-04 9.99925616e-01 -1.78242000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64 meters 0.015706181685703084 Centerline is valid? [True, True] Translation: X:114.27, Y:25.60, Z:-1.79 [[ 9.06838789e-01 -4.21366971e-01 9.65852965e-03 1.14266354e+02] [ 4.21343690e-01 9.06890221e-01 4.42959449e-03 2.56005217e+01] [-1.06257109e-02 5.26324264e-05 9.99943544e-01 -1.78764615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69999999999999 meters 0.012839904108334165 Centerline is valid? [True, True] Translation: X:114.32, Y:25.63, Z:-1.79 [[ 9.09775057e-01 -4.14975510e-01 1.02308860e-02 1.14318203e+02] [ 4.14948978e-01 9.09832581e-01 4.69259542e-03 2.56297563e+01] [-1.12557056e-02 -2.39105630e-05 9.99936652e-01 -1.78620258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75999999999999 meters 0.013970146832904493 Centerline is valid? [True, True] Translation: X:114.37, Y:25.66, Z:-1.79 [[ 9.14216674e-01 -4.05110979e-01 9.64196140e-03 1.14369116e+02] [ 4.05086831e-01 9.14267508e-01 4.42533503e-03 2.56615684e+01] [-1.06080838e-02 -1.39883484e-04 9.99943723e-01 -1.78837399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82 meters 0.015207378425856113 Centerline is valid? [True, True] Translation: X:114.42, Y:25.69, Z:-1.79 [[ 9.16948119e-01 -3.98893490e-01 9.49371781e-03 1.14420955e+02] [ 3.98869711e-01 9.16997241e-01 4.36059864e-03 2.56903221e+01] [-1.04451274e-02 -2.11686248e-04 9.99945426e-01 -1.78948672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88 meters 0.018399369835289277 Centerline is valid? [True, True] Translation: X:114.47, Y:25.72, Z:-1.79 [[ 9.18731357e-01 -3.94767270e-01 9.56533674e-03 1.14474080e+02] [ 3.94742907e-01 9.18781114e-01 4.39352873e-03 2.57179714e+01] [-1.05228721e-02 -2.60623789e-04 9.99944599e-01 -1.79368596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94 meters 0.017757740826353167 Centerline is valid? [True, True] Translation: X:114.53, Y:25.75, Z:-1.79 [[ 9.20693435e-01 -3.90113369e-01 1.16257263e-02 1.14526444e+02] [ 3.90076964e-01 9.20766752e-01 5.34329544e-03 2.57461726e+01] [-1.27890732e-02 -3.84609029e-04 9.99918142e-01 -1.79003871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.0 meters 0.018436344774831977 Centerline is valid? [True, True] Translation: X:114.58, Y:25.77, Z:-1.79 [[ 9.20829392e-01 -3.89781134e-01 1.19957669e-02 1.14579272e+02] [ 3.89742341e-01 9.20907436e-01 5.51378697e-03 2.57722589e+01] [-1.31961611e-02 -4.01998829e-04 9.99912846e-01 -1.79118384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06 meters 0.019348485546668785 Centerline is valid? [True, True] Translation: X:114.63, Y:25.80, Z:-1.80 [[ 9.19535896e-01 -3.92834729e-01 1.16021996e-02 1.14632708e+02] [ 3.92798633e-01 9.19609022e-01 5.33675742e-03 2.57954573e+01] [-1.27659511e-02 -3.50011891e-04 9.99918451e-01 -1.79634436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11999999999999 meters 0.01893670836321163 Centerline is valid? [True, True] Translation: X:114.69, Y:25.82, Z:-1.80 [[ 9.18221888e-01 -3.95940148e-01 9.99814972e-03 1.14687946e+02] [ 3.95913528e-01 9.18276282e-01 4.59881644e-03 2.58163745e+01] [-1.10019198e-02 -2.64331193e-04 9.99939442e-01 -1.79932915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17999999999999 meters 0.015605316206980423 Centerline is valid? [True, True] Translation: X:114.74, Y:25.84, Z:-1.80 [[ 9.16602672e-01 -3.99696254e-01 9.08001173e-03 1.14743294e+02] [ 3.99674449e-01 9.16647622e-01 4.17989138e-03 2.58376690e+01] [-9.99385809e-03 -2.02250923e-04 9.99950040e-01 -1.79816701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24 meters 0.014762472319684423 Centerline is valid? [True, True] Translation: X:114.80, Y:25.86, Z:-1.80 [[ 9.15074281e-01 -4.03202964e-01 8.15045855e-03 1.14797668e+02] [ 4.03185539e-01 9.15110566e-01 3.75136909e-03 2.58598351e+01] [-8.97113388e-03 -1.46634350e-04 9.99959748e-01 -1.80035756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.3 meters 0.015276895759778005 Centerline is valid? [True, True] Translation: X:114.85, Y:25.88, Z:-1.80 [[ 9.13332897e-01 -4.07150534e-01 7.17376102e-03 1.14852614e+02] [ 4.07137143e-01 9.13361064e-01 3.30351086e-03 2.58817373e+01] [-7.89726021e-03 -9.65005698e-05 9.99968811e-01 -1.80373446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36 meters 0.013206472078239983 Centerline is valid? [True, True] Translation: X:114.91, Y:25.90, Z:-1.80 [[ 9.10466641e-01 -4.13513124e-01 7.57571395e-03 1.14908696e+02] [ 4.13498390e-01 9.10498157e-01 3.49108884e-03 2.59011421e+01] [-8.34128464e-03 -4.59744109e-05 9.99965210e-01 -1.80245811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42 meters 0.01300253200803673 Centerline is valid? [True, True] Translation: X:114.96, Y:25.92, Z:-1.80 [[ 9.07001489e-01 -4.21061026e-01 7.47740633e-03 1.14964012e+02] [ 4.21046908e-01 9.07032310e-01 3.44805819e-03 2.59213304e+01] [-8.23409206e-03 2.09448986e-05 9.99966099e-01 -1.80395658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47999999999999 meters 0.013228019504923121 Centerline is valid? [True, True] Translation: X:115.02, Y:25.94, Z:-1.80 [[ 9.05005955e-01 -4.25318781e-01 8.25571232e-03 1.15018238e+02] [ 4.25301721e-01 9.05043607e-01 3.80989223e-03 2.59436692e+01] [-9.09219837e-03 6.31935018e-05 9.99958663e-01 -1.80433046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53999999999999 meters 0.013655501419344613 Centerline is valid? [True, True] Translation: X:115.07, Y:25.97, Z:-1.80 [[ 9.03229135e-01 -4.29046128e-01 9.82594359e-03 1.15072259e+02] [ 4.29022142e-01 9.03282573e-01 4.53825069e-03 2.59662777e+01] [-1.08227225e-02 1.16467119e-04 9.99941426e-01 -1.80347568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.6 meters 0.01440996021569318 Centerline is valid? [True, True] Translation: X:115.13, Y:25.99, Z:-1.80 [[ 9.01759911e-01 -4.32105024e-01 1.06916545e-02 1.15125088e+02] [ 4.32076790e-01 9.01823276e-01 4.94223670e-03 2.59895875e+01] [-1.17775482e-02 1.62904837e-04 9.99930629e-01 -1.80322582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66 meters 0.01438120453487356 Centerline is valid? [True, True] Translation: X:115.18, Y:26.02, Z:-1.80 [[ 9.01540949e-01 -4.32564715e-01 1.05680775e-02 1.15177234e+02] [ 4.32537157e-01 9.01602872e-01 4.88549372e-03 2.60161368e+01] [-1.16415012e-02 1.66613566e-04 9.99932222e-01 -1.80450764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72 meters 0.013676374698108913 Centerline is valid? [True, True] Translation: X:115.23, Y:26.05, Z:-1.81 [[ 9.02687971e-01 -4.30199369e-01 9.10654558e-03 1.15227878e+02] [ 4.30178761e-01 9.02733897e-01 4.21242505e-03 2.60464578e+01] [-1.00329700e-02 1.14937072e-04 9.99949662e-01 -1.80811160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78 meters 0.014056675160117426 Centerline is valid? [True, True] Translation: X:115.28, Y:26.07, Z:-1.81 [[ 9.03709314e-01 -4.28087379e-01 7.11847849e-03 1.15280011e+02] [ 4.28074711e-01 9.03737346e-01 3.29398349e-03 2.60748808e+01] [-7.84334762e-03 7.04370618e-05 9.99969238e-01 -1.81186237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83999999999999 meters 0.012972174022931772 Centerline is valid? [True, True] Translation: X:115.33, Y:26.10, Z:-1.81 [[ 9.05476940e-01 -4.24332952e-01 7.28407176e-03 1.15332401e+02] [ 4.24319547e-01 9.05506237e-01 3.37311600e-03 2.61030333e+01] [-8.02709668e-03 3.64952724e-05 9.99967782e-01 -1.81154840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89999999999999 meters 0.012662714383391784 Centerline is valid? [True, True] Translation: X:115.38, Y:26.13, Z:-1.81 [[ 9.06651937e-01 -4.21791822e-01 8.59792384e-03 1.15384430e+02] [ 4.21773001e-01 9.06692704e-01 3.98453832e-03 2.61298752e+01] [-9.47632049e-03 1.37827546e-05 9.99955099e-01 -1.81066993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96 meters 0.012712880415350323 Centerline is valid? [True, True] Translation: X:115.44, Y:26.16, Z:-1.81 [[ 9.08075301e-01 -4.18675730e-01 1.04823770e-02 1.15435466e+02] [ 4.18647501e-01 9.08135801e-01 4.86182206e-03 2.61570790e+01] [-1.15549487e-02 -2.64796162e-05 9.99933239e-01 -1.81026584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02 meters 0.013121144122586446 Centerline is valid? [True, True] Translation: X:115.49, Y:26.19, Z:-1.81 [[ 9.10529787e-01 -4.13272844e-01 1.18769818e-02 1.15486698e+02] [ 4.13236081e-01 9.10607239e-01 5.51342904e-03 2.61862631e+01] [-1.30938161e-02 -1.12143975e-04 9.99914266e-01 -1.81019962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08 meters 0.014068426571893444 Centerline is valid? [True, True] Translation: X:115.54, Y:26.22, Z:-1.81 [[ 9.13246611e-01 -4.07236193e-01 1.18029724e-02 1.15537478e+02] [ 4.07199334e-01 9.13322858e-01 5.48269201e-03 2.62167066e+01] [-1.30126751e-02 -2.00887423e-04 9.99915311e-01 -1.81196292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14 meters 0.014773033990399854 Centerline is valid? [True, True] Translation: X:115.59, Y:26.24, Z:-1.81 [[ 9.14022053e-01 -4.05491669e-01 1.18403268e-02 1.15588581e+02] [ 4.05454378e-01 9.14098711e-01 5.50398510e-03 2.62436070e+01] [-1.30550476e-02 -2.30051419e-04 9.99914753e-01 -1.81357310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19999999999999 meters 0.015923372444445527 Centerline is valid? [True, True] Translation: X:115.64, Y:26.27, Z:-1.82 [[ 9.15523109e-01 -4.02096308e-01 1.16617616e-02 1.15640437e+02] [ 4.02059837e-01 9.15597337e-01 5.42256453e-03 2.62722231e+01] [-1.28578710e-02 -2.75757173e-04 9.99917296e-01 -1.81522742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25999999999999 meters 0.01636461599375495 Centerline is valid? [True, True] Translation: X:115.69, Y:26.30, Z:-1.82 [[ 9.17155280e-01 -3.98398610e-01 1.02343003e-02 1.15693549e+02] [ 3.98370258e-01 9.17212333e-01 4.76174624e-03 2.63000093e+01] [-1.12840996e-02 -2.90219845e-04 9.99936290e-01 -1.81792372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32 meters 0.017034256621849694 Centerline is valid? [True, True] Translation: X:115.75, Y:26.33, Z:-1.82 [[ 9.17607708e-01 -3.97381673e-01 9.15965382e-03 1.15745695e+02] [ 3.97358901e-01 9.17653383e-01 4.26280283e-03 2.63266313e+01] [-1.00993470e-02 -2.71910760e-04 9.99948963e-01 -1.81996619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38 meters 0.017235535209836804 Centerline is valid? [True, True] Translation: X:115.80, Y:26.35, Z:-1.82 [[ 9.17528621e-01 -3.97601576e-01 7.36319625e-03 1.15798716e+02] [ 3.97586856e-01 9.17558139e-01 3.42821293e-03 2.63518192e+01] [-8.11922352e-03 -2.17973435e-04 9.99967015e-01 -1.82317672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44 meters 0.016154098996709818 Centerline is valid? [True, True] Translation: X:115.85, Y:26.37, Z:-1.82 [[ 9.16807402e-01 -3.99278103e-01 6.41751573e-03 1.15853087e+02] [ 3.99266953e-01 9.16829845e-01 2.98928041e-03 2.63736779e+01] [-7.07732416e-03 -1.78292459e-04 9.99974940e-01 -1.82490227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.5 meters 0.015719265418113058 Centerline is valid? [True, True] Translation: X:115.91, Y:26.40, Z:-1.83 [[ 9.15783326e-01 -4.01624075e-01 6.24522665e-03 1.15907487e+02] [ 4.01613557e-01 9.15804607e-01 2.91086176e-03 2.63960422e+01] [-6.88847949e-03 -1.57550979e-04 9.99976262e-01 -1.82605062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56 meters 0.014748301955081717 Centerline is valid? [True, True] Translation: X:115.96, Y:26.42, Z:-1.83 [[ 9.14039555e-01 -4.05557327e-01 7.41251589e-03 1.15963266e+02] [ 4.05542603e-01 9.14069598e-01 3.45938953e-03 2.64162573e+01] [-8.17853619e-03 -1.55927878e-04 9.99966543e-01 -1.82514177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61999999999999 meters 0.014074312200007126 Centerline is valid? [True, True] Translation: X:116.02, Y:26.44, Z:-1.82 [[ 9.12502430e-01 -4.08957884e-01 9.63138271e-03 1.16019320e+02] [ 4.08933209e-01 9.12553244e-01 4.49534095e-03 2.64367916e+01] [-1.06275547e-02 -1.63417302e-04 9.99943513e-01 -1.82304512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67999999999999 meters 0.013893472336805116 Centerline is valid? [True, True] Translation: X:116.07, Y:26.46, Z:-1.82 [[ 9.11945696e-01 -4.10172877e-01 1.06423218e-02 1.16073132e+02] [ 4.10142793e-01 9.12007776e-01 4.97054064e-03 2.64606215e+01] [-1.17446612e-02 -1.67991552e-04 9.99931015e-01 -1.82357250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74 meters 0.014210449836861911 Centerline is valid? [True, True] Translation: X:116.13, Y:26.49, Z:-1.83 [[ 9.12125641e-01 -4.09791153e-01 9.90077244e-03 1.16125838e+02] [ 4.09765055e-01 9.12179359e-01 4.62771286e-03 2.64855643e+01] [-1.09276761e-02 -1.64064994e-04 9.99940278e-01 -1.82570501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.8 meters 0.014573843198897625 Centerline is valid? [True, True] Translation: X:116.18, Y:26.51, Z:-1.83 [[ 9.12866956e-01 -4.08182221e-01 7.82280339e-03 1.16178636e+02] [ 4.08165864e-01 9.12900462e-01 3.65699608e-03 2.65102885e+01] [-8.63416161e-03 -1.45349571e-04 9.99962714e-01 -1.82859048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86 meters 0.01483466025783265 Centerline is valid? [True, True] Translation: X:116.23, Y:26.53, Z:-1.83 [[ 9.13158399e-01 -4.07548953e-01 6.75200448e-03 1.16232471e+02] [ 4.07536756e-01 9.13183352e-01 3.15559930e-03 2.65347686e+01] [-7.45187927e-03 -1.29871997e-04 9.99972226e-01 -1.83013619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92 meters 0.014574100454559882 Centerline is valid? [True, True] Translation: X:116.29, Y:26.56, Z:-1.83 [[ 9.12936640e-01 -4.08035747e-01 7.31581649e-03 1.16286505e+02] [ 4.08021427e-01 9.12965941e-01 3.42133111e-03 2.65573543e+01] [-8.07511668e-03 -1.38448642e-04 9.99967386e-01 -1.82968588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97999999999999 meters 0.014751457380119438 Centerline is valid? [True, True] Translation: X:116.34, Y:26.58, Z:-1.83 [[ 9.12688319e-01 -4.08595653e-01 7.04445921e-03 1.16339297e+02] [ 4.08582374e-01 9.12715495e-01 3.29680351e-03 2.65813542e+01] [-7.77664666e-03 -1.30712193e-04 9.99969753e-01 -1.83056071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03999999999999 meters 0.014588361772423253 Centerline is valid? [True, True] Translation: X:116.39, Y:26.60, Z:-1.83 [[ 9.12045257e-01 -4.10022245e-01 7.43015263e-03 1.16393930e+02] [ 4.10007493e-01 9.12075513e-01 3.48047534e-03 2.66044496e+01] [-8.20393259e-03 -1.27932771e-04 9.99966339e-01 -1.83083717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.1 meters 0.014421196285323727 Centerline is valid? [True, True] Translation: X:116.45, Y:26.63, Z:-1.83 [[ 9.11337048e-01 -4.11584938e-01 7.91348944e-03 1.16447420e+02] [ 4.11568239e-01 9.11371397e-01 3.70960252e-03 2.66282513e+01] [-8.73894445e-03 -1.23757296e-04 9.99961807e-01 -1.83201769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16 meters 0.014133490942112033 Centerline is valid? [True, True] Translation: X:116.50, Y:26.65, Z:-1.83 [[ 9.10380842e-01 -4.13685952e-01 8.40573437e-03 1.16501533e+02] [ 4.13667174e-01 9.10419640e-01 3.94318174e-03 2.66512734e+01] [-9.28398455e-03 -1.12620734e-04 9.99956897e-01 -1.83233818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22 meters 0.013413117254930225 Centerline is valid? [True, True] Translation: X:116.56, Y:26.67, Z:-1.83 [[ 9.08460514e-01 -4.17852698e-01 9.93064938e-03 1.16556509e+02] [ 4.17826696e-01 9.08514786e-01 4.66229550e-03 2.66721007e+01] [-1.09702945e-02 -8.62209485e-05 9.99939821e-01 -1.83145391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28 meters 0.013222829497023074 Centerline is valid? [True, True] Translation: X:116.61, Y:26.69, Z:-1.83 [[ 9.06976754e-01 -4.21041338e-01 1.08332911e-02 1.16609807e+02] [ 4.21010569e-01 9.07041448e-01 5.09042157e-03 2.66944021e+01] [-1.19695220e-02 -5.59639819e-05 9.99928361e-01 -1.83187898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33999999999999 meters 0.013090376981978838 Centerline is valid? [True, True] Translation: X:116.66, Y:26.72, Z:-1.83 [[ 9.04532090e-01 -4.26266714e-01 1.08806029e-02 1.16664876e+02] [ 4.26236045e-01 9.04597528e-01 5.11330596e-03 2.67150911e+01] [-1.20221986e-02 1.25558199e-05 9.99927731e-01 -1.83315170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39999999999999 meters 0.013373150303916273 Centerline is valid? [True, True] Translation: X:116.72, Y:26.74, Z:-1.84 [[ 9.02173731e-01 -4.31261918e-01 9.78349276e-03 1.16719438e+02] [ 4.31237379e-01 9.02226775e-01 4.60105601e-03 2.67361191e+01] [-1.08111894e-02 6.80559061e-05 9.99941555e-01 -1.83606844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46 meters 0.013789858803475729 Centerline is valid? [True, True] Translation: X:116.77, Y:26.76, Z:-1.84 [[ 9.00801766e-01 -4.34101434e-01 1.05888301e-02 1.16773638e+02] [ 4.34072877e-01 9.00863992e-01 4.98047717e-03 2.67585428e+01] [-1.17011281e-02 1.09901321e-04 9.99931533e-01 -1.83719843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52 meters 0.014282469936856564 Centerline is valid? [True, True] Translation: X:116.83, Y:26.78, Z:-1.84 [[ 8.99324591e-01 -4.37133304e-01 1.13909663e-02 1.16828238e+02] [ 4.37100452e-01 8.99396714e-01 5.36146473e-03 2.67817630e+01] [-1.25886725e-02 1.57299442e-04 9.99920747e-01 -1.83777299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58 meters 0.01484767039626583 Centerline is valid? [True, True] Translation: X:116.88, Y:26.80, Z:-1.84 [[ 8.97257040e-01 -4.41377829e-01 1.07431776e-02 1.16882900e+02] [ 4.41348876e-01 8.97321331e-01 5.05954987e-03 2.68037941e+01] [-1.18732556e-02 2.01772616e-04 9.99929490e-01 -1.83857671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64 meters 0.015353520955162648 Centerline is valid? [True, True] Translation: X:116.94, Y:26.83, Z:-1.84 [[ 8.95737967e-01 -4.44447996e-01 1.09303733e-02 1.16937118e+02] [ 4.44418211e-01 8.95804621e-01 5.15112159e-03 2.68267162e+01] [-1.20808846e-02 2.43601751e-04 9.99926994e-01 -1.83933297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69999999999999 meters 0.016866484719637448 Centerline is valid? [True, True] Translation: X:116.99, Y:26.85, Z:-1.84 [[ 8.93585116e-01 -4.48751014e-01 1.13211442e-02 1.16992141e+02] [ 4.48719359e-01 8.93656775e-01 5.33901500e-03 2.68495436e+01] [-1.25131056e-02 3.09152234e-04 9.99921660e-01 -1.84104145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75999999999999 meters 0.017183691928609655 Centerline is valid? [True, True] Translation: X:117.05, Y:26.87, Z:-1.84 [[ 8.92563842e-01 -4.50763020e-01 1.19368038e-02 1.17045706e+02] [ 4.50727965e-01 8.92643588e-01 5.63261442e-03 2.68735922e+01] [-1.31942857e-02 3.52783308e-04 9.99912889e-01 -1.84098330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82 meters 0.01805397577816254 Centerline is valid? [True, True] Translation: X:117.10, Y:26.90, Z:-1.84 [[ 8.91026328e-01 -4.53799267e-01 1.17604572e-02 1.17100313e+02] [ 4.53765457e-01 8.91103852e-01 5.55297063e-03 2.68979355e+01] [-1.29997227e-02 3.88646232e-04 9.99915425e-01 -1.84157939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88 meters 0.0189982044937692 Centerline is valid? [True, True] Translation: X:117.15, Y:26.92, Z:-1.84 [[ 8.90100372e-01 -4.55627501e-01 1.11762463e-02 1.17153666e+02] [ 4.55597073e-01 8.90170448e-01 5.28019892e-03 2.69218157e+01] [-1.23545680e-02 3.91958092e-04 9.99923603e-01 -1.84170190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94 meters 0.018997196014402196 Centerline is valid? [True, True] Translation: X:117.21, Y:26.95, Z:-1.84 [[ 8.89055358e-01 -4.57690399e-01 1.00034592e-02 1.17205766e+02] [ 4.57666150e-01 8.89111555e-01 4.72631497e-03 2.69496728e+01] [-1.10573802e-02 3.76289037e-04 9.99938795e-01 -1.84321588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.0 meters 0.019338322642548252 Centerline is valid? [True, True] Translation: X:117.26, Y:26.98, Z:-1.85 [[ 8.88721760e-01 -4.58347974e-01 9.52718245e-03 1.17257853e+02] [ 4.58325989e-01 8.88772751e-01 4.50398941e-03 2.69769690e+01] [-1.05318946e-02 3.63761924e-04 9.99944472e-01 -1.84516782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06 meters 0.01815728378505822 Centerline is valid? [True, True] Translation: X:117.31, Y:27.01, Z:-1.85 [[ 8.88611070e-01 -4.58569394e-01 9.19116044e-03 1.17309169e+02] [ 4.58548920e-01 8.88658532e-01 4.34751170e-03 2.70050781e+01] [-1.01614390e-02 3.51349674e-04 9.99948310e-01 -1.84626819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11999999999999 meters 0.018704615925902626 Centerline is valid? [True, True] Translation: X:117.36, Y:27.03, Z:-1.85 [[ 8.89168442e-01 -4.57505920e-01 8.23500340e-03 1.17360018e+02] [ 4.57489404e-01 8.89206524e-01 3.89898892e-03 2.70332486e+01] [-9.10642926e-03 3.00568894e-04 9.99958490e-01 -1.84730015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17999999999999 meters 0.018467235930061856 Centerline is valid? [True, True] Translation: X:117.41, Y:27.06, Z:-1.85 [[ 8.90108239e-01 -4.55667680e-01 8.61905063e-03 1.17411392e+02] [ 4.55649501e-01 8.90149919e-01 4.08092890e-03 2.70618228e+01] [-9.53179463e-03 2.94797682e-04 9.99954528e-01 -1.84716308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24 meters 0.019135375022315916 Centerline is valid? [True, True] Translation: X:117.46, Y:27.10, Z:-1.85 [[ 8.91946338e-01 -4.52048706e-01 9.14858966e-03 1.17461293e+02] [ 4.52028004e-01 8.91993215e-01 4.33462405e-03 2.70955843e+01] [-1.01199411e-02 2.69166669e-04 9.99948756e-01 -1.85025234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.3 meters 0.015689970433507314 Centerline is valid? [True, True] Translation: X:117.51, Y:27.13, Z:-1.85 [[ 8.94357962e-01 -4.47253178e-01 9.40370320e-03 1.17511684e+02] [ 4.47231011e-01 8.94407372e-01 4.45819807e-03 2.71280982e+01] [-1.04046847e-02 2.18402747e-04 9.99945846e-01 -1.84810192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36 meters 0.015591552342400268 Centerline is valid? [True, True] Translation: X:117.56, Y:27.16, Z:-1.85 [[ 8.98092991e-01 -4.39724104e-01 8.46710552e-03 1.17560475e+02] [ 4.39705779e-01 8.98132896e-01 4.01611222e-03 2.71637338e+01] [-9.37056735e-03 1.16192990e-04 9.99956089e-01 -1.85176597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42 meters 0.013248891713936835 Centerline is valid? [True, True] Translation: X:117.61, Y:27.19, Z:-1.85 [[ 9.00284321e-01 -4.35202876e-01 9.30585200e-03 1.17610553e+02] [ 4.35180471e-01 9.00332412e-01 4.41660224e-03 2.71948736e+01] [-1.03004782e-02 7.35273029e-05 9.99946946e-01 -1.84893055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47999999999999 meters 0.01289569765744244 Centerline is valid? [True, True] Translation: X:117.66, Y:27.23, Z:-1.85 [[ 9.03014159e-01 -4.29495850e-01 9.93694608e-03 1.17659527e+02] [ 4.29469911e-01 9.03068832e-01 4.72021479e-03 2.72272891e+01] [-1.10010590e-02 5.19855256e-06 9.99939487e-01 -1.84977031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53999999999999 meters 0.012872368516897914 Centerline is valid? [True, True] Translation: X:117.71, Y:27.26, Z:-1.85 [[ 9.04351424e-01 -4.26680034e-01 9.62552866e-03 1.17710508e+02] [ 4.26655536e-01 9.04402647e-01 4.57232322e-03 2.72554062e+01] [-1.06562726e-02 -2.82019246e-05 9.99943220e-01 -1.85024086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.6 meters 0.013014066762178256 Centerline is valid? [True, True] Translation: X:117.76, Y:27.28, Z:-1.85 [[ 9.05576976e-01 -4.24103120e-01 8.17823609e-03 1.17762024e+02] [ 4.24085308e-01 9.05613903e-01 3.88722371e-03 2.72845884e+01] [-9.05490801e-03 -5.19105177e-05 9.99959002e-01 -1.85347580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66 meters 0.013189023584161233 Centerline is valid? [True, True] Translation: X:117.81, Y:27.31, Z:-1.86 [[ 9.06080730e-01 -4.23039705e-01 7.42423237e-03 1.17814201e+02] [ 4.23024975e-01 9.06111144e-01 3.53070847e-03 2.73113662e+01] [-8.22080955e-03 -5.84711975e-05 9.99966207e-01 -1.85565631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72 meters 0.013396453514420722 Centerline is valid? [True, True] Translation: X:117.87, Y:27.34, Z:-1.86 [[ 9.07056687e-01 -4.20956726e-01 6.60310639e-03 1.17867403e+02] [ 4.20945007e-01 9.07080719e-01 3.14174381e-03 2.73375490e+01] [-7.31208868e-03 -7.01950602e-05 9.99973264e-01 -1.85680228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78 meters 0.013583268049730186 Centerline is valid? [True, True] Translation: X:117.92, Y:27.36, Z:-1.86 [[ 9.07381104e-01 -4.20268764e-01 5.80499074e-03 1.17920709e+02] [ 4.20259685e-01 9.07399670e-01 2.76330823e-03 2.73631940e+01] [-6.42877881e-03 -6.77700913e-05 9.99979333e-01 -1.85905231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83999999999999 meters 0.013739104622117053 Centerline is valid? [True, True] Translation: X:117.97, Y:27.39, Z:-1.86 [[ 9.07523338e-01 -4.19963142e-01 5.68780239e-03 1.17972787e+02] [ 4.19954399e-01 9.07541159e-01 2.71078287e-03 2.73874357e+01] [-6.30034367e-03 -7.14810866e-05 9.99980150e-01 -1.86014164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89999999999999 meters 0.01497702541426365 Centerline is valid? [True, True] Translation: X:118.03, Y:27.41, Z:-1.86 [[ 9.07209943e-01 -4.20637339e-01 5.86068366e-03 1.18026038e+02] [ 4.20628079e-01 9.07228871e-01 2.79195803e-03 2.74097478e+01] [-6.49138321e-03 -6.77239743e-05 9.99978928e-01 -1.86139598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96 meters 0.013173533189208032 Centerline is valid? [True, True] Translation: X:118.08, Y:27.43, Z:-1.86 [[ 9.05393068e-01 -4.24510676e-01 7.35385021e-03 1.18081738e+02] [ 4.24496189e-01 9.05422931e-01 3.50737186e-03 2.74307746e+01] [-8.14726141e-03 -5.38687778e-05 9.99966809e-01 -1.85867228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02 meters 0.012984118255597843 Centerline is valid? [True, True] Translation: X:118.14, Y:27.45, Z:-1.86 [[ 9.03418489e-01 -4.28675386e-01 8.51159126e-03 1.18137314e+02] [ 4.28656132e-01 9.03458584e-01 4.06299933e-03 2.74521906e+01] [-9.43157799e-03 -2.20429333e-05 9.99955521e-01 -1.85861884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08 meters 0.012967704177640246 Centerline is valid? [True, True] Translation: X:118.19, Y:27.47, Z:-1.86 [[ 9.00999238e-01 -4.33723461e-01 9.18327502e-03 1.18191857e+02] [ 4.33701282e-01 9.01046036e-01 4.38630278e-03 2.74730114e+01] [-1.01769960e-02 3.07426822e-05 9.99948213e-01 -1.85881204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14 meters 0.013576862009497353 Centerline is valid? [True, True] Translation: X:118.25, Y:27.49, Z:-1.86 [[ 8.97696267e-01 -4.40516977e-01 9.28466238e-03 1.18248071e+02] [ 4.40494631e-01 8.97744274e-01 4.43826682e-03 2.74922424e+01] [-1.02903844e-02 1.05628375e-04 9.99947047e-01 -1.85961212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19999999999999 meters 0.016534138796617248 Centerline is valid? [True, True] Translation: X:118.30, Y:27.51, Z:-1.86 [[ 8.95589982e-01 -4.44809719e-01 7.93082979e-03 1.18302779e+02] [ 4.44793566e-01 8.95625087e-01 3.79297688e-03 2.75143372e+01] [-8.79020310e-03 1.30629969e-04 9.99961357e-01 -1.86458664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25999999999999 meters 0.014519372241409744 Centerline is valid? [True, True] Translation: X:118.36, Y:27.54, Z:-1.86 [[ 8.95352316e-01 -4.45293229e-01 7.62693198e-03 1.18355660e+02] [ 4.45278292e-01 8.95384791e-01 3.64953640e-03 2.75382517e+01] [-8.45415275e-03 1.28486372e-04 9.99964255e-01 -1.86288985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32 meters 0.01429677897546634 Centerline is valid? [True, True] Translation: X:118.41, Y:27.56, Z:-1.86 [[ 8.95478996e-01 -4.45042344e-01 7.39462577e-03 1.18407862e+02] [ 4.45028275e-01 8.95509518e-01 3.54077843e-03 2.75631079e+01] [-8.19775409e-03 1.20124832e-04 9.99966391e-01 -1.86319660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38 meters 0.01647039442661294 Centerline is valid? [True, True] Translation: X:118.46, Y:27.59, Z:-1.87 [[ 8.96189797e-01 -4.43606323e-01 7.56817443e-03 1.18459843e+02] [ 4.43591498e-01 8.96221747e-01 3.62819903e-03 2.75879639e+01] [-8.39225454e-03 1.05622877e-04 9.99964779e-01 -1.86749522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44 meters 0.01648917890381494 Centerline is valid? [True, True] Translation: X:118.51, Y:27.62, Z:-1.87 [[ 8.98713167e-01 -4.38439115e-01 9.26203405e-03 1.18510797e+02] [ 4.38416631e-01 8.98760890e-01 4.44074431e-03 2.76171660e+01] [-1.02713500e-02 6.96743782e-05 9.99947246e-01 -1.86798627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.5 meters 0.013108216826979668 Centerline is valid? [True, True] Translation: X:118.56, Y:27.65, Z:-1.86 [[ 9.01493012e-01 -4.32673058e-01 1.02163856e-02 1.18562422e+02] [ 4.32645290e-01 9.01550900e-01 4.90185804e-03 2.76458688e+01] [-1.13314935e-02 1.08033242e-06 9.99935797e-01 -1.86489526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56 meters 0.0164124077852721 Centerline is valid? [True, True] Translation: X:118.61, Y:27.68, Z:-1.87 [[ 9.05780049e-01 -4.23638159e-01 9.65469068e-03 1.18612664e+02] [ 4.23612815e-01 9.05831496e-01 4.63509238e-03 2.76779167e+01] [-1.07091249e-02 -1.08523502e-04 9.99942650e-01 -1.86985682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61999999999999 meters 0.01524455819369507 Centerline is valid? [True, True] Translation: X:118.67, Y:27.71, Z:-1.87 [[ 9.08649084e-01 -4.17451187e-01 9.55767457e-03 1.18665090e+02] [ 4.17425974e-01 9.08699330e-01 4.59161309e-03 2.77074093e+01] [-1.06018268e-02 -1.82543407e-04 9.99943782e-01 -1.86783416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67999999999999 meters 0.019621860226471447 Centerline is valid? [True, True] Translation: X:118.72, Y:27.73, Z:-1.88 [[ 9.10459387e-01 -4.13537737e-01 7.08837124e-03 1.18718142e+02] [ 4.13523733e-01 9.10486964e-01 3.40754757e-03 2.77337792e+01] [-7.86301912e-03 -1.71223937e-04 9.99969071e-01 -1.87550032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74 meters 0.018109619302154954 Centerline is valid? [True, True] Translation: X:118.77, Y:27.76, Z:-1.88 [[ 9.10613374e-01 -4.13204026e-01 6.76141403e-03 1.18773180e+02] [ 4.13191284e-01 9.10638461e-01 3.24910392e-03 2.77562467e+01] [-7.49974649e-03 -1.64920137e-04 9.99971863e-01 -1.87558023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.8 meters 0.016275569749556615 Centerline is valid? [True, True] Translation: X:118.83, Y:27.78, Z:-1.87 [[ 9.09805304e-01 -4.14997784e-01 5.58104423e-03 1.18829872e+02] [ 4.14989131e-01 9.09822413e-01 2.68292729e-03 2.77751268e+01] [-6.19116801e-03 -1.24868788e-04 9.99980827e-01 -1.87491265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86 meters 0.018398255608948602 Centerline is valid? [True, True] Translation: X:118.89, Y:27.79, Z:-1.88 [[ 9.08705079e-01 -4.17408661e-01 5.00881429e-03 1.18885656e+02] [ 4.17401722e-01 9.08718878e-01 2.40893696e-03 2.77948612e+01] [-5.55711526e-03 -9.83255382e-05 9.99984554e-01 -1.87981412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92 meters 0.015119483539434762 Centerline is valid? [True, True] Translation: X:118.94, Y:27.82, Z:-1.88 [[ 9.07116864e-01 -4.20837936e-01 5.86740447e-03 1.18941499e+02] [ 4.20828468e-01 9.07135835e-01 2.82440581e-03 2.78151592e+01] [-6.51114996e-03 -9.28953077e-05 9.99978798e-01 -1.87676980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97999999999999 meters 0.015131150910270083 Centerline is valid? [True, True] Translation: X:118.99, Y:27.84, Z:-1.88 [[ 9.06851612e-01 -4.21400068e-01 6.49120301e-03 1.18994438e+02] [ 4.21388477e-01 9.06874838e-01 3.12709992e-03 2.78404602e+01] [-7.20446880e-03 -1.00497450e-04 9.99974042e-01 -1.87690686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04 meters 0.017385731902379957 Centerline is valid? [True, True] Translation: X:119.05, Y:27.87, Z:-1.88 [[ 9.07857615e-01 -4.19214802e-01 7.31445869e-03 1.19047037e+02] [ 4.19199992e-01 9.07887070e-01 3.52635224e-03 2.78679838e+01] [-8.11900152e-03 -1.35204705e-04 9.99967031e-01 -1.87899838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.1 meters 0.016307718095777645 Centerline is valid? [True, True] Translation: X:119.10, Y:27.90, Z:-1.88 [[ 9.09188352e-01 -4.16329092e-01 6.82840754e-03 1.19098874e+02] [ 4.16316089e-01 9.09213982e-01 3.29387341e-03 2.78966576e+01] [-7.57981893e-03 -1.51975419e-04 9.99971261e-01 -1.87812858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16 meters 0.018074154140992588 Centerline is valid? [True, True] Translation: X:119.15, Y:27.93, Z:-1.88 [[ 9.10369641e-01 -4.13779887e-01 3.64996638e-03 1.19149073e+02] [ 4.13776145e-01 9.10376953e-01 1.76223311e-03 2.79273104e+01] [-4.05202189e-03 -9.40145058e-05 9.99991786e-01 -1.88414657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22 meters 0.016851748360075972 Centerline is valid? [True, True] Translation: X:119.20, Y:27.95, Z:-1.88 [[ 9.10616619e-01 -4.13238459e-01 3.36878364e-03 1.19202759e+02] [ 4.13235269e-01 9.10622846e-01 1.62614377e-03 2.79503749e+01] [-3.73967649e-03 -8.86933283e-05 9.99993003e-01 -1.88338478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28 meters 0.016756984831336516 Centerline is valid? [True, True] Translation: X:119.26, Y:27.97, Z:-1.88 [[ 9.10491830e-01 -4.13514093e-01 3.27438758e-03 1.19255564e+02] [ 4.13511089e-01 9.10497714e-01 1.57835763e-03 2.79746577e+01] [-3.63399553e-03 -8.30861498e-05 9.99993394e-01 -1.88363919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34 meters 0.016222733512751695 Centerline is valid? [True, True] Translation: X:119.31, Y:28.00, Z:-1.88 [[ 9.09493607e-01 -4.15695357e-01 4.33008517e-03 1.19310426e+02] [ 4.15690105e-01 9.09503908e-01 2.09219670e-03 2.79977661e+01] [-4.80794584e-03 -1.02865959e-04 9.99988436e-01 -1.88267653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.4 meters 0.015611021215270806 Centerline is valid? [True, True] Translation: X:119.36, Y:28.02, Z:-1.88 [[ 9.07890413e-01 -4.19138051e-01 7.63493326e-03 1.19364867e+02] [ 4.19121825e-01 9.07922503e-01 3.69112810e-03 2.80213565e+01] [-8.47901995e-03 -1.51172651e-04 9.99964041e-01 -1.88027192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46 meters 0.017203440815763867 Centerline is valid? [True, True] Translation: X:119.42, Y:28.04, Z:-1.88 [[ 9.06764654e-01 -4.21546346e-01 8.74873700e-03 1.19419688e+02] [ 4.21525123e-01 9.06806846e-01 4.23262349e-03 2.80445283e+01] [-9.71766157e-03 -1.50180931e-04 9.99952771e-01 -1.88235512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51999999999998 meters 0.015023881407670213 Centerline is valid? [True, True] Translation: X:119.47, Y:28.07, Z:-1.88 [[ 9.05818912e-01 -4.23515111e-01 1.12716371e-02 1.19473110e+02] [ 4.23479974e-01 9.05889023e-01 5.45799097e-03 2.80678505e+01] [-1.25223940e-02 -1.70638829e-04 9.99921577e-01 -1.87912368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57999999999998 meters 0.01653438957181805 Centerline is valid? [True, True] Translation: X:119.53, Y:28.09, Z:-1.88 [[ 9.05105225e-01 -4.25085978e-01 9.29745384e-03 1.19526053e+02] [ 4.25062158e-01 9.05152968e-01 4.50176399e-03 2.80914073e+01] [-1.03292547e-02 -1.22574315e-04 9.99946644e-01 -1.88445406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64 meters 0.014523242728044386 Centerline is valid? [True, True] Translation: X:119.58, Y:28.12, Z:-1.89 [[ 9.04566890e-01 -4.26280384e-01 6.61637306e-03 1.19579232e+02] [ 4.26268346e-01 9.04591084e-01 3.20455994e-03 2.81152470e+01] [-7.35115312e-03 -7.83884188e-05 9.99972977e-01 -1.88583152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.7 meters 0.017383407078874098 Centerline is valid? [True, True] Translation: X:119.63, Y:28.14, Z:-1.89 [[ 9.03507980e-01 -4.28545879e-01 4.66469659e-03 1.19632797e+02] [ 4.28539924e-01 9.03520021e-01 2.25952116e-03 2.81385456e+01] [-5.18295524e-03 -4.24866804e-05 9.99986567e-01 -1.89124244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76 meters 0.013919435940370055 Centerline is valid? [True, True] Translation: X:119.69, Y:28.16, Z:-1.89 [[ 9.02150217e-01 -4.31375931e-01 6.30814092e-03 1.19687561e+02] [ 4.31365081e-01 9.02172270e-01 3.05978784e-03 2.81611992e+01] [-7.01094864e-03 -3.92765428e-05 9.99975422e-01 -1.88796747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82 meters 0.015631547360973153 Centerline is valid? [True, True] Translation: X:119.74, Y:28.18, Z:-1.89 [[ 8.98290533e-01 -4.39342699e-01 7.21874276e-03 1.19742811e+02] [ 4.39328714e-01 8.98319538e-01 3.50559566e-03 2.81796239e+01] [-8.02489552e-03 2.23575768e-05 9.99967800e-01 -1.88968466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88 meters 0.014219420282608477 Centerline is valid? [True, True] Translation: X:119.80, Y:28.20, Z:-1.89 [[ 8.95400827e-01 -4.45168797e-01 9.06096151e-03 1.19798382e+02] [ 4.45147055e-01 8.95446667e-01 4.40069761e-03 2.82003699e+01] [-1.00726610e-02 9.30720562e-05 9.99949265e-01 -1.88655459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94 meters 0.014683912645096045 Centerline is valid? [True, True] Translation: X:119.85, Y:28.22, Z:-1.89 [[ 8.93122453e-01 -4.49704354e-01 9.91349572e-03 1.19852242e+02] [ 4.49678569e-01 8.93177457e-01 4.81815455e-03 2.82239776e+01] [-1.10212560e-02 1.54684561e-04 9.99939252e-01 -1.88677039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.0 meters 0.014775026031326044 Centerline is valid? [True, True] Translation: X:119.90, Y:28.25, Z:-1.89 [[ 8.93161891e-01 -4.49635005e-01 9.49733054e-03 1.19902881e+02] [ 4.49611303e-01 8.93212372e-01 4.61896440e-03 2.82506403e+01] [-1.05599812e-02 1.44624177e-04 9.99944231e-01 -1.88851993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06 meters 0.014130517206620999 Centerline is valid? [True, True] Translation: X:119.95, Y:28.28, Z:-1.89 [[ 8.94424108e-01 -4.47124937e-01 9.20900733e-03 1.19953278e+02] [ 4.47102500e-01 8.94471508e-01 4.48062045e-03 2.82828029e+01] [-1.02405918e-02 1.09795255e-04 9.99947558e-01 -1.89075016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12 meters 0.013886626778627795 Centerline is valid? [True, True] Translation: X:120.00, Y:28.31, Z:-1.89 [[ 8.95661802e-01 -4.44668356e-01 7.74530845e-03 1.20003330e+02] [ 4.44652370e-01 8.95695288e-01 3.77114470e-03 2.83115278e+01] [-8.61434500e-03 6.62995008e-05 9.99962894e-01 -1.89311041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18 meters 0.017046649346479002 Centerline is valid? [True, True] Translation: X:120.05, Y:28.34, Z:-1.90 [[ 8.97075674e-01 -4.41851077e-01 4.78132938e-03 1.20052912e+02] [ 4.41844956e-01 8.97088416e-01 2.32587950e-03 2.83415058e+01] [-5.31696756e-03 2.61163488e-05 9.99985864e-01 -1.89975967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24 meters 0.013362109813610181 Centerline is valid? [True, True] Translation: X:120.10, Y:28.37, Z:-1.90 [[ 8.98309827e-01 -4.39327728e-01 5.53202217e-03 1.20103306e+02] [ 4.39319458e-01 8.98326860e-01 2.69564256e-03 2.83709667e+01] [-6.15383463e-03 8.80278317e-06 9.99981065e-01 -1.89768649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29999999999998 meters 0.013230335411136837 Centerline is valid? [True, True] Translation: X:120.16, Y:28.40, Z:-1.90 [[ 8.98766920e-01 -4.38378120e-01 6.53057750e-03 1.20155254e+02] [ 4.38366574e-01 8.98790645e-01 3.18157702e-03 2.83981799e+01] [-7.26435572e-03 3.29071298e-06 9.99973614e-01 -1.89637660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35999999999999 meters 0.01303565837485905 Centerline is valid? [True, True] Translation: X:120.21, Y:28.42, Z:-1.90 [[ 8.99292065e-01 -4.37272546e-01 8.15490349e-03 1.20207332e+02] [ 4.37254461e-01 8.99329039e-01 3.97690380e-03 2.84249001e+01] [-9.07293237e-03 -1.06301067e-05 9.99958840e-01 -1.89538141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42 meters 0.013169709873666603 Centerline is valid? [True, True] Translation: X:120.26, Y:28.45, Z:-1.90 [[ 9.00815644e-01 -4.34106496e-01 9.09538958e-03 1.20257905e+02] [ 4.34083807e-01 9.00861558e-01 4.43864176e-03 2.84527400e+01] [-1.01205301e-02 -5.02366018e-05 9.99948785e-01 -1.89572085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48 meters 0.01360112570382498 Centerline is valid? [True, True] Translation: X:120.31, Y:28.48, Z:-1.90 [[ 9.02566276e-01 -4.30476038e-01 8.03107562e-03 1.20309449e+02] [ 4.30458181e-01 9.02602002e-01 3.92183869e-03 2.84821074e+01] [-8.93712252e-03 -8.26771415e-05 9.99960060e-01 -1.89854416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54 meters 0.014915345273522892 Centerline is valid? [True, True] Translation: X:120.36, Y:28.51, Z:-1.90 [[ 9.05876659e-01 -4.23511961e-01 5.00965327e-03 1.20360430e+02] [ 4.23504895e-01 9.05890506e-01 2.44844864e-03 2.85129296e+01] [-5.57514463e-03 -9.63797931e-05 9.99984454e-01 -1.90210375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.6 meters 0.01790772132713696 Centerline is valid? [True, True] Translation: X:120.41, Y:28.54, Z:-1.91 [[ 9.07497118e-01 -4.20047511e-01 3.01145377e-03 1.20413035e+02] [ 4.20044946e-01 9.07502112e-01 1.46955824e-03 2.85417945e+01] [-3.35018494e-03 -6.86739333e-05 9.99994386e-01 -1.90656785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66 meters 0.01707076526945134 Centerline is valid? [True, True] Translation: X:120.46, Y:28.57, Z:-1.91 [[ 9.09042262e-01 -4.16690377e-01 3.36083163e-03 1.20464334e+02] [ 4.16687148e-01 9.09048470e-01 1.64308529e-03 2.85702405e+01] [-3.73981668e-03 -9.32186213e-05 9.99993003e-01 -1.90576824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72 meters 0.018488306130885396 Centerline is valid? [True, True] Translation: X:120.52, Y:28.59, Z:-1.91 [[ 9.08835869e-01 -4.17140559e-01 3.33422503e-03 1.20517480e+02] [ 4.17137392e-01 9.08841981e-01 1.62775695e-03 2.85947493e+01] [-3.70928712e-03 -8.85339681e-05 9.99993117e-01 -1.90789477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78 meters 0.015785573808716553 Centerline is valid? [True, True] Translation: X:120.57, Y:28.62, Z:-1.90 [[ 9.07292896e-01 -4.20469835e-01 4.97167299e-03 1.20573122e+02] [ 4.20462809e-01 9.07306510e-01 2.43362682e-03 2.86155551e+01] [-5.53409794e-03 -1.17608739e-04 9.99984680e-01 -1.90467445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84 meters 0.016800037847648858 Centerline is valid? [True, True] Translation: X:120.63, Y:28.64, Z:-1.91 [[ 9.06093224e-01 -4.23045356e-01 5.26279049e-03 1.20626964e+02] [ 4.23037534e-01 9.06108501e-01 2.57483095e-03 2.86391045e+01] [-5.85792948e-03 -1.06678970e-04 9.99982836e-01 -1.90619378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.9 meters 0.015245841068032458 Centerline is valid? [True, True] Translation: X:120.68, Y:28.66, Z:-1.90 [[ 9.05779083e-01 -4.23703256e-01 6.30904486e-03 1.20679841e+02] [ 4.23692011e-01 9.05801046e-01 3.08953539e-03 2.86641484e+01] [-7.02378564e-03 -1.25344628e-04 9.99975325e-01 -1.90479994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96 meters 0.016342508808266223 Centerline is valid? [True, True] Translation: X:120.73, Y:28.69, Z:-1.91 [[ 9.04276997e-01 -4.26908971e-01 5.64296082e-03 1.20732715e+02] [ 4.26900018e-01 9.04294599e-01 2.76625551e-03 2.86872441e+01] [-6.28383828e-03 -9.24811458e-05 9.99980252e-01 -1.90787557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01999999999998 meters 0.01393022035199189 Centerline is valid? [True, True] Translation: X:120.79, Y:28.71, Z:-1.91 [[ 9.01996468e-01 -4.31687638e-01 6.93940752e-03 1.20788561e+02] [ 4.31674240e-01 9.02023158e-01 3.40176553e-03 2.87082176e+01] [-7.72800641e-03 -7.28170209e-05 9.99970136e-01 -1.90607667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07999999999998 meters 0.013236978552303597 Centerline is valid? [True, True] Translation: X:120.84, Y:28.73, Z:-1.91 [[ 8.99583546e-01 -4.36687682e-01 7.30155379e-03 1.20844475e+02] [ 4.36672998e-01 8.99613176e-01 3.58136999e-03 2.87288221e+01] [-8.13251416e-03 -3.33501317e-05 9.99966930e-01 -1.90523002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14 meters 0.013229120597383187 Centerline is valid? [True, True] Translation: X:120.90, Y:28.75, Z:-1.91 [[ 8.95651475e-01 -4.44679122e-01 8.30143115e-03 1.20900263e+02] [ 4.44660454e-01 8.95689945e-01 4.07469756e-03 2.87477157e+01] [-9.24744134e-03 4.18092702e-05 9.99957241e-01 -1.90519610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.2 meters 0.013764833335010548 Centerline is valid? [True, True] Translation: X:120.95, Y:28.77, Z:-1.91 [[ 8.92884899e-01 -4.50195163e-01 8.99288624e-03 1.20954345e+02] [ 4.50173489e-01 8.92930179e-01 4.41872274e-03 2.87699595e+01] [-1.00193071e-02 1.02948170e-04 9.99949800e-01 -1.90622339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26 meters 0.015108251593238607 Centerline is valid? [True, True] Translation: X:121.01, Y:28.79, Z:-1.91 [[ 8.88997367e-01 -4.57809428e-01 9.70608395e-03 1.21009781e+02] [ 4.57784624e-01 8.89050328e-01 4.76987263e-03 2.87924663e+01] [-1.08128898e-02 2.02891783e-04 9.99941518e-01 -1.90733701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32 meters 0.015916099900273685 Centerline is valid? [True, True] Translation: X:121.06, Y:28.82, Z:-1.91 [[ 8.86588729e-01 -4.62452103e-01 9.92361915e-03 1.21063838e+02] [ 4.62426439e-01 8.86644226e-01 4.87906623e-03 2.88175289e+01] [-1.10550541e-02 2.63218738e-04 9.99938856e-01 -1.90803848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38 meters 0.017091423824772134 Centerline is valid? [True, True] Translation: X:121.12, Y:28.84, Z:-1.91 [[ 8.85100771e-01 -4.65278987e-01 1.05872368e-02 1.21116540e+02] [ 4.65249938e-01 8.85164033e-01 5.20870140e-03 2.88425619e+01] [-1.17949406e-02 3.15485660e-04 9.99930387e-01 -1.90875662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44 meters 0.01708443884633436 Centerline is valid? [True, True] Translation: X:121.17, Y:28.87, Z:-1.91 [[ 8.84911198e-01 -4.65648383e-01 1.01859966e-02 1.21166569e+02] [ 4.65621515e-01 8.84969767e-01 5.01154745e-03 2.88721895e+01] [-1.13479180e-02 3.08044702e-04 9.99935563e-01 -1.90989493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.5 meters 0.016297935250381045 Centerline is valid? [True, True] Translation: X:121.22, Y:28.90, Z:-1.91 [[ 8.85851035e-01 -4.63854991e-01 1.03194716e-02 1.21217256e+02] [ 4.63827249e-01 8.85911094e-01 5.08106806e-03 2.89029353e+01] [-1.14990131e-02 2.85382705e-04 9.99933843e-01 -1.91100732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56 meters 0.01568296579604193 Centerline is valid? [True, True] Translation: X:121.27, Y:28.94, Z:-1.91 [[ 8.88635551e-01 -4.58452649e-01 1.21666201e-02 1.21265679e+02] [ 4.58413513e-01 8.88718800e-01 5.99539225e-03 2.89353734e+01] [-1.35613075e-02 2.49624365e-04 9.99908010e-01 -1.91123044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62 meters 0.014802239100467707 Centerline is valid? [True, True] Translation: X:121.32, Y:28.97, Z:-1.91 [[ 8.90913508e-01 -4.53997743e-01 1.26162806e-02 1.21315060e+02] [ 4.53955194e-01 8.91002814e-01 6.21829825e-03 2.89681649e+01] [-1.40642349e-02 1.87260214e-04 9.99901076e-01 -1.91194133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68 meters 0.015012996558211849 Centerline is valid? [True, True] Translation: X:121.36, Y:29.00, Z:-1.92 [[ 8.94576527e-01 -4.46760308e-01 1.17500906e-02 1.21363217e+02] [ 4.46722767e-01 8.94653689e-01 5.79193098e-03 2.90037719e+01] [-1.30998668e-02 6.77074990e-05 9.99914191e-01 -1.91567205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74 meters 0.015930113470073573 Centerline is valid? [True, True] Translation: X:121.41, Y:29.03, Z:-1.92 [[ 8.96540410e-01 -4.42835448e-01 1.05858156e-02 1.21412681e+02] [ 4.42804673e-01 8.96602903e-01 5.22071062e-03 2.90345167e+01] [-1.18031887e-02 6.87056109e-06 9.99930340e-01 -1.91896702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79999999999998 meters 0.013614704068418568 Centerline is valid? [True, True] Translation: X:121.46, Y:29.07, Z:-1.92 [[ 8.98344856e-01 -4.39169278e-01 1.03375496e-02 1.21462986e+02] [ 4.39139644e-01 8.98404332e-01 5.10192341e-03 2.90650468e+01] [-1.15279074e-02 -4.36587969e-05 9.99933551e-01 -1.91884331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85999999999999 meters 0.014877952316484989 Centerline is valid? [True, True] Translation: X:121.51, Y:29.09, Z:-1.92 [[ 8.98221759e-01 -4.39441350e-01 9.43248813e-03 1.21514572e+02] [ 4.39416668e-01 8.98271283e-01 4.65761400e-03 2.90910739e+01] [-1.05196814e-02 -3.87777343e-05 9.99944666e-01 -1.92188242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92 meters 0.013784334592437506 Centerline is valid? [True, True] Translation: X:121.57, Y:29.12, Z:-1.92 [[ 8.98048431e-01 -4.39781272e-01 1.00721240e-02 1.21566509e+02] [ 4.39753098e-01 8.98104911e-01 4.97816291e-03 2.91157470e+01] [-1.12351268e-02 -4.13836797e-05 9.99936883e-01 -1.92161667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98 meters 0.014915730050565233 Centerline is valid? [True, True] Translation: X:121.62, Y:29.14, Z:-1.92 [[ 8.97384787e-01 -4.41134565e-01 1.00418512e-02 1.21618911e+02] [ 4.41106635e-01 8.97440970e-01 4.96407537e-03 2.91402491e+01] [-1.12017939e-02 -2.51585159e-05 9.99937258e-01 -1.92387301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04 meters 0.01456209946800616 Centerline is valid? [True, True] Translation: X:121.67, Y:29.16, Z:-1.92 [[ 8.97218216e-01 -4.41450485e-01 1.09973720e-02 1.21671746e+02] [ 4.41416957e-01 8.97285611e-01 5.44078120e-03 2.91638090e+01] [-1.22696192e-02 -2.71415036e-05 9.99924725e-01 -1.92310779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.1 meters 0.013892251262942535 Centerline is valid? [True, True] Translation: X:121.72, Y:29.19, Z:-1.92 [[ 8.97661670e-01 -4.40550083e-01 1.09156203e-02 1.21724532e+02] [ 4.40516938e-01 8.97728034e-01 5.40418140e-03 2.91887150e+01] [-1.21800710e-02 -4.26108571e-05 9.99925819e-01 -1.92328100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16 meters 0.016457436459492412 Centerline is valid? [True, True] Translation: X:121.78, Y:29.21, Z:-1.93 [[ 8.98889384e-01 -4.38099297e-01 8.17816222e-03 1.21776925e+02] [ 4.38080572e-01 8.98926584e-01 4.05083660e-03 2.92145331e+01] [-9.12623609e-03 -5.85600263e-05 9.99958353e-01 -1.92905831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22 meters 0.014462930969605685 Centerline is valid? [True, True] Translation: X:121.83, Y:29.24, Z:-1.93 [[ 9.00403678e-01 -4.34989576e-01 7.56866203e-03 1.21829349e+02] [ 4.34973402e-01 9.00435484e-01 3.75211867e-03 2.92403018e+01] [-8.44722437e-03 -8.62547807e-05 9.99964318e-01 -1.92790788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28 meters 0.015020355620170399 Centerline is valid? [True, True] Translation: X:121.88, Y:29.27, Z:-1.93 [[ 9.02011401e-01 -4.31673768e-01 5.76115835e-03 1.21880899e+02] [ 4.31664331e-01 9.02029794e-01 2.85570711e-03 2.92654533e+01] [-6.42947033e-03 -8.89938069e-05 9.99979327e-01 -1.93101452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34 meters 0.01547352750253452 Centerline is valid? [True, True] Translation: X:121.93, Y:29.29, Z:-1.93 [[ 9.02799964e-01 -4.30025565e-01 5.49899650e-03 1.21933641e+02] [ 4.30016927e-01 9.02816705e-01 2.72742104e-03 2.92904031e+01] [-6.13744668e-03 -9.76540435e-05 9.99981161e-01 -1.93198932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.4 meters 0.01601713307857804 Centerline is valid? [True, True] Translation: X:121.99, Y:29.31, Z:-1.93 [[ 9.03618876e-01 -4.28272385e-01 7.46266049e-03 1.21985880e+02] [ 4.28256405e-01 9.03649679e-01 3.70261500e-03 2.93142249e+01] [-8.32935851e-03 -1.49820651e-04 9.99965299e-01 -1.93074971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46 meters 0.016396988744199398 Centerline is valid? [True, True] Translation: X:122.04, Y:29.34, Z:-1.93 [[ 9.03717977e-01 -4.27975508e-01 1.14359882e-02 1.22038822e+02] [ 4.27937933e-01 9.03790301e-01 5.67599282e-03 2.93388579e+01] [-1.27649211e-02 -2.35603613e-04 9.99918497e-01 -1.92823453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51999999999998 meters 0.017853329347776847 Centerline is valid? [True, True] Translation: X:122.09, Y:29.36, Z:-1.93 [[ 9.01836723e-01 -4.31916701e-01 1.17681448e-02 1.22091956e+02] [ 4.31877185e-01 9.01913481e-01 5.84547730e-03 2.93616045e+01] [-1.31386077e-02 -1.89272842e-04 9.99913667e-01 -1.93225566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57999999999998 meters 0.01485013090573527 Centerline is valid? [True, True] Translation: X:122.15, Y:29.38, Z:-1.93 [[ 9.00244030e-01 -4.35175064e-01 1.35406790e-02 1.22146775e+02] [ 4.35123089e-01 9.00345843e-01 6.72759642e-03 2.93849593e+01] [-1.51189762e-02 -1.64616449e-04 9.99885688e-01 -1.92936184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64 meters 0.013887527058299364 Centerline is valid? [True, True] Translation: X:122.20, Y:29.41, Z:-1.93 [[ 8.97745470e-01 -4.40319481e-01 1.31082486e-02 1.22201690e+02] [ 4.40271270e-01 8.97841160e-01 6.51618227e-03 2.94059786e+01] [-1.46383271e-02 -7.86878405e-05 9.99892851e-01 -1.93115163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.7 meters 0.013648238763171417 Centerline is valid? [True, True] Translation: X:122.25, Y:29.43, Z:-1.93 [[ 8.97211012e-01 -4.41439474e-01 1.19829511e-02 1.22253247e+02] [ 4.41399237e-01 8.97291027e-01 5.96039784e-03 2.94313116e+01] [-1.33833494e-02 -5.84691201e-05 9.99910437e-01 -1.93336009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76 meters 0.013774136609686474 Centerline is valid? [True, True] Translation: X:122.30, Y:29.46, Z:-1.94 [[ 8.96933031e-01 -4.42044888e-01 1.03660970e-02 1.22304463e+02] [ 4.42014809e-01 8.96992929e-01 5.15687750e-03 2.94579211e+01] [-1.15778871e-02 -4.34053731e-05 9.99932973e-01 -1.93657352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82 meters 0.013606149654112255 Centerline is valid? [True, True] Translation: X:122.36, Y:29.48, Z:-1.94 [[ 8.96166719e-01 -4.43629143e-01 8.85410695e-03 1.22356970e+02] [ 4.43607253e-01 8.96210457e-01 4.40699343e-03 2.94838430e+01] [-9.89021395e-03 -2.16547805e-05 9.99951090e-01 -1.93910746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88 meters 0.013538902135111509 Centerline is valid? [True, True] Translation: X:122.41, Y:29.51, Z:-1.94 [[ 8.94619132e-01 -4.46744029e-01 8.73967825e-03 1.22410136e+02] [ 4.46722820e-01 8.94661820e-01 4.35310885e-03 2.95084387e+01] [-9.76378184e-03 9.83925037e-06 9.99952333e-01 -1.93971604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94 meters 0.013713845869277392 Centerline is valid? [True, True] Translation: X:122.46, Y:29.53, Z:-1.94 [[ 8.91861108e-01 -4.52185711e-01 1.05757565e-02 1.22464547e+02] [ 4.52154978e-01 8.91923806e-01 5.27250890e-03 2.95312488e+01] [-1.18169222e-02 7.95353345e-05 9.99930175e-01 -1.93826641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.0 meters 0.014033895310776224 Centerline is valid? [True, True] Translation: X:122.52, Y:29.56, Z:-1.94 [[ 8.90003315e-01 -4.55801044e-01 1.18113296e-02 1.22518267e+02] [ 4.55762973e-01 8.90081675e-01 5.89263284e-03 2.95563045e+01] [-1.31989163e-02 1.38703957e-04 9.99912881e-01 -1.93850299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06 meters 0.015456597345353967 Centerline is valid? [True, True] Translation: X:122.57, Y:29.58, Z:-1.94 [[ 8.87146471e-01 -4.61320050e-01 1.24478712e-02 1.22571381e+02] [ 4.61278248e-01 8.87233768e-01 6.21439075e-03 2.95787332e+01] [-1.39109947e-02 2.28857403e-04 9.99903211e-01 -1.93874897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12 meters 0.0162533837681523 Centerline is valid? [True, True] Translation: X:122.62, Y:29.60, Z:-1.94 [[ 8.85632724e-01 -4.64214661e-01 1.26264220e-02 1.22624405e+02] [ 4.64171912e-01 8.85722684e-01 6.30588721e-03 2.96040104e+01] [-1.41107936e-02 2.76130350e-04 9.99900400e-01 -1.93982907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18 meters 0.015501341246831923 Centerline is valid? [True, True] Translation: X:122.68, Y:29.63, Z:-1.94 [[ 8.84628792e-01 -4.66135957e-01 1.22135560e-02 1.22675499e+02] [ 4.66096093e-01 8.84713052e-01 6.10313790e-03 2.96343549e+01] [-1.36503844e-02 2.93679224e-04 9.99906786e-01 -1.94036349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24 meters 0.015466449839518403 Centerline is valid? [True, True] Translation: X:122.73, Y:29.66, Z:-1.94 [[ 8.85014644e-01 -4.65395447e-01 1.24963016e-02 1.22727144e+02] [ 4.65353585e-01 8.85102817e-01 6.24848427e-03 2.96634350e+01] [-1.39685279e-02 2.85198660e-04 9.99902395e-01 -1.94146865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29999999999998 meters 0.0164194213976482 Centerline is valid? [True, True] Translation: X:122.78, Y:29.69, Z:-1.94 [[ 8.86796415e-01 -4.61986060e-01 1.26884963e-02 1.22776235e+02] [ 4.61942492e-01 8.86887156e-01 6.34878632e-03 2.96943036e+01] [-1.41863152e-02 2.31274650e-04 9.99899342e-01 -1.94398562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35999999999999 meters 0.013955689064800823 Centerline is valid? [True, True] Translation: X:122.83, Y:29.73, Z:-1.94 [[ 8.88803449e-01 -4.58095263e-01 1.33101165e-02 1.22826092e+02] [ 4.58046862e-01 8.88903088e-01 6.66132250e-03 2.97259784e+01] [-1.48829240e-02 1.76050690e-04 9.99889228e-01 -1.94250539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42 meters 0.01318191693409636 Centerline is valid? [True, True] Translation: X:122.88, Y:29.76, Z:-1.94 [[ 8.92035120e-01 -4.51765134e-01 1.34762117e-02 1.22875669e+02] [ 4.51714729e-01 8.92136906e-01 6.74868609e-03 2.97591360e+01] [-1.50714469e-02 6.73383137e-05 9.99886417e-01 -1.94362852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48 meters 0.013134292260233639 Centerline is valid? [True, True] Translation: X:122.93, Y:29.79, Z:-1.94 [[ 8.94712760e-01 -4.46437302e-01 1.35207995e-02 1.22925107e+02] [ 4.46385889e-01 8.94814916e-01 6.77524493e-03 2.97909359e+01] [-1.51233351e-02 -2.64039889e-05 9.99885635e-01 -1.94490479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54 meters 0.014062764862205871 Centerline is valid? [True, True] Translation: X:122.97, Y:29.83, Z:-1.95 [[ 8.99077596e-01 -4.37600495e-01 1.28562149e-02 1.22973751e+02] [ 4.37553041e-01 8.99169493e-01 6.44660808e-03 2.98254020e+01] [-1.43809551e-02 -1.70724972e-04 9.99896574e-01 -1.94644522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.6 meters 0.014997220951383897 Centerline is valid? [True, True] Translation: X:123.02, Y:29.86, Z:-1.95 [[ 9.01173814e-01 -4.33283616e-01 1.22908805e-02 1.23024259e+02] [ 4.33239792e-01 9.01257596e-01 6.16674900e-03 2.98553318e+01] [-1.37492007e-02 -2.32414221e-04 9.99905448e-01 -1.94856454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66 meters 0.01526797583634529 Centerline is valid? [True, True] Translation: X:123.08, Y:29.88, Z:-1.95 [[ 9.01476850e-01 -4.32659425e-01 1.20545198e-02 1.23076174e+02] [ 4.32617165e-01 9.01557410e-01 6.05184623e-03 2.98826623e+01] [-1.34862300e-02 -2.40607090e-04 9.99909028e-01 -1.95029220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72 meters 0.014715875224074946 Centerline is valid? [True, True] Translation: X:123.13, Y:29.91, Z:-1.95 [[ 9.00161540e-01 -4.35375274e-01 1.25527651e-02 1.23130146e+02] [ 4.35329652e-01 9.00249035e-01 6.30622091e-03 2.99073523e+01] [-1.40461873e-02 -2.12026667e-04 9.99901325e-01 -1.95087845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78 meters 0.01357639424437494 Centerline is valid? [True, True] Translation: X:123.19, Y:29.93, Z:-1.95 [[ 8.96521996e-01 -4.42801755e-01 1.32255843e-02 1.23186631e+02] [ 4.42751882e-01 8.96619538e-01 6.64647104e-03 2.99273539e+01] [-1.48013863e-02 -1.03055133e-04 9.99890448e-01 -1.95132905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84 meters 0.013277148724875076 Centerline is valid? [True, True] Translation: X:123.24, Y:29.95, Z:-1.95 [[ 8.93613039e-01 -4.48646680e-01 1.31107863e-02 1.23242131e+02] [ 4.48598242e-01 8.93709213e-01 6.59249374e-03 2.99486010e+01] [-1.46749309e-02 -9.66267402e-06 9.99892317e-01 -1.95286788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.9 meters 0.013616288413169437 Centerline is valid? [True, True] Translation: X:123.30, Y:29.97, Z:-1.96 [[ 8.90152437e-01 -4.55503276e-01 1.20584107e-02 1.23298127e+02] [ 4.55462882e-01 8.90234103e-01 6.06678803e-03 2.99691649e+01] [-1.34982503e-02 9.17923468e-05 9.99908890e-01 -1.95519263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96 meters 0.013756594782128706 Centerline is valid? [True, True] Translation: X:123.35, Y:29.99, Z:-1.96 [[ 8.88915188e-01 -4.57927923e-01 1.14806782e-02 1.23351793e+02] [ 4.57891466e-01 8.88989316e-01 5.77946921e-03 2.99932500e+01] [-1.28527806e-02 1.19446600e-04 9.99917392e-01 -1.95662633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01999999999998 meters 0.013920840405574482 Centerline is valid? [True, True] Translation: X:123.40, Y:30.02, Z:-1.96 [[ 8.88847287e-01 -4.58104039e-01 9.54927890e-03 1.23404647e+02] [ 4.58078805e-01 8.88898576e-01 4.80931442e-03 3.00180446e+01] [-1.06915068e-02 9.95761938e-05 9.99942839e-01 -1.95876507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07999999999998 meters 0.013754572000832996 Centerline is valid? [True, True] Translation: X:123.46, Y:30.04, Z:-1.96 [[ 8.89594055e-01 -4.56676285e-01 8.31793003e-03 1.23456314e+02] [ 4.56657043e-01 8.89632939e-01 4.19281579e-03 3.00443286e+01] [-9.31466408e-03 6.85373312e-05 9.99956615e-01 -1.96032809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14 meters 0.013678480825086 Centerline is valid? [True, True] Translation: X:123.51, Y:30.07, Z:-1.96 [[ 8.89906105e-01 -4.56060277e-01 8.72624845e-03 1.23508492e+02] [ 4.56039070e-01 8.89948886e-01 4.39853953e-03 3.00704035e+01] [-9.77191424e-03 6.52230523e-05 9.99952252e-01 -1.96004482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.2 meters 0.013526435802456237 Centerline is valid? [True, True] Translation: X:123.56, Y:30.10, Z:-1.96 [[ 8.90105512e-01 -4.55638806e-01 1.02691679e-02 1.23561626e+02] [ 4.55609356e-01 8.90164745e-01 5.18084708e-03 3.00964008e+01] [-1.15018462e-02 6.72284111e-05 9.99933849e-01 -1.95903047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26 meters 0.013426095141577653 Centerline is valid? [True, True] Translation: X:123.61, Y:30.12, Z:-1.96 [[ 8.90407367e-01 -4.55006387e-01 1.19962126e-02 1.23613125e+02] [ 4.54966083e-01 8.90488171e-01 6.05639477e-03 3.01228640e+01] [-1.34381837e-02 6.52113207e-05 9.99909701e-01 -1.95869627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32 meters 0.013265037403709528 Centerline is valid? [True, True] Translation: X:123.66, Y:30.15, Z:-1.96 [[ 8.91866590e-01 -4.52076697e-01 1.41649768e-02 1.23664517e+02] [ 4.52020041e-01 8.91979069e-01 7.15699981e-03 3.01511972e+01] [-1.58703757e-02 1.97643861e-05 9.99874057e-01 -1.95774693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38 meters 0.013325782390454495 Centerline is valid? [True, True] Translation: X:123.71, Y:30.18, Z:-1.96 [[ 8.93476205e-01 -4.48878804e-01 1.44253604e-02 1.23714773e+02] [ 4.48819556e-01 8.93592646e-01 7.29302764e-03 3.01793633e+01] [-1.61640815e-02 -4.17628190e-05 9.99869352e-01 -1.95904728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44 meters 0.013526287121783075 Centerline is valid? [True, True] Translation: X:123.77, Y:30.21, Z:-1.96 [[ 8.94381872e-01 -4.47095151e-01 1.36745268e-02 1.23766419e+02] [ 4.47041653e-01 8.94486400e-01 6.91661200e-03 3.02067050e+01] [-1.53240619e-02 -7.30093324e-05 9.99882577e-01 -1.96151820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.5 meters 0.01375718747149983 Centerline is valid? [True, True] Translation: X:123.82, Y:30.23, Z:-1.96 [[ 8.95158566e-01 -4.45585003e-01 1.20476844e-02 1.23818471e+02] [ 4.45543296e-01 8.95239631e-01 6.09708908e-03 3.02347136e+01] [-1.35023359e-02 -9.00965155e-05 9.99908835e-01 -1.96487845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56 meters 0.014190683498311518 Centerline is valid? [True, True] Translation: X:123.87, Y:30.26, Z:-1.97 [[ 8.96545022e-01 -4.42833475e-01 1.02731720e-02 1.23869028e+02] [ 4.42802932e-01 8.96603870e-01 5.20224073e-03 3.02619486e+01] [-1.15146921e-02 -1.15052366e-04 9.99933697e-01 -1.96739732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62 meters 0.01413308493983383 Centerline is valid? [True, True] Translation: X:123.92, Y:30.29, Z:-1.97 [[ 8.96970662e-01 -4.41982703e-01 9.74277886e-03 1.23921487e+02] [ 4.41955176e-01 8.97023565e-01 4.93416705e-03 3.02883875e+01] [-1.09203187e-02 -1.19931541e-04 9.99940364e-01 -1.96863509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68 meters 0.014328803553733777 Centerline is valid? [True, True] Translation: X:123.97, Y:30.32, Z:-1.97 [[ 8.97003471e-01 -4.41917107e-01 9.69762682e-03 1.23972167e+02] [ 4.41889791e-01 8.97055882e-01 4.91500350e-03 3.03150927e+01] [-1.08713373e-02 -1.23492914e-04 9.99940898e-01 -1.97000961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74 meters 0.01414023539344144 Centerline is valid? [True, True] Translation: X:124.02, Y:30.34, Z:-1.97 [[ 8.96721414e-01 -4.42491229e-01 9.60303855e-03 1.24024316e+02] [ 4.42464469e-01 8.96772825e-01 4.86776156e-03 3.03401195e+01] [-1.07656858e-02 -1.16022678e-04 9.99942042e-01 -1.97082954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79999999999998 meters 0.013931251504363681 Centerline is valid? [True, True] Translation: X:124.08, Y:30.37, Z:-1.97 [[ 8.95871856e-01 -4.44189560e-01 1.04523635e-02 1.24077629e+02] [ 4.44157921e-01 8.95932823e-01 5.30266022e-03 3.03651432e+01] [-1.17200019e-02 -1.08003995e-04 9.99931313e-01 -1.97173307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85999999999999 meters 0.014053231469546693 Centerline is valid? [True, True] Translation: X:124.13, Y:30.39, Z:-1.97 [[ 8.94196246e-01 -4.47511184e-01 1.21167174e-02 1.24130755e+02] [ 4.47468905e-01 8.94278332e-01 6.15177438e-03 3.03886656e+01] [-1.35887056e-02 -7.90393063e-05 9.99907666e-01 -1.97193186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92 meters 0.013608355367686877 Centerline is valid? [True, True] Translation: X:124.18, Y:30.41, Z:-1.97 [[ 8.93054738e-01 -4.49758585e-01 1.30556749e-02 1.24183483e+02] [ 4.49709706e-01 8.93150162e-01 6.63086438e-03 3.04134148e+01] [-1.46429664e-02 -5.04611224e-05 9.99892785e-01 -1.97097276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98 meters 0.01339340685399895 Centerline is valid? [True, True] Translation: X:124.24, Y:30.44, Z:-1.97 [[ 8.92316837e-01 -4.51243685e-01 1.22392172e-02 1.24235789e+02] [ 4.51200854e-01 8.92400771e-01 6.21714923e-03 3.04394549e+01] [-1.37277362e-02 -2.53216685e-05 9.99905770e-01 -1.97267675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04 meters 0.01342871863969988 Centerline is valid? [True, True] Translation: X:124.29, Y:30.46, Z:-1.98 [[ 8.91224776e-01 -4.53437902e-01 1.06051082e-02 1.24287774e+02] [ 4.53405863e-01 8.91287871e-01 5.39019529e-03 3.04648452e+01] [-1.18963232e-02 4.54267326e-06 9.99929236e-01 -1.97520362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.1 meters 0.013558269093840888 Centerline is valid? [True, True] Translation: X:124.34, Y:30.49, Z:-1.98 [[ 8.90052610e-01 -4.55744952e-01 1.01434553e-02 1.24340542e+02] [ 4.55715753e-01 8.90110408e-01 5.15896556e-03 3.04901907e+01] [-1.13799676e-02 3.07816076e-05 9.99935246e-01 -1.97640023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16 meters 0.01400596016834958 Centerline is valid? [True, True] Translation: X:124.39, Y:30.51, Z:-1.98 [[ 8.87432742e-01 -4.60799088e-01 1.12840004e-02 1.24394221e+02] [ 4.60763296e-01 8.87504473e-01 5.74412669e-03 3.05134514e+01] [-1.26614892e-02 1.01727123e-04 9.99919835e-01 -1.97627230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22 meters 0.014602704103568709 Centerline is valid? [True, True] Translation: X:124.45, Y:30.54, Z:-1.98 [[ 8.85158960e-01 -4.65098822e-01 1.32929049e-02 1.24447641e+02] [ 4.65049609e-01 8.85258747e-01 6.76845350e-03 3.05379649e+01] [-1.49156601e-02 1.90702957e-04 9.99888737e-01 -1.97548152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28 meters 0.014571737643643189 Centerline is valid? [True, True] Translation: X:124.50, Y:30.57, Z:-1.98 [[ 8.84723329e-01 -4.65910849e-01 1.38460105e-02 1.24499388e+02] [ 4.65857486e-01 8.84831643e-01 7.05452181e-03 3.05655897e+01] [-1.55381665e-02 2.08967621e-04 9.99879254e-01 -1.97630986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34 meters 0.014406919417434138 Centerline is valid? [True, True] Translation: X:124.55, Y:30.59, Z:-1.98 [[ 8.85180300e-01 -4.65049672e-01 1.35881690e-02 1.24550829e+02] [ 4.64998112e-01 8.85284569e-01 6.92735096e-03 3.05940242e+01] [-1.52509586e-02 1.86518308e-04 9.99883680e-01 -1.97693812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.4 meters 0.01423121720846808 Centerline is valid? [True, True] Translation: X:124.60, Y:30.62, Z:-1.98 [[ 8.85596112e-01 -4.64265490e-01 1.33071897e-02 1.24602337e+02] [ 4.64215890e-01 8.85696070e-01 6.78817558e-03 3.06234510e+01] [-1.49376413e-02 1.65827006e-04 9.99888413e-01 -1.97804271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46 meters 0.01402664981109142 Centerline is valid? [True, True] Translation: X:124.65, Y:30.65, Z:-1.98 [[ 8.85910907e-01 -4.63708688e-01 1.16669328e-02 1.24652399e+02] [ 4.63670475e-01 8.85987717e-01 5.95450345e-03 3.06534310e+01] [-1.30979141e-02 1.34452716e-04 9.99914210e-01 -1.97970853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51999999999998 meters 0.014053664911727604 Centerline is valid? [True, True] Translation: X:124.70, Y:30.68, Z:-1.98 [[ 8.85734838e-01 -4.64081538e-01 1.01056079e-02 1.24702919e+02] [ 4.64052859e-01 8.85792477e-01 5.16067896e-03 3.06816622e+01] [-1.13464473e-02 1.18543106e-04 9.99935620e-01 -1.98205310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57999999999998 meters 0.014277397290072862 Centerline is valid? [True, True] Translation: X:124.75, Y:30.71, Z:-1.98 [[ 8.85132003e-01 -4.65261170e-01 8.56632827e-03 1.24753910e+02] [ 4.65240585e-01 8.85173447e-01 4.37791899e-03 3.07090594e+01] [-9.61956204e-03 1.10367373e-04 9.99953725e-01 -1.98454963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64 meters 0.014258884172960914 Centerline is valid? [True, True] Translation: X:124.81, Y:30.74, Z:-1.98 [[ 8.84481018e-01 -4.66492210e-01 8.85132606e-03 1.24805363e+02] [ 4.66470286e-01 8.84525297e-01 4.52443585e-03 3.07370052e+01] [-9.93983589e-03 1.27102964e-04 9.99950591e-01 -1.98459189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.7 meters 0.014257249187790082 Centerline is valid? [True, True] Translation: X:124.86, Y:30.77, Z:-1.99 [[ 8.84155307e-01 -4.67102050e-01 9.22320953e-03 1.24855305e+02] [ 4.67078248e-01 8.84203402e-01 4.71743120e-03 3.07661448e+01] [-1.03587150e-02 1.37018713e-04 9.99946338e-01 -1.98528551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76 meters 0.01399400368283413 Centerline is valid? [True, True] Translation: X:124.91, Y:30.80, Z:-1.99 [[ 8.84938006e-01 -4.65624653e-01 8.85483447e-03 1.24906942e+02] [ 4.65602609e-01 8.84982299e-01 4.53222667e-03 3.07954679e+01] [-9.94668824e-03 1.12094396e-04 9.99950524e-01 -1.98697888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82 meters 0.013383263743242509 Centerline is valid? [True, True] Translation: X:124.96, Y:30.83, Z:-1.99 [[ 8.87308562e-01 -4.61120734e-01 7.15432866e-03 1.24957167e+02] [ 4.61106185e-01 8.87337403e-01 3.66330993e-03 3.08264656e+01] [-8.03753157e-03 4.84189334e-05 9.99967697e-01 -1.98858256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88 meters 0.013170559630889615 Centerline is valid? [True, True] Translation: X:125.01, Y:30.86, Z:-1.99 [[ 8.89525510e-01 -4.56852388e-01 5.50124628e-03 1.25006863e+02] [ 4.56843701e-01 8.89542521e-01 2.81722086e-03 3.08574820e+01] [-6.18064656e-03 7.21988826e-06 9.99980900e-01 -1.99090399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94 meters 0.013448480775434734 Centerline is valid? [True, True] Translation: X:125.06, Y:30.89, Z:-2.00 [[ 8.93057975e-01 -4.49934705e-01 2.49280793e-03 1.25056385e+02] [ 4.49932898e-01 8.93061454e-01 1.27535574e-03 3.08906770e+01] [-2.80005748e-03 -1.73703138e-05 9.99996080e-01 -1.99539562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.0 meters 0.013981878395348896 Centerline is valid? [True, True] Translation: X:125.11, Y:30.92, Z:-2.00 [[ 8.94561769e-01 -4.46940680e-01 1.80837648e-03 1.25107378e+02] [ 4.46939724e-01 8.94563596e-01 9.24635616e-04 3.09199168e+01] [-2.03096504e-03 -1.89083873e-05 9.99997937e-01 -1.99757068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06 meters 0.014113825733935456 Centerline is valid? [True, True] Translation: X:125.16, Y:30.95, Z:-2.00 [[ 8.95503285e-01 -4.45042926e-01 3.26510403e-03 1.25159317e+02] [ 4.45039781e-01 8.95509236e-01 1.67380372e-03 3.09471967e+01] [-3.66884532e-03 -4.57955501e-05 9.99993269e-01 -1.99619245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12 meters 0.014195908797917609 Centerline is valid? [True, True] Translation: X:125.21, Y:30.97, Z:-2.00 [[ 8.95721317e-01 -4.44587576e-01 5.02100672e-03 1.25210994e+02] [ 4.44580111e-01 8.95735386e-01 2.57742007e-03 3.09735267e+01] [-5.64338234e-03 -7.64103770e-05 9.99984073e-01 -1.99542312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18 meters 0.014141118859038758 Centerline is valid? [True, True] Translation: X:125.26, Y:31.00, Z:-1.99 [[ 8.95591936e-01 -4.44827398e-01 6.60829419e-03 1.25264637e+02] [ 4.44814443e-01 8.95616311e-01 3.39646464e-03 3.09981253e+01] [-7.42933659e-03 -1.02381647e-04 9.99972397e-01 -1.99317422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24 meters 0.014196511102962798 Centerline is valid? [True, True] Translation: X:125.32, Y:31.02, Z:-1.99 [[ 8.95511775e-01 -4.44971165e-01 7.70207828e-03 1.25316694e+02] [ 4.44953547e-01 8.95544889e-01 3.96150335e-03 3.10239592e+01] [-8.66031159e-03 -1.20505845e-04 9.99962492e-01 -1.99389757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29999999999998 meters 0.01424305941946679 Centerline is valid? [True, True] Translation: X:125.37, Y:31.05, Z:-2.00 [[ 8.95767549e-01 -4.44474455e-01 6.55411847e-03 1.25369079e+02] [ 4.44461670e-01 8.95791520e-01 3.37298328e-03 3.10502457e+01] [-7.37032865e-03 -1.08354524e-04 9.99972833e-01 -1.99703246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35999999999999 meters 0.014274539737707101 Centerline is valid? [True, True] Translation: X:125.42, Y:31.08, Z:-2.00 [[ 8.95314433e-01 -4.45405834e-01 5.07051690e-03 1.25419980e+02] [ 4.45398185e-01 8.95328787e-01 2.61148427e-03 3.10751250e+01] [-5.70295007e-03 -7.97005355e-05 9.99983735e-01 -1.99998934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42 meters 0.013501490459274129 Centerline is valid? [True, True] Translation: X:125.47, Y:31.10, Z:-2.00 [[ 8.92530114e-01 -4.50964665e-01 4.56793494e-03 1.25474894e+02] [ 4.50958535e-01 8.92541802e-01 2.35179245e-03 3.10969888e+01] [-5.13764819e-03 -3.90963374e-05 9.99986801e-01 -2.00136067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48 meters 0.013150142208873679 Centerline is valid? [True, True] Translation: X:125.53, Y:31.12, Z:-2.00 [[ 8.87611606e-01 -4.60561263e-01 5.38151937e-03 1.25530413e+02] [ 4.60552914e-01 8.87627919e-01 2.77308423e-03 3.11169890e+01] [-6.05396202e-03 1.70526804e-05 9.99981674e-01 -2.00118074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54 meters 0.01403252124652102 Centerline is valid? [True, True] Translation: X:125.59, Y:31.14, Z:-2.00 [[ 8.83178306e-01 -4.68998319e-01 6.05456390e-03 1.25585562e+02] [ 4.68987932e-01 8.83199055e-01 3.12229282e-03 3.11391963e+01] [-6.81173519e-03 8.19761203e-05 9.99976797e-01 -2.00128004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.6 meters 0.014900217033005493 Centerline is valid? [True, True] Translation: X:125.64, Y:31.16, Z:-2.00 [[ 8.80555762e-01 -4.73898587e-01 6.45592980e-03 1.25639610e+02] [ 4.73886893e-01 8.80579419e-01 3.33158302e-03 3.11633683e+01] [-7.26379140e-03 1.25735895e-04 9.99973610e-01 -2.00160614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66 meters 0.01846039823580975 Centerline is valid? [True, True] Translation: X:125.70, Y:31.18, Z:-2.00 [[ 8.72980008e-01 -4.87693571e-01 7.80290945e-03 1.25696557e+02] [ 4.87677003e-01 8.73014833e-01 4.03020885e-03 3.11825690e+01] [-8.77756264e-03 2.87007740e-04 9.99961435e-01 -2.00000877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72 meters 0.020042665124657678 Centerline is valid? [True, True] Translation: X:125.75, Y:31.21, Z:-2.00 [[ 8.69107783e-01 -4.94554298e-01 8.22851760e-03 1.25750350e+02] [ 4.94536156e-01 8.69146655e-01 4.25248126e-03 3.12075408e+01] [-9.25487143e-03 3.73434903e-04 9.99957103e-01 -1.99953551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78 meters 0.02302214094317311 Centerline is valid? [True, True] Translation: X:125.80, Y:31.23, Z:-2.00 [[ 8.66217586e-01 -4.99613769e-01 7.29214646e-03 1.25803211e+02] [ 4.99599678e-01 8.66248198e-01 3.77124684e-03 3.12322634e+01] [-8.20097557e-03 3.76433690e-04 9.99966301e-01 -2.00036424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84 meters 0.023345943312585094 Centerline is valid? [True, True] Translation: X:125.85, Y:31.26, Z:-2.00 [[ 8.66465411e-01 -4.99207496e-01 5.43753316e-03 1.25854377e+02] [ 4.99199660e-01 8.66482428e-01 2.81095293e-03 3.12611606e+01] [-6.11477571e-03 2.78821217e-04 9.99981266e-01 -2.00256989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.9 meters 0.019844739698380257 Centerline is valid? [True, True] Translation: X:125.90, Y:31.30, Z:-2.01 [[ 8.70633132e-01 -4.91927358e-01 2.32874950e-03 1.25902035e+02] [ 4.91925899e-01 8.70636241e-01 1.20233317e-03 3.12980525e+01] [-2.61895429e-03 9.87810949e-05 9.99996566e-01 -2.00544368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96 meters 0.017245421690535834 Centerline is valid? [True, True] Translation: X:125.95, Y:31.33, Z:-2.01 [[ 8.74700632e-01 -4.84661087e-01 1.56062112e-03 1.25949992e+02] [ 4.84660417e-01 8.74702023e-01 8.07387879e-04 3.13334132e+01] [-1.75638793e-03 5.01485926e-05 9.99998456e-01 -2.00664144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01999999999998 meters 0.014433018087031249 Centerline is valid? [True, True] Translation: X:126.00, Y:31.37, Z:-2.01 [[ 8.80758452e-01 -4.73565320e-01 6.60453168e-04 1.25996886e+02] [ 4.73565200e-01 8.80758700e-01 3.38523234e-04 3.13716637e+01] [-7.42012737e-04 1.46104364e-05 9.99999725e-01 -2.00766704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07999999999998 meters 0.013175302240687702 Centerline is valid? [True, True] Translation: X:126.05, Y:31.41, Z:-2.01 [[ 8.83789765e-01 -4.67883694e-01 7.07079235e-04 1.26046310e+02] [ 4.67883554e-01 8.83790048e-01 3.62714924e-04 3.14054756e+01] [-7.94617989e-04 1.02670074e-05 9.99999684e-01 -2.00706290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14 meters 0.012595119811802443 Centerline is valid? [True, True] Translation: X:126.09, Y:31.44, Z:-2.01 [[ 8.87396699e-01 -4.61006559e-01 2.27594635e-04 1.26093538e+02] [ 4.61006545e-01 8.87396728e-01 1.16549660e-04 3.14393077e+01] [-2.55696892e-04 1.49683284e-06 9.99999967e-01 -2.00805393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.2 meters 0.01273056728128077 Centerline is valid? [True, True] Translation: X:126.14, Y:31.47, Z:-2.01 [[ 8.89840579e-01 -4.56268909e-01 -1.55785105e-03 1.26143131e+02] [ 4.56268185e-01 8.89841942e-01 -8.12998226e-04 3.14719747e+01] [ 1.75718702e-03 1.26409411e-05 9.99998456e-01 -2.00897759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26 meters 0.013058280457869777 Centerline is valid? [True, True] Translation: X:126.19, Y:31.50, Z:-2.01 [[ 8.91365515e-01 -4.53279948e-01 -2.19276131e-03 1.26192592e+02] [ 4.53278515e-01 8.91368212e-01 -1.14005298e-03 3.15014669e+01] [ 2.47132088e-03 2.22723254e-05 9.99996946e-01 -2.01039088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32 meters 0.013609732988678666 Centerline is valid? [True, True] Translation: X:126.24, Y:31.53, Z:-2.01 [[ 8.93614291e-01 -4.48824054e-01 -3.23546385e-03 1.26242387e+02] [ 4.48820905e-01 8.93620147e-01 -1.68183870e-03 3.15324413e+01] [ 3.64612534e-03 5.07712818e-05 9.99993352e-01 -2.01194258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38 meters 0.014148112895622135 Centerline is valid? [True, True] Translation: X:126.29, Y:31.56, Z:-2.01 [[ 8.94473509e-01 -4.47099018e-01 -4.42830593e-03 1.26293987e+02] [ 4.47093081e-01 8.94484467e-01 -2.30548371e-03 3.15613595e+01] [ 4.99183037e-03 8.23291610e-05 9.99987537e-01 -2.01372284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44 meters 0.014566637299623066 Centerline is valid? [True, True] Translation: X:126.35, Y:31.59, Z:-2.02 [[ 8.94920565e-01 -4.46184209e-01 -6.06914754e-03 1.26346019e+02] [ 4.46173034e-01 8.94941136e-01 -3.16003634e-03 3.15884834e+01] [ 6.84148811e-03 1.20091531e-04 9.99976590e-01 -2.01518017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.5 meters 0.014603155382353428 Centerline is valid? [True, True] Translation: X:126.40, Y:31.61, Z:-2.02 [[ 8.94212240e-01 -4.47597900e-01 -6.37097828e-03 1.26399107e+02] [ 4.47585638e-01 8.94234928e-01 -3.31494935e-03 3.16127020e+01] [ 7.18091567e-03 1.12709904e-04 9.99974211e-01 -2.01590569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56 meters 0.013119165156901159 Centerline is valid? [True, True] Translation: X:126.46, Y:31.63, Z:-2.01 [[ 8.91510941e-01 -4.52966191e-01 -5.46553904e-03 1.26455957e+02] [ 4.52957241e-01 8.91527692e-01 -2.84818786e-03 3.16319449e+01] [ 6.16281221e-03 6.35351505e-05 9.99981008e-01 -2.01182267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62 meters 0.012684947010586305 Centerline is valid? [True, True] Translation: X:126.51, Y:31.66, Z:-2.01 [[ 8.89348948e-01 -4.57206761e-01 -4.51948022e-03 1.26510925e+02] [ 4.57200685e-01 8.89360431e-01 -2.35724390e-03 3.16552345e+01] [ 5.09719472e-03 3.01029298e-05 9.99987009e-01 -2.01111210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68 meters 0.013985519102366195 Centerline is valid? [True, True] Translation: X:126.57, Y:31.68, Z:-2.01 [[ 8.85992753e-01 -4.63675460e-01 -4.68083495e-03 1.26565396e+02] [ 4.63669019e-01 8.86005117e-01 -2.44385075e-03 3.16763893e+01] [ 5.28039734e-03 -5.12409972e-06 9.99986059e-01 -2.01137626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74 meters 0.013013128629756149 Centerline is valid? [True, True] Translation: X:126.62, Y:31.70, Z:-2.01 [[ 8.84115402e-01 -4.67246123e-01 -4.58449878e-03 1.26619310e+02] [ 4.67239987e-01 8.84127287e-01 -2.39453892e-03 3.16999813e+01] [ 5.17211949e-03 -2.50124106e-05 9.99986624e-01 -2.01105945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79999999999998 meters 0.013808259501677439 Centerline is valid? [True, True] Translation: X:126.67, Y:31.72, Z:-2.01 [[ 8.82297541e-01 -4.70679011e-01 -3.50974928e-03 1.26672127e+02] [ 4.70675448e-01 8.82304521e-01 -1.83179794e-03 3.17237656e+01] [ 3.95885650e-03 -3.57619984e-05 9.99992163e-01 -2.01203209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85999999999999 meters 0.01384882428911866 Centerline is valid? [True, True] Translation: X:126.72, Y:31.75, Z:-2.01 [[ 8.79637049e-01 -4.75645058e-01 -6.64792634e-04 1.26724705e+02] [ 4.75644928e-01 8.79637300e-01 -3.51185249e-04 3.17506362e+01] [ 7.51815925e-04 -7.28968843e-06 9.99999717e-01 -2.00879616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92 meters 0.014414846802175965 Centerline is valid? [True, True] Translation: X:126.78, Y:31.78, Z:-2.01 [[ 8.78337250e-01 -4.78039744e-01 1.29551266e-03 1.26775630e+02] [ 4.78039273e-01 8.78338205e-01 6.71635168e-04 3.17780460e+01] [-1.45896656e-03 2.93837407e-05 9.99998935e-01 -2.00928186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98 meters 0.01444078312110288 Centerline is valid? [True, True] Translation: X:126.83, Y:31.81, Z:-2.01 [[ 8.78561392e-01 -4.77627089e-01 1.49823957e-03 1.26826861e+02] [ 4.77626455e-01 8.78562669e-01 7.78623158e-04 3.18062153e+01] [-1.68818887e-03 3.15306108e-05 9.99998575e-01 -2.01046009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04 meters 0.01344071253886929 Centerline is valid? [True, True] Translation: X:126.88, Y:31.84, Z:-2.01 [[ 8.81353894e-01 -4.72455469e-01 1.06961830e-03 1.26875538e+02] [ 4.72455143e-01 8.81354542e-01 5.55188973e-04 3.18395960e+01] [-1.20501502e-03 1.60287064e-05 9.99999274e-01 -2.01257172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.1 meters 0.0125276546023343 Centerline is valid? [True, True] Translation: X:126.93, Y:31.87, Z:-2.01 [[ 8.83596274e-01 -4.68246495e-01 1.68676471e-03 1.26925179e+02] [ 4.68245671e-01 8.83597884e-01 8.78091928e-04 3.18723334e+01] [-1.90158520e-03 1.39415200e-05 9.99998192e-01 -2.01326370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16 meters 0.012260047725909854 Centerline is valid? [True, True] Translation: X:126.97, Y:31.91, Z:-2.01 [[ 8.86338948e-01 -4.63029244e-01 2.68121968e-03 1.26973409e+02] [ 4.63027125e-01 8.86343003e-01 1.40077710e-03 3.19050495e+01] [-3.02508106e-03 -8.58605777e-08 9.99995424e-01 -2.01344107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22 meters 0.01208510860646788 Centerline is valid? [True, True] Translation: X:127.02, Y:31.94, Z:-2.01 [[ 8.87329616e-01 -4.61116562e-01 4.20343071e-03 1.27023543e+02] [ 4.61111330e-01 8.87339572e-01 2.19661116e-03 3.19370530e+01] [-4.74276419e-03 -1.08686105e-05 9.99988753e-01 -2.01383236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28 meters 0.012139218236263117 Centerline is valid? [True, True] Translation: X:127.07, Y:31.97, Z:-2.01 [[ 8.87809292e-01 -4.60187467e-01 4.70705524e-03 1.27072657e+02] [ 4.60180884e-01 8.87821770e-01 2.46141793e-03 3.19678413e+01] [-5.31173979e-03 -1.91728723e-05 9.99985892e-01 -2.01489168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34 meters 0.011929100335425043 Centerline is valid? [True, True] Translation: X:127.12, Y:32.00, Z:-2.01 [[ 8.87306855e-01 -4.61138863e-01 6.12328902e-03 1.27122908e+02] [ 4.61127719e-01 8.87327983e-01 3.20594631e-03 3.19989987e+01] [-6.91175213e-03 -2.10398398e-05 9.99976113e-01 -2.01426734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.4 meters 0.011844456818368142 Centerline is valid? [True, True] Translation: X:127.17, Y:32.03, Z:-2.02 [[ 8.85808266e-01 -4.63992840e-01 7.37292246e-03 1.27173582e+02] [ 4.63976755e-01 8.85838949e-01 3.86351370e-03 3.20299183e+01] [-8.32386458e-03 -1.46772891e-06 9.99965356e-01 -2.01537993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46 meters 0.01189263280354829 Centerline is valid? [True, True] Translation: X:127.22, Y:32.06, Z:-2.02 [[ 8.84734029e-01 -4.66054906e-01 6.20670581e-03 1.27224689e+02] [ 4.66043548e-01 8.84755800e-01 3.25371882e-03 3.20588537e+01] [-7.00783058e-03 1.39194386e-05 9.99975445e-01 -2.01832696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51999999999998 meters 0.012040796457327127 Centerline is valid? [True, True] Translation: X:127.28, Y:32.09, Z:-2.02 [[ 8.83925464e-01 -4.67599065e-01 5.18540337e-03 1.27276735e+02] [ 4.67591158e-01 8.83940673e-01 2.71929798e-03 3.20865996e+01] [-5.85513015e-03 2.09920390e-05 9.99982858e-01 -2.02067096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57999999999998 meters 0.01248203967299613 Centerline is valid? [True, True] Translation: X:127.33, Y:32.11, Z:-2.02 [[ 8.82236133e-01 -4.70801968e-01 2.21655542e-03 1.27328505e+02] [ 4.70800532e-01 8.82238917e-01 1.16292818e-03 3.21136822e+01] [-2.50304033e-03 1.75782065e-05 9.99996867e-01 -2.02422351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64 meters 0.013018575135318256 Centerline is valid? [True, True] Translation: X:127.38, Y:32.14, Z:-2.03 [[ 8.80081715e-01 -4.74818876e-01 1.79145648e-03 1.27381635e+02] [ 4.74817951e-01 8.80083538e-01 9.37426486e-04 3.21397097e+01] [-2.02173915e-03 2.56037858e-05 9.99997956e-01 -2.02546872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.7 meters 0.01326418457544932 Centerline is valid? [True, True] Translation: X:127.43, Y:32.17, Z:-2.03 [[ 8.78610142e-01 -4.77533932e-01 2.35852920e-03 1.27434625e+02] [ 4.77532333e-01 8.78613306e-01 1.23623494e-03 3.21661577e+01] [-2.66257927e-03 4.01053978e-05 9.99996455e-01 -2.02568319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76 meters 0.013572528293894435 Centerline is valid? [True, True] Translation: X:127.49, Y:32.19, Z:-2.02 [[ 8.77627412e-01 -4.79328784e-01 3.74730216e-03 1.27486861e+02] [ 4.79324751e-01 8.77635410e-01 1.96750823e-03 3.21922235e+01] [-4.23184840e-03 6.94355190e-05 9.99991043e-01 -2.02460976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82 meters 0.013261424713847397 Centerline is valid? [True, True] Translation: X:127.54, Y:32.22, Z:-2.02 [[ 8.78190139e-01 -4.78287770e-01 4.78420623e-03 1.27537956e+02] [ 4.78281161e-01 8.78203167e-01 2.51545206e-03 3.22213681e+01] [-5.40461502e-03 7.91505133e-05 9.99985392e-01 -2.02433747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88 meters 0.013010648060682153 Centerline is valid? [True, True] Translation: X:127.59, Y:32.25, Z:-2.02 [[ 8.79469431e-01 -4.75924860e-01 5.38955377e-03 1.27587673e+02] [ 4.75916405e-01 8.79485942e-01 2.83770736e-03 3.22509101e+01] [-6.09057225e-03 6.93001766e-05 9.99981450e-01 -2.02473759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94 meters 0.012144263797190368 Centerline is valid? [True, True] Translation: X:127.64, Y:32.29, Z:-2.02 [[ 8.83264789e-01 -4.68825327e-01 6.79158241e-03 1.27636282e+02] [ 4.68811692e-01 8.83290899e-01 3.57573486e-03 3.22853323e+01] [-7.67533800e-03 2.56525402e-05 9.99970544e-01 -2.02433859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.0 meters 0.014193504885101854 Centerline is valid? [True, True] Translation: X:127.68, Y:32.32, Z:-2.03 [[ 8.86749055e-01 -4.62220975e-01 5.28053162e-03 1.27684406e+02] [ 4.62212601e-01 8.86764777e-01 2.78255469e-03 3.23190876e+01] [-5.96874458e-03 -2.66994851e-05 9.99982187e-01 -2.02676928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06 meters 0.014520930568709685 Centerline is valid? [True, True] Translation: X:127.73, Y:32.36, Z:-2.03 [[ 8.92668095e-01 -4.50712982e-01 1.21639361e-03 1.27731077e+02] [ 4.50712528e-01 8.92668924e-01 6.40003533e-04 3.23551103e+01] [-1.37429468e-03 -2.30668950e-05 9.99999055e-01 -2.03232084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12 meters 0.016287991517267474 Centerline is valid? [True, True] Translation: X:127.78, Y:32.39, Z:-2.03 [[ 8.96415787e-01 -4.43213992e-01 -3.08149298e-04 1.27782470e+02] [ 4.43213961e-01 8.96415840e-01 -1.64484975e-04 3.23859972e+01] [ 3.49131954e-04 1.08708568e-05 9.99999939e-01 -2.03404043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18 meters 0.017792095466898163 Centerline is valid? [True, True] Translation: X:127.83, Y:32.41, Z:-2.04 [[ 8.97167657e-01 -4.41689618e-01 6.90135386e-04 1.27832967e+02] [ 4.41689470e-01 8.97167923e-01 3.61884449e-04 3.24137251e+01] [-7.79007935e-04 -1.98454908e-05 9.99999696e-01 -2.03523124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24 meters 0.017361063602855133 Centerline is valid? [True, True] Translation: X:127.89, Y:32.44, Z:-2.03 [[ 8.96709868e-01 -4.42610379e-01 2.73215200e-03 1.27887092e+02] [ 4.42608050e-01 8.96714027e-01 1.43824547e-03 3.24380157e+01] [-3.08654140e-03 -8.04164406e-05 9.99995233e-01 -2.03380874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29999999999998 meters 0.015786447038326122 Centerline is valid? [True, True] Translation: X:127.94, Y:32.46, Z:-2.03 [[ 8.94808411e-01 -4.46405400e-01 6.33452141e-03 1.27944059e+02] [ 4.46392916e-01 8.94830818e-01 3.34254283e-03 3.24582163e+01] [-7.16045414e-03 -1.63249958e-04 9.99974350e-01 -2.03091558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35999999999999 meters 0.014777860864745484 Centerline is valid? [True, True] Translation: X:128.00, Y:32.48, Z:-2.03 [[ 8.92513261e-01 -4.50952724e-01 7.85622620e-03 1.27999801e+02] [ 4.50933660e-01 8.92547822e-01 4.14964568e-03 3.24783172e+01] [-8.88335161e-03 -1.60976968e-04 9.99960529e-01 -2.02960540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42 meters 0.01674998077360185 Centerline is valid? [True, True] Translation: X:128.05, Y:32.50, Z:-2.03 [[ 8.91589054e-01 -4.52791926e-01 6.95919009e-03 1.28053148e+02] [ 4.52777031e-01 8.91616204e-01 3.67485901e-03 3.25026678e+01] [-7.86887314e-03 -1.25502641e-04 9.99969032e-01 -2.03152990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48 meters 0.01418706276778396 Centerline is valid? [True, True] Translation: X:128.11, Y:32.53, Z:-2.03 [[ 8.92040043e-01 -4.51932899e-01 4.60619724e-03 1.28106680e+02] [ 4.51926352e-01 8.92051931e-01 2.43419147e-03 3.25262547e+01] [-5.20905835e-03 -8.97343430e-05 9.99986429e-01 -2.03431335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54 meters 0.014448794268087916 Centerline is valid? [True, True] Translation: X:128.16, Y:32.55, Z:-2.04 [[ 8.92741368e-01 -4.50563682e-01 2.28414901e-03 1.28158996e+02] [ 4.50562069e-01 8.92744289e-01 1.20655258e-03 3.25520068e+01] [-2.58278976e-03 -4.79885020e-05 9.99996663e-01 -2.03732923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.6 meters 0.014808343114604734 Centerline is valid? [True, True] Translation: X:128.21, Y:32.58, Z:-2.04 [[ 8.92922482e-01 -4.50210290e-01 3.68304218e-04 1.28211463e+02] [ 4.50210249e-01 8.92922558e-01 1.90576138e-04 3.25780064e+01] [-4.14666483e-04 -4.35538464e-06 9.99999914e-01 -2.04118776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66 meters 0.01503290776636984 Centerline is valid? [True, True] Translation: X:128.27, Y:32.60, Z:-2.04 [[ 8.92479309e-01 -4.51086963e-01 -1.11146229e-03 1.28265676e+02] [ 4.51086578e-01 8.92480000e-01 -5.89886395e-04 3.26001404e+01] [ 1.25804792e-03 2.50956828e-05 9.99999208e-01 -2.04315663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72 meters 0.015667423994879495 Centerline is valid? [True, True] Translation: X:128.32, Y:32.62, Z:-2.04 [[ 8.91457231e-01 -4.53104372e-01 -6.58178148e-04 1.28318293e+02] [ 4.53104237e-01 8.91457474e-01 -3.49980730e-04 3.26241338e+01] [ 7.45315628e-04 1.37695443e-05 9.99999722e-01 -2.04453196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78 meters 0.013641723288762517 Centerline is valid? [True, True] Translation: X:128.38, Y:32.64, Z:-2.04 [[ 8.88872369e-01 -4.58153281e-01 1.21782896e-03 1.28376139e+02] [ 4.58152832e-01 8.88873203e-01 6.41234316e-04 3.26415758e+01] [-1.37627913e-03 -1.20236802e-05 9.99999053e-01 -2.04059783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84 meters 0.0132007816022864 Centerline is valid? [True, True] Translation: X:128.43, Y:32.66, Z:-2.04 [[ 8.87145832e-01 -4.61481943e-01 2.58634669e-03 1.28431217e+02] [ 4.61479920e-01 8.87149602e-01 1.36675423e-03 3.26642709e+01] [-2.92520883e-03 -1.89632524e-05 9.99995721e-01 -2.03952295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.9 meters 0.012873279151760992 Centerline is valid? [True, True] Translation: X:128.49, Y:32.68, Z:-2.04 [[ 8.84407105e-01 -4.66705544e-01 3.16366203e-03 1.28486829e+02] [ 4.66702537e-01 8.84412763e-01 1.67532585e-03 3.26837228e+01] [-3.57986694e-03 -5.18099077e-06 9.99993592e-01 -2.03911867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96 meters 0.013033676812460461 Centerline is valid? [True, True] Translation: X:128.54, Y:32.71, Z:-2.04 [[ 8.82832934e-01 -4.69678379e-01 2.86895450e-03 1.28540063e+02] [ 4.69675927e-01 8.82837596e-01 1.51751368e-03 3.27075907e+01] [-3.24556425e-03 7.76781244e-06 9.99994733e-01 -2.03987878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01999999999998 meters 0.013175559606288405 Centerline is valid? [True, True] Translation: X:128.59, Y:32.73, Z:-2.04 [[ 8.81618633e-01 -4.71958539e-01 1.92963375e-03 1.28593326e+02] [ 4.71957437e-01 8.81620745e-01 1.02017440e-03 3.27320277e+01] [-2.18268517e-03 1.13002366e-05 9.99997618e-01 -2.03999094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07999999999998 meters 0.013867272201358775 Centerline is valid? [True, True] Translation: X:128.65, Y:32.75, Z:-2.04 [[ 8.80133649e-01 -4.74725967e-01 -1.28567372e-04 1.28646199e+02] [ 4.74725961e-01 8.80133658e-01 -7.09406356e-05 3.27546787e+01] [ 1.46833834e-04 1.40297097e-06 9.99999989e-01 -2.04275829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14 meters 0.01433687344005712 Centerline is valid? [True, True] Translation: X:128.70, Y:32.78, Z:-2.04 [[ 8.78466331e-01 -4.77801476e-01 -1.62929812e-03 1.28700194e+02] [ 4.77800684e-01 8.78467842e-01 -8.70114052e-04 3.27780690e+01] [ 1.84702779e-03 -1.41138600e-05 9.99998294e-01 -2.04386207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.2 meters 0.01670284826456533 Centerline is valid? [True, True] Translation: X:128.75, Y:32.80, Z:-2.04 [[ 8.77780115e-01 -4.79052061e-01 -3.34559091e-03 1.28753432e+02] [ 4.79048743e-01 8.77786490e-01 -1.78323422e-03 3.28035468e+01] [ 3.79097653e-03 -3.74135791e-05 9.99992814e-01 -2.04414675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26 meters 0.014483406641351474 Centerline is valid? [True, True] Translation: X:128.81, Y:32.83, Z:-2.04 [[ 8.77809137e-01 -4.79009401e-01 -1.05495350e-03 1.28806918e+02] [ 4.79009067e-01 8.77809771e-01 -5.65553850e-04 3.28280643e+01] [ 1.19695410e-03 -8.88395234e-06 9.99999284e-01 -2.04392639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32 meters 0.014041461683566169 Centerline is valid? [True, True] Translation: X:128.86, Y:32.85, Z:-2.04 [[ 8.78461046e-01 -4.77813807e-01 -3.96350482e-04 1.28859178e+02] [ 4.77813758e-01 8.78461135e-01 -2.15305190e-04 3.28545075e+01] [ 4.51054287e-04 -2.44490852e-07 9.99999898e-01 -2.04312581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38 meters 0.013711064541172 Centerline is valid? [True, True] Translation: X:128.91, Y:32.88, Z:-2.04 [[ 8.79389364e-01 -4.76103150e-01 3.70706159e-04 1.28911946e+02] [ 4.76103111e-01 8.79389442e-01 1.93184655e-04 3.28815021e+01] [-4.17970905e-04 6.60982430e-06 9.99999913e-01 -2.04229338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44 meters 0.013293897898969481 Centerline is valid? [True, True] Translation: X:128.96, Y:32.91, Z:-2.04 [[ 8.80810961e-01 -4.73466098e-01 1.38029919e-03 1.28963472e+02] [ 4.73465533e-01 8.80812042e-01 7.31479646e-04 3.29095918e+01] [-1.56211496e-03 9.22880301e-06 9.99998780e-01 -2.04235602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.5 meters 0.013211930700152547 Centerline is valid? [True, True] Translation: X:129.01, Y:32.94, Z:-2.04 [[ 8.84274196e-01 -4.66964596e-01 1.79234389e-03 1.29011807e+02] [ 4.66963622e-01 8.84276012e-01 9.53572469e-04 3.29398912e+01] [-2.03021129e-03 -6.26013079e-06 9.99997939e-01 -2.04444598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56 meters 0.013565734047606625 Centerline is valid? [True, True] Translation: X:129.06, Y:32.97, Z:-2.05 [[ 8.86601347e-01 -4.62532012e-01 1.47940827e-03 1.29062259e+02] [ 4.62531343e-01 8.86602581e-01 7.86830523e-04 3.29694458e+01] [-1.67558150e-03 -1.33323071e-05 9.99998596e-01 -2.04587308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62 meters 0.015003996925984765 Centerline is valid? [True, True] Translation: X:129.11, Y:33.00, Z:-2.05 [[ 8.89314621e-01 -4.57295796e-01 -2.45063063e-04 1.29112290e+02] [ 4.57295777e-01 8.89314655e-01 -1.31914749e-04 3.29988850e+01] [ 2.78262233e-04 5.24741131e-06 9.99999961e-01 -2.04877733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68 meters 0.015162030899696508 Centerline is valid? [True, True] Translation: X:129.16, Y:33.03, Z:-2.05 [[ 8.90453407e-01 -4.55070987e-01 -1.76836461e-03 1.29164123e+02] [ 4.55070001e-01 8.90455162e-01 -9.48143820e-04 3.30270934e+01] [ 2.00612214e-03 3.95482114e-05 9.99997987e-01 -2.05014264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.73999999999998 meters 0.015423968908851208 Centerline is valid? [True, True] Translation: X:129.22, Y:33.06, Z:-2.05 [[ 8.91089940e-01 -4.53798387e-01 -5.07379163e-03 1.29215302e+02] [ 4.53790308e-01 8.91104377e-01 -2.71013817e-03 3.30570277e+01] [ 5.75113426e-03 1.12539386e-04 9.99983456e-01 -2.05481467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79999999999998 meters 0.015486898256790498 Centerline is valid? [True, True] Translation: X:129.27, Y:33.09, Z:-2.06 [[ 8.90956125e-01 -4.54046530e-01 -6.23948054e-03 1.29266600e+02] [ 4.54034286e-01 8.90977962e-01 -3.33747328e-03 3.30850521e+01] [ 7.07460781e-03 1.40604173e-04 9.99974965e-01 -2.05746010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85999999999999 meters 0.015196672049714898 Centerline is valid? [True, True] Translation: X:129.32, Y:33.11, Z:-2.06 [[ 8.90738268e-01 -4.54478492e-01 -5.88539334e-03 1.29319623e+02] [ 4.54467592e-01 8.90757702e-01 -3.15031092e-03 3.31113637e+01] [ 6.67420801e-03 1.31381954e-04 9.99977719e-01 -2.05658205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92 meters 0.015233778287704005 Centerline is valid? [True, True] Translation: X:129.37, Y:33.14, Z:-2.06 [[ 8.90440144e-01 -4.55082662e-01 -4.01496213e-03 1.29371325e+02] [ 4.55077600e-01 8.90449192e-01 -2.14812092e-03 3.31366582e+01] [ 4.55269237e-03 8.56537663e-05 9.99989633e-01 -2.05617766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98 meters 0.015019975991707925 Centerline is valid? [True, True] Translation: X:129.42, Y:33.16, Z:-2.06 [[ 8.90417011e-01 -4.55141309e-01 -1.98383771e-03 1.29424038e+02] [ 4.55140064e-01 8.90419219e-01 -1.06561505e-03 3.31636280e+01] [ 2.25145266e-03 4.59177431e-05 9.99997464e-01 -2.05547472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04 meters 0.014823099518173172 Centerline is valid? [True, True] Translation: X:129.48, Y:33.19, Z:-2.05 [[ 8.89732556e-01 -4.56482163e-01 1.13706886e-04 1.29477267e+02] [ 4.56482159e-01 8.89732564e-01 5.65825142e-05 3.31889863e+01] [-1.26997628e-04 1.56185978e-06 9.99999992e-01 -2.05405511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.1 meters 0.014200519298482837 Centerline is valid? [True, True] Translation: X:129.53, Y:33.21, Z:-2.05 [[ 8.88006661e-01 -4.59830335e-01 4.83252319e-04 1.29530651e+02] [ 4.59830263e-01 8.88006792e-01 2.56572163e-04 3.32148034e+01] [-5.47111005e-04 -5.62374926e-06 9.99999850e-01 -2.05497045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16 meters 0.01390604921845999 Centerline is valid? [True, True] Translation: X:129.58, Y:33.24, Z:-2.06 [[ 8.86241868e-01 -4.63221359e-01 1.15114852e-03 1.29583824e+02] [ 4.63220954e-01 8.86242615e-01 6.12535903e-04 3.32406790e+01] [-1.30393659e-03 -9.61884697e-06 9.99999150e-01 -2.05616336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22 meters 0.013519331086276126 Centerline is valid? [True, True] Translation: X:129.64, Y:33.27, Z:-2.06 [[ 8.84396098e-01 -4.66736307e-01 8.72865958e-04 1.29637134e+02] [ 4.66736076e-01 8.84396529e-01 4.63722181e-04 3.32659692e+01] [-9.88395601e-04 -2.71605482e-06 9.99999512e-01 -2.05695849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28 meters 0.013627226143326388 Centerline is valid? [True, True] Translation: X:129.69, Y:33.29, Z:-2.06 [[ 8.81858879e-01 -4.71512351e-01 1.01028773e-03 1.29690076e+02] [ 4.71512042e-01 8.81859458e-01 5.39575011e-04 3.32898055e+01] [-1.14534807e-03 5.33816084e-07 9.99999344e-01 -2.05898374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34 meters 0.013810342201585479 Centerline is valid? [True, True] Translation: X:129.74, Y:33.32, Z:-2.06 [[ 8.79568791e-01 -4.75771139e-01 7.52024084e-04 1.29743796e+02] [ 4.75770971e-01 8.79569112e-01 3.99247885e-04 3.33153257e+01] [-8.51407777e-04 6.62524943e-06 9.99999638e-01 -2.05943944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.4 meters 0.014510421868655832 Centerline is valid? [True, True] Translation: X:129.80, Y:33.34, Z:-2.06 [[ 8.75614521e-01 -4.83001943e-01 2.88691472e-03 1.29797442e+02] [ 4.82999466e-01 8.75619279e-01 1.54727838e-03 3.33390057e+01] [-3.27517665e-03 3.95588492e-05 9.99994636e-01 -2.05835047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46 meters 0.015316957739138616 Centerline is valid? [True, True] Translation: X:129.85, Y:33.36, Z:-2.06 [[ 8.73371097e-01 -4.87025680e-01 5.37720997e-03 1.29850304e+02] [ 4.87017143e-01 8.73387644e-01 2.88536221e-03 3.33637405e+01] [-6.10163424e-03 9.88014744e-05 9.99981380e-01 -2.05694364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51999999999998 meters 0.015802521840200194 Centerline is valid? [True, True] Translation: X:129.90, Y:33.39, Z:-2.06 [[ 8.70965870e-01 -4.91257763e-01 9.17955793e-03 1.29902609e+02] [ 4.91233104e-01 8.71014215e-01 4.92692503e-03 3.33917773e+01] [-1.04159156e-02 2.18119190e-04 9.99945729e-01 -2.05605799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57999999999998 meters 0.015691939566279664 Centerline is valid? [True, True] Translation: X:129.95, Y:33.42, Z:-2.06 [[ 8.70626110e-01 -4.91806289e-01 1.16940796e-02 1.29952306e+02] [ 4.91766254e-01 8.70704597e-01 6.28139831e-03 3.34212066e+01] [-1.32713201e-02 2.82004350e-04 9.99911892e-01 -2.05656915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64 meters 0.014888033091447567 Centerline is valid? [True, True] Translation: X:130.00, Y:33.45, Z:-2.06 [[ 8.72330262e-01 -4.88709425e-01 1.42482469e-02 1.30001390e+02] [ 4.88649477e-01 8.72446571e-01 7.65962545e-03 3.34539433e+01] [-1.61741653e-02 2.80675296e-04 9.99869150e-01 -2.05740002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.7 meters 0.013823112174338622 Centerline is valid? [True, True] Translation: X:130.05, Y:33.49, Z:-2.06 [[ 8.75085272e-01 -4.83757043e-01 1.43139423e-02 1.30049847e+02] [ 4.83695804e-01 8.75202313e-01 7.69938167e-03 3.34879008e+01] [-1.62522255e-02 1.85978329e-04 9.99867907e-01 -2.05978487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76 meters 0.013088707730696238 Centerline is valid? [True, True] Translation: X:130.10, Y:33.53, Z:-2.06 [[ 8.80842387e-01 -4.73177804e-01 1.48140249e-02 1.30095822e+02] [ 4.73110660e-01 8.80966949e-01 7.97107218e-03 3.35268699e+01] [-1.68224008e-02 -1.25851392e-05 9.99858493e-01 -2.06225570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82 meters 0.013555154422299877 Centerline is valid? [True, True] Translation: X:130.14, Y:33.56, Z:-2.06 [[ 8.84403166e-01 -4.66488754e-01 1.48081875e-02 1.30143510e+02] [ 4.66420647e-01 8.84527117e-01 7.97238240e-03 3.35614259e+01] [-1.68172701e-02 -1.43955853e-04 9.99858569e-01 -2.06408639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88 meters 0.014974436980955276 Centerline is valid? [True, True] Translation: X:130.19, Y:33.60, Z:-2.07 [[ 8.87759846e-01 -4.60056982e-01 1.51667076e-02 1.30191438e+02] [ 4.59984566e-01 8.87889350e-01 8.16710342e-03 3.35959411e+01] [-1.72236911e-02 -2.73975077e-04 9.99851624e-01 -2.06566457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94 meters 0.014842755132332392 Centerline is valid? [True, True] Translation: X:130.24, Y:33.62, Z:-2.07 [[ 8.88368850e-01 -4.58877693e-01 1.52331675e-02 1.30242654e+02] [ 4.58804440e-01 8.88499394e-01 8.20445774e-03 3.36249256e+01] [-1.72995028e-02 -2.99539797e-04 9.99850308e-01 -2.06668083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.0 meters 0.01476870546844505 Centerline is valid? [True, True] Translation: X:130.29, Y:33.65, Z:-2.07 [[ 8.87790547e-01 -4.60014282e-01 1.46562298e-02 1.30294769e+02] [ 4.59946549e-01 8.87911475e-01 7.89840663e-03 3.36534134e+01] [-1.66468144e-02 -2.71048437e-04 9.99861395e-01 -2.06817680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06 meters 0.014427103212340286 Centerline is valid? [True, True] Translation: X:130.35, Y:33.68, Z:-2.07 [[ 8.86619827e-01 -4.62291403e-01 1.38542740e-02 1.30347413e+02] [ 4.62231094e-01 8.86728037e-01 7.47026139e-03 3.36808646e+01] [-1.57384108e-02 -2.19405629e-04 9.99876119e-01 -2.06970451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12 meters 0.0140578458637853 Centerline is valid? [True, True] Translation: X:130.40, Y:33.71, Z:-2.07 [[ 8.85304895e-01 -4.64810932e-01 1.36396878e-02 1.30399929e+02] [ 4.64752712e-01 8.85409943e-01 7.35864741e-03 3.37072577e+01] [-1.54970949e-02 -1.75564675e-04 9.99879897e-01 -2.07073426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18 meters 0.013968144010576498 Centerline is valid? [True, True] Translation: X:130.45, Y:33.73, Z:-2.07 [[ 8.84280116e-01 -4.66782497e-01 1.27583819e-02 1.30451391e+02] [ 4.66731706e-01 8.84372140e-01 6.88715265e-03 3.37330700e+01] [-1.44979598e-02 -1.35430819e-04 9.99894890e-01 -2.07198400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.23999999999998 meters 0.013717315175524453 Centerline is valid? [True, True] Translation: X:130.50, Y:33.76, Z:-2.07 [[ 8.83734276e-01 -4.67836967e-01 1.19290297e-02 1.30503172e+02] [ 4.67792648e-01 8.83814777e-01 6.44037955e-03 3.37592425e+01] [-1.35561004e-02 -1.11271765e-04 9.99908106e-01 -2.07392174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29999999999998 meters 0.013437181152753547 Centerline is valid? [True, True] Translation: X:130.56, Y:33.78, Z:-2.08 [[ 8.82704165e-01 -4.69816152e-01 1.03024488e-02 1.30555596e+02] [ 4.69783193e-01 8.82764283e-01 5.56534182e-03 3.37844931e+01] [-1.17093213e-02 -7.26330872e-05 9.99931441e-01 -2.07609951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35999999999999 meters 0.0131391017850744 Centerline is valid? [True, True] Translation: X:130.61, Y:33.81, Z:-2.08 [[ 8.79768947e-01 -4.75332713e-01 8.08776269e-03 1.30609841e+02] [ 4.75312617e-01 8.79806122e-01 4.37088985e-03 3.38053534e+01] [-9.19329006e-03 -1.15751155e-06 9.99957741e-01 -2.07802325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42 meters 0.013460467344212374 Centerline is valid? [True, True] Translation: X:130.66, Y:33.83, Z:-2.08 [[ 8.76633100e-01 -4.81088598e-01 8.25644718e-03 1.30664708e+02] [ 4.81067877e-01 8.76671978e-01 4.46542482e-03 3.38278359e+01] [-9.38646085e-03 5.73723122e-05 9.99955945e-01 -2.07740972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48 meters 0.014749193563409896 Centerline is valid? [True, True] Translation: X:130.72, Y:33.85, Z:-2.07 [[ 8.71390603e-01 -4.90481582e-01 1.03070304e-02 1.30721109e+02] [ 4.90449882e-01 8.71451537e-01 5.57966513e-03 3.38481928e+01] [-1.17188004e-02 1.93014070e-04 9.99931314e-01 -2.07439721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54 meters 0.01616976403456186 Centerline is valid? [True, True] Translation: X:130.77, Y:33.87, Z:-2.07 [[ 8.68117190e-01 -4.96212134e-01 1.20856575e-02 1.30774970e+02] [ 4.96169088e-01 8.68201254e-01 6.54353699e-03 3.38730670e+01] [-1.37397655e-02 3.15972742e-04 9.99905555e-01 -2.07297494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.6 meters 0.018063664983833095 Centerline is valid? [True, True] Translation: X:130.83, Y:33.90, Z:-2.07 [[ 8.65866895e-01 -5.00095515e-01 1.33789242e-02 1.30827940e+02] [ 5.00043210e-01 8.65970151e-01 7.24476509e-03 3.38980254e+01] [-1.52088235e-02 4.17037924e-04 9.99884252e-01 -2.07185496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66 meters 0.017968188459606144 Centerline is valid? [True, True] Translation: X:130.88, Y:33.93, Z:-2.07 [[ 8.64730601e-01 -5.02035230e-01 1.41991723e-02 1.30878631e+02] [ 5.01976554e-01 8.64847039e-01 7.69018414e-03 3.39284666e+01] [-1.61408555e-02 4.77714035e-04 9.99869614e-01 -2.07087692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72 meters 0.017103533497431607 Centerline is valid? [True, True] Translation: X:130.93, Y:33.96, Z:-2.07 [[ 8.65761163e-01 -5.00278563e-01 1.33779079e-02 1.30927667e+02] [ 5.00226209e-01 8.65864416e-01 7.24940070e-03 3.39614105e+01] [-1.52101741e-02 4.15730558e-04 9.99884232e-01 -2.07304070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78 meters 0.014879610611855918 Centerline is valid? [True, True] Translation: X:130.97, Y:34.00, Z:-2.07 [[ 8.70531728e-01 -4.91976389e-01 1.15647187e-02 1.30974865e+02] [ 4.91936483e-01 8.70608511e-01 6.27032651e-03 3.39996063e+01] [-1.31531951e-02 2.30588877e-04 9.99913466e-01 -2.07434191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84 meters 0.013842712185344847 Centerline is valid? [True, True] Translation: X:131.02, Y:34.03, Z:-2.08 [[ 8.74968669e-01 -4.84063455e-01 1.06018328e-02 1.31021542e+02] [ 4.84029321e-01 8.75032891e-01 5.74939405e-03 3.40347819e+01] [-1.20600240e-02 1.01058269e-04 9.99927270e-01 -2.07561667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.9 meters 0.013351112324221134 Centerline is valid? [True, True] Translation: X:131.07, Y:34.08, Z:-2.08 [[ 8.80605048e-01 -4.73750846e-01 9.74096525e-03 1.31067093e+02] [ 4.73721391e-01 8.80658921e-01 5.28289311e-03 3.40754240e+01] [-1.10812430e-02 -3.76387330e-05 9.99938600e-01 -2.07653248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96 meters 0.013543300646658247 Centerline is valid? [True, True] Translation: X:131.12, Y:34.11, Z:-2.08 [[ 8.82686928e-01 -4.69859031e-01 9.81209782e-03 1.31115801e+02] [ 4.69828872e-01 8.82741459e-01 5.32427880e-03 3.41089381e+01] [-1.11632060e-02 -8.96644417e-05 9.99937685e-01 -2.07663299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01999999999998 meters 0.013883988468041035 Centerline is valid? [True, True] Translation: X:131.17, Y:34.14, Z:-2.08 [[ 8.83418408e-01 -4.68463083e-01 1.06890420e-02 1.31165907e+02] [ 4.68427143e-01 8.83483065e-01 5.80397909e-03 3.41409926e+01] [-1.21625375e-02 -1.20304585e-04 9.99926026e-01 -2.07551605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07999999999998 meters 0.01364310136271693 Centerline is valid? [True, True] Translation: X:131.22, Y:34.17, Z:-2.08 [[ 8.82352227e-01 -4.70441041e-01 1.18226049e-02 1.31216015e+02] [ 4.70397194e-01 8.82431423e-01 6.42373544e-03 3.41719698e+01] [-1.34546269e-02 -1.06677094e-04 9.99909477e-01 -2.07530303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14 meters 0.01334081537759836 Centerline is valid? [True, True] Translation: X:131.27, Y:34.20, Z:-2.08 [[ 8.81026723e-01 -4.72923677e-01 1.16236658e-02 1.31267445e+02] [ 4.72881459e-01 8.81103394e-01 6.31937529e-03 3.42005687e+01] [-1.32302335e-02 -7.09224776e-05 9.99912474e-01 -2.07569316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.2 meters 0.013240005132323318 Centerline is valid? [True, True] Translation: X:131.32, Y:34.23, Z:-2.08 [[ 8.80142874e-01 -4.74600056e-01 1.01640706e-02 1.31316477e+02] [ 4.74567856e-01 8.80201559e-01 5.52852892e-03 3.42313223e+01] [-1.15702710e-02 -4.23541128e-05 9.99933061e-01 -2.07730520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26 meters 0.013332947238356293 Centerline is valid? [True, True] Translation: X:131.37, Y:34.26, Z:-2.08 [[ 8.80601203e-01 -4.73803733e-01 7.17946510e-03 1.31366227e+02] [ 4.73787629e-01 8.80630468e-01 3.90662950e-03 3.42630253e+01] [-8.17343135e-03 -3.86408892e-05 9.99966596e-01 -2.08101306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32 meters 0.013635639806415308 Centerline is valid? [True, True] Translation: X:131.42, Y:34.30, Z:-2.09 [[ 8.81889834e-01 -4.71448123e-01 2.64369263e-03 1.31415748e+02] [ 4.71445934e-01 8.81893796e-01 1.43664956e-03 3.42957410e+01] [-3.00876187e-03 -2.06084957e-05 9.99995473e-01 -2.08581833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38 meters 0.01385037480988987 Centerline is valid? [True, True] Translation: X:131.47, Y:34.33, Z:-2.09 [[ 8.82373388e-01 -4.70549757e-01 3.60496717e-04 1.31465041e+02] [ 4.70549716e-01 8.82373462e-01 1.94272858e-04 3.43261152e+01] [-4.09507782e-04 -1.78957182e-06 9.99999916e-01 -2.08857097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44 meters 0.013853451102073179 Centerline is valid? [True, True] Translation: X:131.52, Y:34.36, Z:-2.09 [[ 8.82158513e-01 -4.70952146e-01 -6.59272236e-04 1.31515528e+02] [ 4.70952005e-01 8.82158759e-01 -3.63916239e-04 3.43568967e+01] [ 7.52969911e-04 1.05462269e-05 9.99999716e-01 -2.09029629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.5 meters 0.013873804433768235 Centerline is valid? [True, True] Translation: X:131.57, Y:34.39, Z:-2.09 [[ 8.82007456e-01 -4.71235403e-01 -2.04633765e-04 1.31566251e+02] [ 4.71235389e-01 8.82007480e-01 -1.16544616e-04 3.43858462e+01] [ 2.35408460e-04 6.36254842e-06 9.99999972e-01 -2.08974489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56 meters 0.013771916454093073 Centerline is valid? [True, True] Translation: X:131.62, Y:34.42, Z:-2.09 [[ 8.81866289e-01 -4.71499163e-01 6.22342472e-04 1.31617697e+02] [ 4.71499044e-01 8.81866509e-01 3.35718013e-04 3.44155117e+01] [-7.07113746e-04 -2.62451791e-06 9.99999750e-01 -2.08770590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62 meters 0.013646959568374459 Centerline is valid? [True, True] Translation: X:131.67, Y:34.45, Z:-2.09 [[ 8.81608591e-01 -4.71976634e-01 2.08563876e-03 1.31668704e+02] [ 4.71975268e-01 8.81611057e-01 1.13567300e-03 3.44451796e+01] [-2.37473331e-03 -1.68491633e-05 9.99997180e-01 -2.08651490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68 meters 0.01355448670493154 Centerline is valid? [True, True] Translation: X:131.72, Y:34.47, Z:-2.09 [[ 8.81389032e-01 -4.72381678e-01 2.98737364e-03 1.31719695e+02] [ 4.72378868e-01 8.81394095e-01 1.62950208e-03 3.44744980e+01] [-3.40280041e-03 -2.50530844e-05 9.99994210e-01 -2.08605801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73999999999998 meters 0.013443554329585827 Centerline is valid? [True, True] Translation: X:131.77, Y:34.51, Z:-2.09 [[ 8.81238583e-01 -4.72652459e-01 4.26758304e-03 1.31770008e+02] [ 4.72646713e-01 8.81248916e-01 2.33104649e-03 3.45052343e+01] [-4.86257778e-03 -3.71490122e-05 9.99988177e-01 -2.08519962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79999999999998 meters 0.013548034815773713 Centerline is valid? [True, True] Translation: X:131.82, Y:34.54, Z:-2.09 [[ 8.80893031e-01 -4.73294773e-01 4.41879502e-03 1.31819470e+02] [ 4.73288614e-01 8.80904113e-01 2.41482200e-03 3.45350913e+01] [-5.03545734e-03 -3.58344964e-05 9.99987321e-01 -2.08652473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85999999999999 meters 0.013362863309263645 Centerline is valid? [True, True] Translation: X:131.87, Y:34.57, Z:-2.09 [[ 8.80222586e-01 -4.74546349e-01 3.73643136e-03 1.31869195e+02] [ 4.74541954e-01 8.80230516e-01 2.04254357e-03 3.45660205e+01] [-4.25820250e-03 -2.47995449e-05 9.99990934e-01 -2.08826133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92 meters 0.013299373525845381 Centerline is valid? [True, True] Translation: X:131.92, Y:34.60, Z:-2.09 [[ 8.79030274e-01 -4.76758638e-01 2.64172588e-03 1.31917963e+02] [ 4.76756449e-01 8.79034243e-01 1.44492795e-03 3.45954242e+01] [-3.01104939e-03 -1.06755671e-05 9.99995467e-01 -2.09159702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98 meters 0.013241079067529452 Centerline is valid? [True, True] Translation: X:131.97, Y:34.62, Z:-2.09 [[ 8.77961134e-01 -4.78726326e-01 2.31367162e-03 1.31968081e+02] [ 4.78724656e-01 8.77964182e-01 1.26447775e-03 3.46240687e+01] [-2.63665959e-03 -2.55066798e-06 9.99996524e-01 -2.09364600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04 meters 0.013068823390159036 Centerline is valid? [True, True] Translation: X:132.02, Y:34.65, Z:-2.09 [[ 8.76804630e-01 -4.80839371e-01 2.67205004e-03 1.32018504e+02] [ 4.80837149e-01 8.76808702e-01 1.46175810e-03 3.46523471e+01] [-3.04574757e-03 3.14464983e-06 9.99995362e-01 -2.09324106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.1 meters 0.013102082789906934 Centerline is valid? [True, True] Translation: X:132.07, Y:34.68, Z:-2.09 [[ 8.75838786e-01 -4.82597759e-01 2.41326250e-03 1.32067813e+02] [ 4.82595952e-01 8.75842111e-01 1.32065843e-03 3.46823870e+01] [-2.75098373e-03 7.94683427e-06 9.99996216e-01 -2.09478092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16 meters 0.013076895345738178 Centerline is valid? [True, True] Translation: X:132.12, Y:34.71, Z:-2.10 [[ 8.75999826e-01 -4.82302146e-01 2.99074637e-03 1.32117255e+02] [ 4.82299362e-01 8.76004931e-01 1.63898547e-03 3.47123176e+01] [-3.41039478e-03 6.68408143e-06 9.99994185e-01 -2.09568215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22 meters 0.01311446934319147 Centerline is valid? [True, True] Translation: X:132.17, Y:34.74, Z:-2.10 [[ 8.76297791e-01 -4.81757766e-01 3.41132509e-03 1.32167639e+02] [ 4.81754131e-01 8.76304430e-01 1.87146789e-03 3.47415731e+01] [-3.89095348e-03 3.45678338e-06 9.99992430e-01 -2.09639226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28 meters 0.013152035479470824 Centerline is valid? [True, True] Translation: X:132.22, Y:34.77, Z:-2.10 [[ 8.77668992e-01 -4.79248117e-01 4.28754136e-03 1.32216433e+02] [ 4.79242331e-01 8.77679464e-01 2.35497472e-03 3.47728378e+01] [-4.89170420e-03 -1.21169721e-05 9.99988035e-01 -2.09588523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34 meters 0.013065944804534085 Centerline is valid? [True, True] Translation: X:132.27, Y:34.80, Z:-2.10 [[ 8.77778587e-01 -4.79039217e-01 5.11668534e-03 1.32266315e+02] [ 4.79030957e-01 8.77793500e-01 2.81325666e-03 3.48031709e+01] [-5.83905340e-03 -1.83657782e-05 9.99982952e-01 -2.09639011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.4 meters 0.01307071571897882 Centerline is valid? [True, True] Translation: X:132.32, Y:34.83, Z:-2.10 [[ 8.77022036e-01 -4.80407079e-01 6.43328189e-03 1.32316909e+02] [ 4.80394017e-01 8.77045630e-01 3.54272284e-03 3.48303476e+01] [-7.34423090e-03 -1.65358668e-05 9.99973031e-01 -2.09635946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46 meters 0.012931613017976162 Centerline is valid? [True, True] Translation: X:132.37, Y:34.86, Z:-2.10 [[ 8.74979281e-01 -4.84087219e-01 8.41562241e-03 1.32369819e+02] [ 4.84065031e-01 8.75019751e-01 4.63482416e-03 3.48572690e+01] [-9.60749496e-03 1.83334118e-05 9.99953847e-01 -2.09599378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51999999999998 meters 0.012973246681284127 Centerline is valid? [True, True] Translation: X:132.42, Y:34.88, Z:-2.10 [[ 8.74165121e-01 -4.85554692e-01 8.48423109e-03 1.32420602e+02] [ 4.85532184e-01 8.74206291e-01 4.67524785e-03 3.48847404e+01] [-9.68705673e-03 3.24286491e-05 9.99953079e-01 -2.09718877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57999999999998 meters 0.012996111383333543 Centerline is valid? [True, True] Translation: X:132.47, Y:34.91, Z:-2.10 [[ 8.74265064e-01 -4.85369451e-01 8.78033962e-03 1.32471308e+02] [ 4.85345300e-01 8.74309153e-01 4.84188517e-03 3.49130715e+01] [-1.00268344e-02 2.84055187e-05 9.99949730e-01 -2.09747439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64 meters 0.012955175853734128 Centerline is valid? [True, True] Translation: X:132.52, Y:34.94, Z:-2.10 [[ 8.75407968e-01 -4.83290610e-01 9.54331344e-03 1.32520912e+02] [ 4.83261913e-01 8.75459985e-01 5.26662200e-03 3.49434681e+01] [-1.09000980e-02 1.47704513e-06 9.99940592e-01 -2.09775880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.7 meters 0.01289500490137911 Centerline is valid? [True, True] Translation: X:132.57, Y:34.97, Z:-2.10 [[ 8.76808879e-01 -4.80739687e-01 9.77462014e-03 1.32570070e+02] [ 4.80709382e-01 8.76863360e-01 5.39793152e-03 3.49745094e+01] [-1.11660062e-02 -3.42026686e-05 9.99937658e-01 -2.09850171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76 meters 0.014789467795567475 Centerline is valid? [True, True] Translation: X:132.62, Y:35.01, Z:-2.10 [[ 8.80334849e-01 -4.74243119e-01 1.01989318e-02 1.32618209e+02] [ 4.74209631e-01 8.80393916e-01 5.63714671e-03 3.50078121e+01] [-1.16524556e-02 -1.26144992e-04 9.99932100e-01 -2.10000200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82 meters 0.01454147717917547 Centerline is valid? [True, True] Translation: X:132.67, Y:35.04, Z:-2.10 [[ 8.83302199e-01 -4.68694968e-01 1.01119836e-02 1.32668951e+02] [ 4.68661676e-01 8.83360055e-01 5.58979520e-03 3.50399603e+01] [-1.15524313e-02 -1.98379211e-04 9.99933249e-01 -2.09986549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88 meters 0.018789507858414364 Centerline is valid? [True, True] Translation: X:132.72, Y:35.08, Z:-2.10 [[ 8.87403324e-01 -4.60886709e-01 9.93896086e-03 1.32716599e+02] [ 4.60854018e-01 8.87458930e-01 5.49740436e-03 3.50760485e+01] [-1.13541002e-02 -2.98004861e-04 9.99935496e-01 -2.10312235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94 meters 0.01874301762837116 Centerline is valid? [True, True] Translation: X:132.77, Y:35.11, Z:-2.10 [[ 8.90069242e-01 -4.55704370e-01 1.05010519e-02 1.32766497e+02] [ 4.55667507e-01 8.90131102e-01 5.80897881e-03 3.51084115e+01] [-1.19944899e-02 -3.85405227e-04 9.99927989e-01 -2.10220256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.0 meters 0.023789075034022993 Centerline is valid? [True, True] Translation: X:132.82, Y:35.14, Z:-2.11 [[ 8.91641960e-01 -4.52654827e-01 8.84439159e-03 1.32817513e+02] [ 4.52628523e-01 8.91685751e-01 4.89295480e-03 3.51393484e+01] [-1.01012376e-02 -3.59539902e-04 9.99948917e-01 -2.10695575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06 meters 0.02050421899949096 Centerline is valid? [True, True] Translation: X:132.87, Y:35.17, Z:-2.11 [[ 8.92175738e-01 -4.51609208e-01 8.46017842e-03 1.32869124e+02] [ 4.51585100e-01 8.92215779e-01 4.67978954e-03 3.51683857e+01] [-9.66174073e-03 -3.54704177e-04 9.99953261e-01 -2.10695666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12 meters 0.020389788230480255 Centerline is valid? [True, True] Translation: X:132.92, Y:35.20, Z:-2.11 [[ 8.91980737e-01 -4.52001057e-01 8.08757594e-03 1.32920727e+02] [ 4.51979021e-01 8.92017338e-01 4.47595155e-03 3.51951994e+01] [-9.23739279e-03 -3.37047912e-04 9.99957278e-01 -2.10746743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18 meters 0.023130298080594733 Centerline is valid? [True, True] Translation: X:132.97, Y:35.22, Z:-2.11 [[ 8.91232578e-01 -4.53476375e-01 7.97925849e-03 1.32973939e+02] [ 4.53454955e-01 8.91268240e-01 4.41919956e-03 3.52203629e+01] [-9.11566226e-03 -3.20300321e-04 9.99958400e-01 -2.11051189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23999999999998 meters 0.019531107585014616 Centerline is valid? [True, True] Translation: X:133.03, Y:35.24, Z:-2.11 [[ 8.89962622e-01 -4.55935636e-01 9.44597701e-03 1.33027292e+02] [ 4.55905704e-01 8.90012680e-01 5.23629231e-03 3.52432361e+01] [-1.07944516e-02 -3.53629638e-04 9.99941676e-01 -2.10787089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29999999999998 meters 0.019928135064096943 Centerline is valid? [True, True] Translation: X:133.08, Y:35.27, Z:-2.11 [[ 8.88130355e-01 -4.59491897e-01 9.57446389e-03 1.33082226e+02] [ 4.59461345e-01 8.88181906e-01 5.30799136e-03 3.52667049e+01] [-1.09428446e-02 -3.15092193e-04 9.99940076e-01 -2.11073724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35999999999999 meters 0.016109231352949872 Centerline is valid? [True, True] Translation: X:133.14, Y:35.28, Z:-2.11 [[ 8.85173423e-01 -4.65158024e-01 9.79918758e-03 1.33141021e+02] [ 4.65126324e-01 8.85227625e-01 5.43639199e-03 3.52826032e+01] [-1.12032929e-02 -2.54289606e-04 9.99937209e-01 -2.10935764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42 meters 0.01509998100051795 Centerline is valid? [True, True] Translation: X:133.20, Y:35.30, Z:-2.11 [[ 8.82949586e-01 -4.69383835e-01 8.87945264e-03 1.33197353e+02] [ 4.69358014e-01 8.82994214e-01 4.92665856e-03 3.53025648e+01] [-1.01529992e-02 -1.82348877e-04 9.99948440e-01 -2.11104893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48 meters 0.014839251906248645 Centerline is valid? [True, True] Translation: X:133.26, Y:35.32, Z:-2.12 [[ 8.79315506e-01 -4.76201895e-01 5.99970701e-03 1.33256755e+02] [ 4.76190264e-01 8.79335971e-01 3.32903394e-03 3.53172417e+01] [-6.86105046e-03 -7.02690954e-05 9.99976460e-01 -2.11571669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54 meters 0.01359691763718327 Centerline is valid? [True, True] Translation: X:133.31, Y:35.34, Z:-2.12 [[ 8.77364606e-01 -4.79793635e-01 5.42355787e-03 1.33313180e+02] [ 4.79784208e-01 8.77381369e-01 3.00792881e-03 3.53370222e+01] [-6.20171372e-03 -3.69128629e-05 9.99980769e-01 -2.11677324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.6 meters 0.013583853952424372 Centerline is valid? [True, True] Translation: X:133.37, Y:35.36, Z:-2.12 [[ 8.77112021e-01 -4.80253071e-01 5.61163740e-03 1.33369480e+02] [ 4.80242978e-01 8.77129971e-01 3.11385954e-03 3.53550663e+01] [-6.41757596e-03 -3.62541772e-05 9.99979406e-01 -2.11788456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66 meters 0.01386528649929379 Centerline is valid? [True, True] Translation: X:133.42, Y:35.38, Z:-2.12 [[ 8.79074601e-01 -4.76633574e-01 6.94858845e-03 1.33422476e+02] [ 4.76617952e-01 8.79102059e-01 3.85978273e-03 3.53804227e+01] [-7.94822045e-03 -8.12149622e-05 9.99968409e-01 -2.11768591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72 meters 0.016843501943698085 Centerline is valid? [True, True] Translation: X:133.47, Y:35.41, Z:-2.12 [[ 8.83494029e-01 -4.68340645e-01 9.76431942e-03 1.33474299e+02] [ 4.68309222e-01 8.83547956e-01 5.42981932e-03 3.54081932e+01] [-1.11702495e-02 -2.24492118e-04 9.99937586e-01 -2.11681667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78 meters 0.018973850298118388 Centerline is valid? [True, True] Translation: X:133.53, Y:35.44, Z:-2.12 [[ 8.86248465e-01 -4.63081711e-01 1.09081388e-02 1.33526571e+02] [ 4.63042084e-01 8.86315532e-01 6.06676252e-03 3.54358270e+01] [-1.24774596e-02 -3.25731641e-04 9.99922100e-01 -2.11734760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84 meters 0.01974137923455807 Centerline is valid? [True, True] Translation: X:133.58, Y:35.46, Z:-2.12 [[ 8.89766553e-01 -4.56300982e-01 1.02418033e-02 1.33578243e+02] [ 4.56265598e-01 8.89825408e-01 5.69618557e-03 3.54644040e+01] [-1.17125918e-02 -3.95292909e-04 9.99931327e-01 -2.11824210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.9 meters 0.02102956643818277 Centerline is valid? [True, True] Translation: X:133.63, Y:35.49, Z:-2.12 [[ 8.91211704e-01 -4.53506183e-01 8.59309863e-03 1.33630243e+02] [ 4.53481124e-01 8.91253056e-01 4.78132012e-03 3.54938444e+01] [-9.82698365e-03 -3.64360423e-04 9.99951648e-01 -2.12170900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96 meters 0.023360802172834004 Centerline is valid? [True, True] Translation: X:133.68, Y:35.52, Z:-2.13 [[ 8.92164451e-01 -4.51664780e-01 6.44353514e-03 1.33680434e+02] [ 4.51650628e-01 8.92187672e-01 3.58725803e-03 3.55239597e+01] [-7.36908072e-03 -2.90197397e-04 9.99972806e-01 -2.12545967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01999999999998 meters 0.0227391314739633 Centerline is valid? [True, True] Translation: X:133.73, Y:35.55, Z:-2.13 [[ 8.92475892e-01 -4.51066874e-01 5.04554019e-03 1.33733778e+02] [ 4.51058198e-01 8.92490125e-01 2.80702287e-03 3.55488771e+01] [-5.76924982e-03 -2.29367977e-04 9.99983331e-01 -2.12592478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07999999999998 meters 0.022130714489895623 Centerline is valid? [True, True] Translation: X:133.79, Y:35.58, Z:-2.12 [[ 8.92177686e-01 -4.51637969e-01 6.49017215e-03 1.33786525e+02] [ 4.51623604e-01 8.92201244e-01 3.61406736e-03 3.55758753e+01] [-7.42278970e-03 -2.93275318e-04 9.99972408e-01 -2.12487378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14 meters 0.024322693868984023 Centerline is valid? [True, True] Translation: X:133.84, Y:35.61, Z:-2.12 [[ 8.91657087e-01 -4.52635535e-01 8.28926099e-03 1.33836608e+02] [ 4.52612107e-01 8.91695541e-01 4.61987730e-03 3.56059812e+01] [-9.48261770e-03 -3.67526457e-04 9.99954971e-01 -2.12429151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.2 meters 0.021350365644743463 Centerline is valid? [True, True] Translation: X:133.89, Y:35.63, Z:-2.12 [[ 8.90949879e-01 -4.53992036e-01 9.97719128e-03 1.33890803e+02] [ 4.53958133e-01 8.91005639e-01 5.56471354e-03 3.56292344e+01] [-1.14160693e-02 -4.28653732e-04 9.99934743e-01 -2.12239183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26 meters 0.020952817579070086 Centerline is valid? [True, True] Translation: X:133.94, Y:35.66, Z:-2.12 [[ 8.89888907e-01 -4.56042392e-01 1.10936684e-02 1.33942470e+02] [ 4.56000576e-01 8.89957939e-01 6.19210649e-03 3.56570786e+01] [-1.26967613e-02 -4.51567712e-04 9.99919291e-01 -2.12281785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32 meters 0.019462041368041264 Centerline is valid? [True, True] Translation: X:133.99, Y:35.68, Z:-2.12 [[ 8.89205699e-01 -4.57388581e-01 1.04359871e-02 1.33994710e+02] [ 4.57351666e-01 8.89266844e-01 5.82525529e-03 3.56841836e+01] [-1.19447826e-02 -4.06934104e-04 9.99928576e-01 -2.12450779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38 meters 0.019461331883577383 Centerline is valid? [True, True] Translation: X:134.05, Y:35.71, Z:-2.13 [[ 8.88250362e-01 -4.59301716e-01 7.29575069e-03 1.34045756e+02] [ 4.59283729e-01 8.88280284e-01 4.07356185e-03 3.57133591e+01] [-8.35166544e-03 -2.67523205e-04 9.99965088e-01 -2.12806910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44 meters 0.018423670184245632 Centerline is valid? [True, True] Translation: X:134.10, Y:35.74, Z:-2.13 [[ 8.86775111e-01 -4.62168411e-01 5.50111931e-03 1.34097321e+02] [ 4.62158235e-01 8.86792155e-01 3.07231588e-03 3.57411571e+01] [-6.29827680e-03 -1.82065667e-04 9.99980149e-01 -2.13092164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.5 meters 0.016220690874933427 Centerline is valid? [True, True] Translation: X:134.15, Y:35.76, Z:-2.13 [[ 8.82770744e-01 -4.69782740e-01 4.47104526e-03 1.34151685e+02] [ 4.69776102e-01 8.82782060e-01 2.49978477e-03 3.57649671e+01] [-5.12131429e-03 -1.06346651e-04 9.99986880e-01 -2.13068083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56 meters 0.01442134682582309 Centerline is valid? [True, True] Translation: X:134.21, Y:35.79, Z:-2.13 [[ 8.78565163e-01 -4.77589991e-01 5.57268081e-03 1.34206933e+02] [ 4.77579830e-01 8.78582833e-01 3.11618572e-03 3.57879351e+01] [-6.38432080e-03 -7.63722587e-05 9.99979617e-01 -2.12917781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62 meters 0.013437113153939856 Centerline is valid? [True, True] Translation: X:134.26, Y:35.81, Z:-2.13 [[ 8.71345732e-01 -4.90587777e-01 8.95817785e-03 1.34263788e+02] [ 4.90562189e-01 8.71391779e-01 5.01059391e-03 3.58082569e+01] [-1.02642187e-02 2.85837234e-05 9.99947321e-01 -2.12622060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68 meters 0.014162291672639386 Centerline is valid? [True, True] Translation: X:134.32, Y:35.83, Z:-2.13 [[ 8.66442761e-01 -4.99170822e-01 1.02680210e-02 1.34318105e+02] [ 4.99137761e-01 8.66503589e-01 5.74690770e-03 3.58324724e+01] [-1.17659656e-02 1.45790410e-04 9.99930768e-01 -2.12599357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73999999999998 meters 0.015539386021971144 Centerline is valid? [True, True] Translation: X:134.37, Y:35.86, Z:-2.13 [[ 8.62071173e-01 -5.06675804e-01 1.06264739e-02 1.34372093e+02] [ 5.06640908e-01 8.62136628e-01 5.95189631e-03 3.58573597e+01] [-1.21771542e-02 2.52848126e-04 9.99925824e-01 -2.12650882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79999999999998 meters 0.017854957273581062 Centerline is valid? [True, True] Translation: X:134.43, Y:35.88, Z:-2.13 [[ 8.57413836e-01 -5.14515780e-01 1.07250350e-02 1.34426445e+02] [ 5.14480840e-01 8.57480832e-01 6.00736399e-03 3.58826306e+01] [-1.22873955e-02 3.67027988e-04 9.99924440e-01 -2.12704570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85999999999999 meters 0.018782443174104733 Centerline is valid? [True, True] Translation: X:134.48, Y:35.91, Z:-2.13 [[ 8.56252206e-01 -5.16496936e-01 7.94200147e-03 1.34476399e+02] [ 5.16477842e-01 8.56288988e-01 4.45066887e-03 3.59132114e+01] [-9.09940524e-03 2.90972744e-04 9.99958557e-01 -2.13049612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92 meters 0.018050518736504956 Centerline is valid? [True, True] Translation: X:134.53, Y:35.95, Z:-2.13 [[ 8.56652884e-01 -5.15858450e-01 5.99124878e-03 1.34525447e+02] [ 5.15847577e-01 8.56673808e-01 3.35623183e-03 3.59467869e+01] [-6.86388645e-03 2.15445492e-04 9.99976420e-01 -2.13410771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98 meters 0.017006237669215628 Centerline is valid? [True, True] Translation: X:134.57, Y:35.98, Z:-2.14 [[ 8.58516373e-01 -5.12761955e-01 4.98152742e-03 1.34573780e+02] [ 5.12754369e-01 8.58530811e-01 2.79341818e-03 3.59813103e+01] [-5.70915334e-03 1.56104712e-04 9.99983690e-01 -2.13554254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04 meters 0.017082774225172234 Centerline is valid? [True, True] Translation: X:134.62, Y:36.01, Z:-2.14 [[ 8.60161295e-01 -5.09991598e-01 5.57821848e-03 1.34622593e+02] [ 5.09982025e-01 8.60179369e-01 3.12852084e-03 3.60129949e+01] [-6.39378779e-03 1.53758614e-04 9.99979548e-01 -2.13622137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.1 meters 0.01459434260356001 Centerline is valid? [True, True] Translation: X:134.67, Y:36.05, Z:-2.14 [[ 8.63593267e-01 -5.04125618e-01 8.00190081e-03 1.34667434e+02] [ 5.04105651e-01 8.63630324e-01 4.48952915e-03 3.60530233e+01] [-9.17397084e-03 1.56676265e-04 9.99957906e-01 -2.13573053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16 meters 0.013688309008547558 Centerline is valid? [True, True] Translation: X:134.71, Y:36.09, Z:-2.14 [[ 8.66081469e-01 -4.99822928e-01 8.94037055e-03 1.34714472e+02] [ 4.99797767e-01 8.66127603e-01 5.01663294e-03 3.60888393e+01] [-1.02509299e-02 1.23564418e-04 9.99947450e-01 -2.13553850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22 meters 0.012655233039777364 Centerline is valid? [True, True] Translation: X:134.76, Y:36.13, Z:-2.14 [[ 8.70448224e-01 -4.92171930e-01 9.31028914e-03 1.34758574e+02] [ 4.92144181e-01 8.70498013e-01 5.22629382e-03 3.61277124e+01] [-1.06768233e-02 3.27864550e-05 9.99943001e-01 -2.13660356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28 meters 0.012574148952309287 Centerline is valid? [True, True] Translation: X:134.80, Y:36.16, Z:-2.14 [[ 8.72891174e-01 -4.87836420e-01 8.75364510e-03 1.34804695e+02] [ 4.87811674e-01 8.72935065e-01 4.91358545e-03 3.61635047e+01] [-1.00383897e-02 -1.88950958e-05 9.99949614e-01 -2.13750404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34 meters 0.013023696706620165 Centerline is valid? [True, True] Translation: X:134.85, Y:36.20, Z:-2.14 [[ 8.75727438e-01 -4.82758317e-01 6.77214231e-03 1.34851221e+02] [ 4.82743330e-01 8.75753620e-01 3.80442731e-03 3.61998602e+01] [-7.76734707e-03 -6.24348508e-05 9.99969832e-01 -2.13888320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.4 meters 0.013322300480960721 Centerline is valid? [True, True] Translation: X:134.90, Y:36.23, Z:-2.14 [[ 8.76692703e-01 -4.81019724e-01 5.47078978e-03 1.34900510e+02] [ 4.81009918e-01 8.76709770e-01 3.07209489e-03 3.62324043e+01] [-6.27403309e-03 -6.17790270e-05 9.99980316e-01 -2.14030014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46 meters 0.013795131154149487 Centerline is valid? [True, True] Translation: X:134.95, Y:36.27, Z:-2.14 [[ 8.77938205e-01 -4.78761121e-01 3.50665786e-03 1.34948038e+02] [ 4.78757068e-01 8.77945207e-01 1.97077846e-03 3.62667434e+01] [-4.02218556e-03 -5.13844678e-05 9.99991910e-01 -2.14347839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51999999999998 meters 0.013670977160543822 Centerline is valid? [True, True] Translation: X:135.00, Y:36.30, Z:-2.14 [[ 8.78343463e-01 -4.78023349e-01 2.53748488e-03 1.34998001e+02] [ 4.78021230e-01 8.78347128e-01 1.42366677e-03 3.62971720e+01] [-2.90933851e-03 -3.74967565e-05 9.99995767e-01 -2.14471755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57999999999998 meters 0.013661369426795984 Centerline is valid? [True, True] Translation: X:135.05, Y:36.33, Z:-2.14 [[ 8.78069094e-01 -4.78524091e-01 3.05938715e-03 1.35048025e+02] [ 4.78521010e-01 8.78074423e-01 1.71792290e-03 3.63259623e+01] [-3.50843710e-03 -4.44739730e-05 9.99993844e-01 -2.14411232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64 meters 0.01340280260073518 Centerline is valid? [True, True] Translation: X:135.10, Y:36.35, Z:-2.14 [[ 8.76883696e-01 -4.80690798e-01 3.36751690e-03 1.35099378e+02] [ 4.80687071e-01 8.76890162e-01 1.89321687e-03 3.63547859e+01] [-3.86299436e-03 -4.14091702e-05 9.99992538e-01 -2.14362493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.7 meters 0.012867943575924053 Centerline is valid? [True, True] Translation: X:135.15, Y:36.38, Z:-2.15 [[ 8.74113097e-01 -4.85712669e-01 3.08175464e-03 1.35150806e+02] [ 4.85709570e-01 8.74118529e-01 1.73536831e-03 3.63814953e+01] [-3.53670920e-03 -2.00704506e-05 9.99993746e-01 -2.14520741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76 meters 0.012590018122208564 Centerline is valid? [True, True] Translation: X:135.20, Y:36.41, Z:-2.14 [[ 8.70918105e-01 -4.91410202e-01 4.20345729e-03 1.35204382e+02] [ 4.91404498e-01 8.70928248e-01 2.36750023e-03 3.64074337e+01] [-4.82432346e-03 3.69901052e-06 9.99988363e-01 -2.14368915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82 meters 0.012634147861367304 Centerline is valid? [True, True] Translation: X:135.26, Y:36.44, Z:-2.14 [[ 8.69027274e-01 -4.94736925e-01 5.19348329e-03 1.35255159e+02] [ 4.94728279e-01 8.69042792e-01 2.92496482e-03 3.64350799e+01] [-5.96044732e-03 2.74888403e-05 9.99982236e-01 -2.14314515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88 meters 0.012753460237520874 Centerline is valid? [True, True] Translation: X:135.31, Y:36.46, Z:-2.14 [[ 8.67803596e-01 -4.96868936e-01 6.17891631e-03 1.35305045e+02] [ 4.96856728e-01 8.67825592e-01 3.48330744e-03 3.64643574e+01] [-7.09296896e-03 4.72094170e-05 9.99974843e-01 -2.14242607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94 meters 0.012766678778187811 Centerline is valid? [True, True] Translation: X:135.36, Y:36.49, Z:-2.14 [[ 8.67981988e-01 -4.96556362e-01 6.24885090e-03 1.35355324e+02] [ 4.96543851e-01 8.68004480e-01 3.52512209e-03 3.64943260e+01] [-7.17445238e-03 4.30860085e-05 9.99974262e-01 -2.14293216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.0 meters 0.012650256676632715 Centerline is valid? [True, True] Translation: X:135.41, Y:36.52, Z:-2.14 [[ 8.68308409e-01 -4.95989484e-01 5.91093561e-03 1.35405060e+02] [ 4.95978262e-01 8.68328527e-01 3.33652627e-03 3.65235260e+01] [-6.78751596e-03 3.45617559e-05 9.99976964e-01 -2.14402237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06 meters 0.012451795092179517 Centerline is valid? [True, True] Translation: X:135.45, Y:36.56, Z:-2.15 [[ 8.70339223e-01 -4.92431495e-01 4.56729992e-03 1.35453273e+02] [ 4.92424743e-01 8.70351207e-01 2.57871887e-03 3.65562486e+01] [-5.24499739e-03 4.69131226e-06 9.99986245e-01 -2.14654036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12 meters 0.012394869375543823 Centerline is valid? [True, True] Translation: X:135.50, Y:36.59, Z:-2.15 [[ 8.71757112e-01 -4.89914503e-01 4.82869965e-03 1.35502824e+02] [ 4.89906906e-01 8.71770485e-01 2.72842686e-03 3.65874835e+01] [-5.54621373e-03 -1.29122138e-05 9.99984620e-01 -2.14754952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18 meters 0.015754414304002835 Centerline is valid? [True, True] Translation: X:135.55, Y:36.62, Z:-2.15 [[ 8.72547219e-01 -4.88500335e-01 5.36406184e-03 1.35552205e+02] [ 4.88490917e-01 8.72563707e-01 3.03345512e-03 3.66172258e+01] [-6.16232952e-03 -2.65373413e-05 9.99981012e-01 -2.14998035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23999999999998 meters 0.01319201761681412 Centerline is valid? [True, True] Translation: X:135.60, Y:36.65, Z:-2.15 [[ 8.75216887e-01 -4.83696291e-01 5.77052155e-03 1.35601422e+02] [ 4.83685258e-01 8.75235907e-01 3.26765751e-03 3.66474443e+01] [-6.63112148e-03 -6.87928237e-05 9.99978012e-01 -2.14843721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29999999999998 meters 0.015085776461654033 Centerline is valid? [True, True] Translation: X:135.65, Y:36.68, Z:-2.15 [[ 8.78283693e-01 -4.78107168e-01 5.59381683e-03 1.35650477e+02] [ 4.78096681e-01 8.78301500e-01 3.16843927e-03 3.66793392e+01] [-6.42791124e-03 -1.08403284e-04 9.99979335e-01 -2.15151784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35999999999999 meters 0.014763451472200644 Centerline is valid? [True, True] Translation: X:135.70, Y:36.71, Z:-2.15 [[ 8.79902721e-01 -4.75113329e-01 6.20692471e-03 1.35702468e+02] [ 4.75100351e-01 8.79924602e-01 3.51454938e-03 3.67064441e+01] [-7.13143501e-03 -1.43549461e-04 9.99974561e-01 -2.15174009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42 meters 0.015340666737935995 Centerline is valid? [True, True] Translation: X:135.75, Y:36.73, Z:-2.15 [[ 8.80851394e-01 -4.73343859e-01 6.81268038e-03 1.35754214e+02] [ 4.73328150e-01 8.80877722e-01 3.86025391e-03 3.67342082e+01] [-7.82836586e-03 -1.75676638e-04 9.99969342e-01 -2.15291005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48 meters 0.015789793142313064 Centerline is valid? [True, True] Translation: X:135.81, Y:36.76, Z:-2.15 [[ 8.81094618e-01 -4.72887545e-01 7.04583927e-03 1.35807507e+02] [ 4.72870701e-01 8.81122769e-01 3.99582031e-03 3.67585633e+01] [-8.09782306e-03 -1.88924813e-04 9.99967194e-01 -2.15481635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54 meters 0.016137054982767032 Centerline is valid? [True, True] Translation: X:135.86, Y:36.78, Z:-2.16 [[ 8.81485613e-01 -4.72168272e-01 6.34332390e-03 1.35860404e+02] [ 4.72154602e-01 8.81508419e-01 3.59726893e-03 3.67844413e+01] [-7.29020967e-03 -1.75911237e-04 9.99973411e-01 -2.15682190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.6 meters 0.016412134091521143 Centerline is valid? [True, True] Translation: X:135.92, Y:36.81, Z:-2.16 [[ 8.82609981e-01 -4.70090966e-01 3.75553383e-03 1.35915063e+02] [ 4.70086156e-01 8.82617964e-01 2.12961244e-03 3.68096659e+01] [-4.31581320e-03 -1.14192733e-04 9.99990680e-01 -2.16093690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66 meters 0.017424220954210347 Centerline is valid? [True, True] Translation: X:135.97, Y:36.84, Z:-2.16 [[ 8.83378554e-01 -4.68648591e-01 3.29062232e-03 1.35967431e+02] [ 4.68644888e-01 8.83384677e-01 1.86602269e-03 3.68365073e+01] [-3.78139424e-03 -1.06271099e-04 9.99992845e-01 -2.16315987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72 meters 0.018193600123634367 Centerline is valid? [True, True] Translation: X:136.02, Y:36.86, Z:-2.16 [[ 8.84135261e-01 -4.67216331e-01 3.70676347e-03 1.36020128e+02] [ 4.67211604e-01 8.84143022e-01 2.10580990e-03 3.68618107e+01] [-4.26117784e-03 -1.29977879e-04 9.99990913e-01 -2.16328688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78 meters 0.017621917873053734 Centerline is valid? [True, True] Translation: X:136.08, Y:36.88, Z:-2.16 [[ 8.83776865e-01 -4.67882908e-01 4.90272026e-03 1.36075562e+02] [ 4.67874652e-01 8.83790448e-01 2.78452983e-03 3.68838811e+01] [-5.63581125e-03 -1.67044511e-04 9.99984105e-01 -2.16279050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84 meters 0.017082828171387846 Centerline is valid? [True, True] Translation: X:136.13, Y:36.91, Z:-2.16 [[ 8.82367310e-01 -4.70523587e-01 5.95681909e-03 1.36130320e+02] [ 4.70511431e-01 8.82387397e-01 3.38741979e-03 3.69077478e+01] [-6.85008300e-03 -1.86197019e-04 9.99976521e-01 -2.16364282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.9 meters 0.014363972553344137 Centerline is valid? [True, True] Translation: X:136.19, Y:36.92, Z:-2.16 [[ 8.77748655e-01 -4.79067545e-01 7.18227542e-03 1.36189767e+02] [ 4.79050150e-01 8.77778028e-01 4.08501029e-03 3.69230794e+01] [-8.26143940e-03 -1.44942167e-04 9.99965863e-01 -2.16324167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96 meters 0.012895264805403461 Centerline is valid? [True, True] Translation: X:136.25, Y:36.94, Z:-2.16 [[ 8.73149045e-01 -4.87393550e-01 7.63361608e-03 1.36246977e+02] [ 4.87374185e-01 8.73182410e-01 4.34541172e-03 3.69414691e+01] [-8.78346493e-03 -7.37646782e-05 9.99961422e-01 -2.16387711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01999999999998 meters 0.012739524074530778 Centerline is valid? [True, True] Translation: X:136.31, Y:36.96, Z:-2.16 [[ 8.65881340e-01 -5.00168864e-01 8.97841427e-03 1.36306338e+02] [ 5.00142755e-01 8.65927886e-01 5.11093365e-03 3.69561519e+01] [-1.03309892e-02 6.50267705e-05 9.99946632e-01 -2.16314845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07999999999998 meters 0.014028466651693782 Centerline is valid? [True, True] Translation: X:136.36, Y:36.98, Z:-2.16 [[ 8.62171198e-01 -5.06527449e-01 9.52729861e-03 1.36361466e+02] [ 5.06498389e-01 8.62223824e-01 5.42768193e-03 3.69758044e+01] [-1.09639337e-02 1.45970366e-04 9.99939884e-01 -2.16327821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14 meters 0.015532362974914324 Centerline is valid? [True, True] Translation: X:136.42, Y:37.00, Z:-2.16 [[ 8.57617263e-01 -5.14196472e-01 9.72722715e-03 1.36418465e+02] [ 5.14166663e-01 8.57672389e-01 5.54221890e-03 3.69969669e+01] [-1.11925636e-02 2.48313326e-04 9.99937330e-01 -2.16360629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.2 meters 0.016748198354403145 Centerline is valid? [True, True] Translation: X:136.47, Y:37.02, Z:-2.16 [[ 8.55491322e-01 -5.17738200e-01 9.04181933e-03 1.36472590e+02] [ 5.17712609e-01 8.55539060e-01 5.15482541e-03 3.70213369e+01] [-1.04044796e-02 2.71155464e-04 9.99945835e-01 -2.16463088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26 meters 0.017666827821249103 Centerline is valid? [True, True] Translation: X:136.52, Y:37.05, Z:-2.17 [[ 8.55294760e-01 -5.18065012e-01 8.91726497e-03 1.36522875e+02] [ 5.18040133e-01 8.55341201e-01 5.08431767e-03 3.70495829e+01] [-1.02613112e-02 2.70910872e-04 9.99947315e-01 -2.16631679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32 meters 0.01667643782930871 Centerline is valid? [True, True] Translation: X:136.57, Y:37.08, Z:-2.17 [[ 8.55649506e-01 -5.17495130e-01 7.91916646e-03 1.36572502e+02] [ 5.17475488e-01 8.55686120e-01 4.51487144e-03 3.70811039e+01] [-9.11274480e-03 2.34827006e-04 9.99958451e-01 -2.16792043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38 meters 0.016571434813070506 Centerline is valid? [True, True] Translation: X:136.62, Y:37.11, Z:-2.17 [[ 8.56110588e-01 -5.16749339e-01 6.69191351e-03 1.36622725e+02] [ 5.16735279e-01 8.56136721e-01 3.81673172e-03 3.71112921e+01] [-7.70148648e-03 1.90403353e-04 9.99970325e-01 -2.16965044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44 meters 0.016518476251346188 Centerline is valid? [True, True] Translation: X:136.67, Y:37.14, Z:-2.17 [[ 8.57619520e-01 -5.14247550e-01 6.18191888e-03 1.36671693e+02] [ 5.14235464e-01 8.57641787e-01 3.52901901e-03 3.71427473e+01] [-7.11666133e-03 1.52406328e-04 9.99974665e-01 -2.17177824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.5 meters 0.015723515846554705 Centerline is valid? [True, True] Translation: X:136.72, Y:37.18, Z:-2.17 [[ 8.59328114e-01 -5.11375582e-01 7.08570761e-03 1.36720640e+02] [ 5.11359600e-01 8.59357314e-01 4.04556399e-03 3.71760520e+01] [-8.15795729e-03 1.46877738e-04 9.99966713e-01 -2.17238977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56 meters 0.014194190754286887 Centerline is valid? [True, True] Translation: X:136.77, Y:37.21, Z:-2.17 [[ 8.62062177e-01 -5.06746852e-01 7.51201774e-03 1.36768140e+02] [ 5.06728696e-01 8.62094900e-01 4.29102735e-03 3.72116954e+01] [-8.65053678e-03 1.07422566e-04 9.99962578e-01 -2.17203434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62 meters 0.01367648001938156 Centerline is valid? [True, True] Translation: X:136.82, Y:37.24, Z:-2.17 [[ 8.63575951e-01 -5.04155032e-01 8.01752092e-03 1.36816680e+02] [ 5.04134240e-01 8.63613164e-01 4.57942661e-03 3.72448752e+01] [-9.23277758e-03 8.72241283e-05 9.99957373e-01 -2.17265888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68 meters 0.013435343170496498 Centerline is valid? [True, True] Translation: X:136.86, Y:37.28, Z:-2.17 [[ 8.65024786e-01 -5.01657998e-01 8.44819418e-03 1.36864417e+02] [ 5.01634755e-01 8.65066037e-01 4.82940206e-03 3.72771329e+01] [-9.73095404e-03 6.03553364e-05 9.99952651e-01 -2.17391755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.73999999999998 meters 0.013189352899562455 Centerline is valid? [True, True] Translation: X:136.91, Y:37.31, Z:-2.17 [[ 8.66805077e-01 -4.98567127e-01 8.93189075e-03 1.36911145e+02] [ 4.98540971e-01 8.66851094e-01 5.10703208e-03 3.73112158e+01] [-1.02888176e-02 2.61121495e-05 9.99947068e-01 -2.17419917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79999999999998 meters 0.013222485283786174 Centerline is valid? [True, True] Translation: X:136.96, Y:37.34, Z:-2.17 [[ 8.68675361e-01 -4.95312354e-01 8.29388718e-03 1.36958850e+02] [ 4.95289656e-01 8.68714954e-01 4.74181701e-03 3.73444183e+01] [-9.55370436e-03 -1.12230741e-05 9.99954362e-01 -2.17463046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85999999999999 meters 0.01344301956282101 Centerline is valid? [True, True] Translation: X:137.01, Y:37.38, Z:-2.18 [[ 8.70343363e-01 -4.92390205e-01 7.36992484e-03 1.37007837e+02] [ 4.92372157e-01 8.70374565e-01 4.21604415e-03 3.73774473e+01] [-8.49053397e-03 -4.06602522e-05 9.99963954e-01 -2.17696368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92 meters 0.013549252863902376 Centerline is valid? [True, True] Translation: X:137.06, Y:37.41, Z:-2.18 [[ 8.71152945e-01 -4.90969799e-01 6.41895466e-03 1.37057702e+02] [ 4.90956059e-01 8.71176592e-01 3.67348347e-03 3.74082255e+01] [-7.39561249e-03 -4.87412595e-05 9.99972651e-01 -2.17868993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98 meters 0.014347441903546143 Centerline is valid? [True, True] Translation: X:137.11, Y:37.44, Z:-2.18 [[ 8.73525514e-01 -4.86768427e-01 3.11055773e-03 1.37106098e+02] [ 4.86765170e-01 8.73531051e-01 1.78110852e-03 3.74413493e+01] [-3.58415616e-03 -4.17325672e-05 9.99993576e-01 -2.18306339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04 meters 0.014681774688349702 Centerline is valid? [True, True] Translation: X:137.16, Y:37.47, Z:-2.18 [[ 8.74385024e-01 -4.85231837e-01 9.45613773e-04 1.37156746e+02] [ 4.85231539e-01 8.74385535e-01 5.37862122e-04 3.74711157e+01] [-1.08781883e-03 -1.14569579e-05 9.99999408e-01 -2.18479890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.1 meters 0.01512795451001276 Centerline is valid? [True, True] Translation: X:137.21, Y:37.50, Z:-2.19 [[ 8.74996334e-01 -4.84129281e-01 -5.05667226e-04 1.37208207e+02] [ 4.84129191e-01 8.74996480e-01 -2.94499604e-04 3.74997268e+01] [ 5.85032925e-04 1.28778086e-05 9.99999829e-01 -2.18501682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16 meters 0.014922525985038949 Centerline is valid? [True, True] Translation: X:137.26, Y:37.53, Z:-2.18 [[ 8.75056511e-01 -4.84020765e-01 -3.53373675e-05 1.37259524e+02] [ 4.84020764e-01 8.75056512e-01 -2.54084081e-05 3.75276711e+01] [ 4.32203906e-05 5.12977335e-06 9.99999999e-01 -2.18387158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22 meters 0.017313977720494707 Centerline is valid? [True, True] Translation: X:137.31, Y:37.56, Z:-2.19 [[ 8.74778383e-01 -4.84523079e-01 -4.08679917e-04 1.37309116e+02] [ 4.84523021e-01 8.74778478e-01 -2.36910370e-04 3.75555772e+01] [ 4.72292938e-04 9.22924243e-06 9.99999888e-01 -2.18557580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28 meters 0.014886801691918767 Centerline is valid? [True, True] Translation: X:137.36, Y:37.58, Z:-2.18 [[ 8.74583794e-01 -4.84866415e-01 2.78323723e-03 1.37361941e+02] [ 4.84863794e-01 8.74588222e-01 1.59498902e-03 3.75821784e+01] [-3.20754311e-03 -4.54605838e-05 9.99994855e-01 -2.18157542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34 meters 0.014773610369331915 Centerline is valid? [True, True] Translation: X:137.41, Y:37.61, Z:-2.18 [[ 8.74110853e-01 -4.85716328e-01 3.14100782e-03 1.37414591e+02] [ 4.85712989e-01 8.74116495e-01 1.80189131e-03 3.76098655e+01] [-3.62081478e-03 -4.94244529e-05 9.99993444e-01 -2.18144767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.4 meters 0.014527025007817298 Centerline is valid? [True, True] Translation: X:137.47, Y:37.63, Z:-2.18 [[ 8.72455154e-01 -4.88685868e-01 2.85071337e-03 1.37467060e+02] [ 4.88683125e-01 8.72459810e-01 1.63784177e-03 3.76343583e+01] [-3.28752297e-03 -3.58479739e-05 9.99994595e-01 -2.18333594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46 meters 0.014095617998476423 Centerline is valid? [True, True] Translation: X:137.52, Y:37.66, Z:-2.18 [[ 8.70747492e-01 -4.91722620e-01 2.76946762e-03 1.37521040e+02] [ 4.91720053e-01 8.70751896e-01 1.58922047e-03 3.76590403e+01] [-3.19297483e-03 -2.20069762e-05 9.99994902e-01 -2.18378805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51999999999998 meters 0.01564275727503836 Centerline is valid? [True, True] Translation: X:137.57, Y:37.68, Z:-2.19 [[ 8.68549910e-01 -4.95598966e-01 1.64868507e-03 1.37574166e+02] [ 4.95598060e-01 8.68551475e-01 9.47329660e-04 3.76829910e+01] [-1.90146345e-03 -5.71796787e-06 9.99998192e-01 -2.18554632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57999999999998 meters 0.013676191770190445 Centerline is valid? [True, True] Translation: X:137.63, Y:37.71, Z:-2.18 [[ 8.66033955e-01 -4.99974398e-01 3.28486380e-03 1.37628578e+02] [ 4.99970835e-01 8.66040185e-01 1.88730954e-03 3.77065366e+01] [-3.78843050e-03 7.86194925e-06 9.99992824e-01 -2.18418973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64 meters 0.01373340520696096 Centerline is valid? [True, True] Translation: X:137.68, Y:37.73, Z:-2.18 [[ 8.64243442e-01 -5.03052191e-01 4.66543012e-03 1.37681153e+02] [ 5.03045035e-01 8.64256034e-01 2.68344295e-03 3.77319177e+01] [-5.38203798e-03 2.77734869e-05 9.99985516e-01 -2.18333389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.7 meters 0.01386334155167328 Centerline is valid? [True, True] Translation: X:137.73, Y:37.76, Z:-2.18 [[ 8.62903464e-01 -5.05327988e-01 6.42148632e-03 1.37732729e+02] [ 5.05314462e-01 8.62927356e-01 3.69773622e-03 3.77587952e+01] [-7.40984582e-03 5.40805081e-05 9.99972545e-01 -2.18268613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76 meters 0.01376591474128311 Centerline is valid? [True, True] Translation: X:137.78, Y:37.79, Z:-2.18 [[ 8.63054707e-01 -5.05035505e-01 8.70121294e-03 1.37782844e+02] [ 5.05010602e-01 8.63098566e-01 5.01575803e-03 3.77894920e+01] [-1.00431403e-02 6.53312044e-05 9.99949564e-01 -2.18277612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82 meters 0.015353594962106634 Centerline is valid? [True, True] Translation: X:137.83, Y:37.82, Z:-2.18 [[ 8.63230670e-01 -5.04721956e-01 9.41047511e-03 1.37833375e+02] [ 5.04692772e-01 8.63281960e-01 5.42798769e-03 3.78191470e+01] [-1.08635180e-02 6.37933139e-05 9.99940988e-01 -2.18309131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88 meters 0.013619965979842318 Centerline is valid? [True, True] Translation: X:137.88, Y:37.85, Z:-2.18 [[ 8.64137454e-01 -5.03149056e-01 1.03676089e-02 1.37883776e+02] [ 5.03113470e-01 8.64199644e-01 5.98421718e-03 3.78497092e+01] [-1.19706371e-02 4.48974896e-05 9.99928348e-01 -2.18131367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94 meters 0.016734731961518024 Centerline is valid? [True, True] Translation: X:137.93, Y:37.88, Z:-2.18 [[ 8.65824968e-01 -5.00231548e-01 1.07481896e-02 1.37931408e+02] [ 5.00193023e-01 8.65891678e-01 6.20811514e-03 3.78824797e+01] [-1.24122630e-02 1.02836785e-06 9.99922965e-01 -2.18438345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.0 meters 0.015671224623856103 Centerline is valid? [True, True] Translation: X:137.98, Y:37.91, Z:-2.19 [[ 8.67463996e-01 -4.97383269e-01 1.07749669e-02 1.37979951e+02] [ 4.97344324e-01 8.67530911e-01 6.22423565e-03 3.79149008e+01] [-1.24434475e-02 -4.04317194e-05 9.99922576e-01 -2.18504459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06 meters 0.0142330362605993 Centerline is valid? [True, True] Translation: X:138.03, Y:37.95, Z:-2.18 [[ 8.69390039e-01 -4.94020171e-01 1.02484705e-02 1.38028135e+02] [ 4.93984653e-01 8.69450437e-01 5.92453578e-03 3.79464833e+01] [-1.18373774e-02 -8.81452343e-05 9.99929932e-01 -2.18454566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12 meters 0.014445929864295205 Centerline is valid? [True, True] Translation: X:138.08, Y:37.98, Z:-2.18 [[ 8.69980975e-01 -4.92964074e-01 1.09327460e-02 1.38078578e+02] [ 4.92923559e-01 8.70049659e-01 6.32105360e-03 3.79766713e+01] [-1.26280843e-02 -1.10188293e-04 9.99920256e-01 -2.18452559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18 meters 0.014673393218171012 Centerline is valid? [True, True] Translation: X:138.13, Y:38.01, Z:-2.19 [[ 8.70745493e-01 -4.91598364e-01 1.15470845e-02 1.38128019e+02] [ 4.91552989e-01 8.70822042e-01 6.68062372e-03 3.80077823e+01] [-1.33396394e-02 -1.41119080e-04 9.99911013e-01 -2.18568216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.23999999999998 meters 0.014814284166999665 Centerline is valid? [True, True] Translation: X:138.18, Y:38.04, Z:-2.19 [[ 8.70768222e-01 -4.91557750e-01 1.15620589e-02 1.38177638e+02] [ 4.91512241e-01 8.70844968e-01 6.69025848e-03 3.80372646e+01] [-1.33574092e-02 -1.42770992e-04 9.99910776e-01 -2.18730100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29999999999998 meters 0.014633154082073654 Centerline is valid? [True, True] Translation: X:138.23, Y:38.07, Z:-2.19 [[ 8.70435180e-01 -4.92149200e-01 1.14787632e-02 1.38228825e+02] [ 4.92104339e-01 8.70510854e-01 6.64627152e-03 3.80652246e+01] [-1.32633452e-02 -1.36399378e-04 9.99912029e-01 -2.18835344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35999999999999 meters 0.016348946997167532 Centerline is valid? [True, True] Translation: X:138.28, Y:38.09, Z:-2.19 [[ 8.70324068e-01 -4.92349420e-01 1.13166177e-02 1.38279379e+02] [ 4.92305779e-01 8.70397628e-01 6.55662481e-03 3.80942356e+01] [-1.30781076e-02 -1.35152081e-04 9.99914469e-01 -2.19173416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42 meters 0.015672437195692033 Centerline is valid? [True, True] Translation: X:138.33, Y:38.12, Z:-2.19 [[ 8.70683463e-01 -4.91732187e-01 1.04768102e-02 1.38329805e+02] [ 4.91694693e-01 8.70746483e-01 6.07378813e-03 3.81246717e+01] [-1.21093227e-02 -1.36954904e-04 9.99926670e-01 -2.19345339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48 meters 0.014758376452616665 Centerline is valid? [True, True] Translation: X:138.38, Y:38.15, Z:-2.19 [[ 8.70933285e-01 -4.91311703e-01 9.38205559e-03 1.38380437e+02] [ 4.91281582e-01 8.70983808e-01 5.44184580e-03 3.81542560e+01] [-1.08452610e-02 -1.30253527e-04 9.99941180e-01 -2.19443690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54 meters 0.014293337604717545 Centerline is valid? [True, True] Translation: X:138.43, Y:38.18, Z:-2.20 [[ 8.69841676e-01 -4.93251711e-01 8.84357264e-03 1.38432584e+02] [ 4.93225021e-01 8.69886624e-01 5.13219334e-03 3.81810777e+01] [-1.02243687e-02 -1.02324351e-04 9.99947725e-01 -2.19575052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.6 meters 0.01405777392202679 Centerline is valid? [True, True] Translation: X:138.48, Y:38.21, Z:-2.20 [[ 8.68689164e-01 -4.95270463e-01 9.29002987e-03 1.38484308e+02] [ 4.95241090e-01 8.68738833e-01 5.39464820e-03 3.82085236e+01] [-1.07424196e-02 -8.54679196e-05 9.99942295e-01 -2.19657881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66 meters 0.013792519703594096 Centerline is valid? [True, True] Translation: X:138.54, Y:38.24, Z:-2.20 [[ 8.67185008e-01 -4.97893702e-01 9.59294159e-03 1.38536852e+02] [ 4.97862504e-01 8.67238063e-01 5.57388189e-03 3.82357133e+01] [-1.10945648e-02 -5.76208852e-05 9.99938452e-01 -2.19730908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72 meters 0.01348901795765201 Centerline is valid? [True, True] Translation: X:138.59, Y:38.26, Z:-2.20 [[ 8.64990144e-01 -5.01692067e-01 9.85496463e-03 1.38588925e+02] [ 5.01659341e-01 8.65046282e-01 5.73026422e-03 3.82605908e+01] [-1.13998286e-02 -1.27870151e-05 9.99935020e-01 -2.19870689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78 meters 0.013453366178954415 Centerline is valid? [True, True] Translation: X:138.64, Y:38.29, Z:-2.20 [[ 8.63758783e-01 -5.03795449e-01 1.05313702e-02 1.38640356e+02] [ 5.03758224e-01 8.63822983e-01 6.12422653e-03 3.82869835e+01] [-1.21825971e-02 1.54098929e-05 9.99925789e-01 -2.19826333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84 meters 0.013498075727120648 Centerline is valid? [True, True] Translation: X:138.69, Y:38.31, Z:-2.20 [[ 8.63410890e-01 -5.04380566e-01 1.10399281e-02 1.38689819e+02] [ 5.04339642e-01 8.63481467e-01 6.42503411e-03 3.83144856e+01] [-1.27734357e-02 2.04289640e-05 9.99918416e-01 -2.19849750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.9 meters 0.01349351102858783 Centerline is valid? [True, True] Translation: X:138.74, Y:38.34, Z:-2.20 [[ 8.62729462e-01 -5.05491046e-01 1.32919862e-02 1.38739936e+02] [ 5.05431812e-01 8.62831849e-01 7.73840260e-03 3.83417497e+01] [-1.53804423e-02 4.20447629e-05 9.99881713e-01 -2.19707001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96 meters 0.013426870042494375 Centerline is valid? [True, True] Translation: X:138.79, Y:38.37, Z:-2.20 [[ 8.62508663e-01 -5.05863253e-01 1.34601642e-02 1.38790172e+02] [ 5.05802520e-01 8.62613683e-01 7.83865213e-03 3.83717577e+01] [-1.55762079e-02 4.72796203e-05 9.99878682e-01 -2.19844535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01999999999998 meters 0.013456218424749738 Centerline is valid? [True, True] Translation: X:138.84, Y:38.40, Z:-2.20 [[ 8.61368293e-01 -5.07806915e-01 1.32966724e-02 1.38840945e+02] [ 5.07747802e-01 8.61470912e-01 7.74843755e-03 3.84004437e+01] [-1.53894066e-02 7.70977352e-05 9.99881573e-01 -2.20074919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07999999999998 meters 0.013534034245048905 Centerline is valid? [True, True] Translation: X:138.89, Y:38.43, Z:-2.20 [[ 8.60513172e-01 -5.09276656e-01 1.24244677e-02 1.38891101e+02] [ 5.09225133e-01 8.60602858e-01 7.24467060e-03 3.84293456e+01] [-1.43820740e-02 9.27167122e-05 9.99896568e-01 -2.20203174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14 meters 0.014295159802914244 Centerline is valid? [True, True] Translation: X:138.94, Y:38.46, Z:-2.20 [[ 8.60146940e-01 -5.09882466e-01 1.29272110e-02 1.38940268e+02] [ 5.09826680e-01 8.60244070e-01 7.54298928e-03 3.84602237e+01] [-1.49665946e-02 1.02557907e-04 9.99887989e-01 -2.20468698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.2 meters 0.013436234290642893 Centerline is valid? [True, True] Translation: X:138.99, Y:38.49, Z:-2.20 [[ 8.60987321e-01 -5.08449616e-01 1.34097645e-02 1.38989969e+02] [ 5.08389330e-01 8.61091739e-01 7.82988407e-03 3.84930045e+01] [-1.55281389e-02 7.59502592e-05 9.99879428e-01 -2.20302170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26 meters 0.013474450510508718 Centerline is valid? [True, True] Translation: X:139.04, Y:38.53, Z:-2.20 [[ 8.62044121e-01 -5.06651544e-01 1.35700809e-02 1.39037588e+02] [ 5.06589516e-01 8.62150922e-01 7.92782026e-03 3.85261570e+01] [-1.57161002e-02 4.03298922e-05 9.99876494e-01 -2.20431447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32 meters 0.013386352787153565 Centerline is valid? [True, True] Translation: X:139.09, Y:38.56, Z:-2.21 [[ 8.63092114e-01 -5.04849161e-01 1.41183243e-02 1.39085948e+02] [ 5.04781688e-01 8.63207579e-01 8.25366705e-03 3.85591640e+01] [-1.63539014e-02 2.99661535e-06 9.99866266e-01 -2.20569951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38 meters 0.013434377471954096 Centerline is valid? [True, True] Translation: X:139.13, Y:38.59, Z:-2.21 [[ 8.64181159e-01 -5.03006362e-01 1.32485940e-02 1.39134331e+02] [ 5.02946656e-01 8.64282708e-01 7.74995753e-03 3.85914846e+01] [-1.53488087e-02 -3.40312029e-05 9.99882200e-01 -2.20760262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44 meters 0.013605322279336255 Centerline is valid? [True, True] Translation: X:139.18, Y:38.62, Z:-2.21 [[ 8.65510424e-01 -5.00767137e-01 1.11346599e-02 1.39183086e+02] [ 5.00724734e-01 8.65582041e-01 6.51692019e-03 3.86244777e+01] [-1.29014211e-02 -6.50627225e-05 9.99916771e-01 -2.21083102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.5 meters 0.013785267231587722 Centerline is valid? [True, True] Translation: X:139.23, Y:38.66, Z:-2.21 [[ 8.66102311e-01 -4.99755157e-01 1.05626453e-02 1.39232641e+02] [ 4.99716883e-01 8.66166714e-01 6.18542910e-03 3.86558665e+01] [-1.22402119e-02 -7.88822350e-05 9.99925083e-01 -2.21333140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56 meters 0.013917673558217256 Centerline is valid? [True, True] Translation: X:139.28, Y:38.69, Z:-2.22 [[ 8.66978385e-01 -4.98257497e-01 9.37804493e-03 1.39281964e+02] [ 4.98227202e-01 8.67029099e-01 5.49516779e-03 3.86870547e+01] [-1.08690464e-02 -9.17946070e-05 9.99940926e-01 -2.21502419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62 meters 0.0142273099649004 Centerline is valid? [True, True] Translation: X:139.33, Y:38.72, Z:-2.22 [[ 8.67390405e-01 -4.97549270e-01 8.86614438e-03 1.39331039e+02] [ 4.97522145e-01 8.67435712e-01 5.19618609e-03 3.87171076e+01] [-1.02761689e-02 -9.60187919e-05 9.99947194e-01 -2.21709054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68 meters 0.014585571720522252 Centerline is valid? [True, True] Translation: X:139.38, Y:38.75, Z:-2.22 [[ 8.68134472e-01 -4.96220801e-01 1.03660750e-02 1.39380696e+02] [ 4.96183612e-01 8.68196348e-01 6.07656684e-03 3.87464290e+01] [-1.20151073e-02 -1.31800593e-04 9.99927807e-01 -2.21670299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.73999999999998 meters 0.01510541793323078 Centerline is valid? [True, True] Translation: X:139.43, Y:38.78, Z:-2.22 [[ 8.68932925e-01 -4.94778182e-01 1.22524738e-02 1.39430683e+02] [ 4.94726047e-01 8.69019285e-01 7.18478095e-03 3.87768302e+01] [-1.42025089e-02 -1.81474791e-04 9.99899123e-01 -2.21554718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79999999999998 meters 0.015564900375230695 Centerline is valid? [True, True] Translation: X:139.48, Y:38.81, Z:-2.21 [[ 8.71161745e-01 -4.90790170e-01 1.42205356e-02 1.39480521e+02] [ 4.90719322e-01 8.71277754e-01 8.34404389e-03 3.88081501e+01] [-1.64852111e-02 -2.90720240e-04 9.99864067e-01 -2.21484101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85999999999999 meters 0.016818914776297045 Centerline is valid? [True, True] Translation: X:139.53, Y:38.84, Z:-2.22 [[ 8.72998199e-01 -4.87526254e-01 1.38671020e-02 1.39529030e+02] [ 4.87458400e-01 8.73108259e-01 8.14109681e-03 3.88403486e+01] [-1.60764797e-02 -3.47527492e-04 9.99870705e-01 -2.21554821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92 meters 0.01786771575056603 Centerline is valid? [True, True] Translation: X:139.58, Y:38.87, Z:-2.22 [[ 8.75485371e-01 -4.83108987e-01 1.14486532e-02 1.39578979e+02] [ 4.83062335e-01 8.75560153e-01 6.72308381e-03 3.88725601e+01] [-1.32719667e-02 -3.55548392e-04 9.99911860e-01 -2.21864968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98 meters 0.018785618197635606 Centerline is valid? [True, True] Translation: X:139.63, Y:38.90, Z:-2.22 [[ 8.76464467e-01 -4.81357464e-01 1.02484602e-02 1.39629069e+02] [ 4.81319962e-01 8.76524315e-01 6.01820652e-03 3.89035290e+01] [-1.18799332e-02 -3.41955696e-04 9.99929373e-01 -2.22084020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04 meters 0.01847311018379534 Centerline is valid? [True, True] Translation: X:139.68, Y:38.93, Z:-2.22 [[ 8.76104338e-01 -4.82049331e-01 8.34455674e-03 1.39679569e+02] [ 4.82024483e-01 8.76144034e-01 4.90192590e-03 3.89315981e+01] [-9.67400370e-03 -2.72317894e-04 9.99953169e-01 -2.22350960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.1 meters 0.01738240057354429 Centerline is valid? [True, True] Translation: X:139.73, Y:38.96, Z:-2.22 [[ 8.74586532e-01 -4.84794274e-01 8.53868898e-03 1.39732587e+02] [ 4.84768344e-01 8.74628177e-01 5.02042126e-03 3.89581474e+01] [-9.90204946e-03 -2.51506707e-04 9.99950942e-01 -2.22293586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16 meters 0.015825053168876543 Centerline is valid? [True, True] Translation: X:139.79, Y:38.98, Z:-2.22 [[ 8.69833565e-01 -4.93253558e-01 9.51297676e-03 1.39785087e+02] [ 4.93221855e-01 8.69885566e-01 5.59503905e-03 3.89844065e+01] [-1.10349741e-02 -1.74744723e-04 9.99939098e-01 -2.22361099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22 meters 0.014378160967275311 Centerline is valid? [True, True] Translation: X:139.84, Y:39.01, Z:-2.22 [[ 8.66947181e-01 -4.98254938e-01 1.20250549e-02 1.39839315e+02] [ 4.98204740e-01 8.67030563e-01 7.07391888e-03 3.90082223e+01] [-1.39507051e-02 -1.41774667e-04 9.99902674e-01 -2.22039372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28 meters 0.013873282868362827 Centerline is valid? [True, True] Translation: X:139.89, Y:39.03, Z:-2.22 [[ 8.63971179e-01 -5.03382983e-01 1.26243272e-02 1.39893067e+02] [ 5.03328174e-01 8.64063405e-01 7.42836007e-03 3.90336487e+01] [-1.46475292e-02 -6.37094454e-05 9.99892717e-01 -2.21958034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34 meters 0.01377999996390471 Centerline is valid? [True, True] Translation: X:139.94, Y:39.06, Z:-2.22 [[ 8.62823070e-01 -5.05388111e-01 1.09182094e-02 1.39942516e+02] [ 5.05347238e-01 8.62892147e-01 6.42742115e-03 3.90640127e+01] [-1.26695794e-02 -2.82402637e-05 9.99919737e-01 -2.22389590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.4 meters 0.013794513483901373 Centerline is valid? [True, True] Translation: X:139.99, Y:39.09, Z:-2.23 [[ 8.62508194e-01 -5.05951802e-01 9.61195391e-03 1.39992472e+02] [ 5.05920126e-01 8.62561751e-01 5.66150899e-03 3.90938969e+01] [-1.11553545e-02 -2.02169599e-05 9.99937777e-01 -2.22703619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46 meters 0.013798441849935067 Centerline is valid? [True, True] Translation: X:140.04, Y:39.12, Z:-2.23 [[ 8.62297638e-01 -5.06336422e-01 8.13702555e-03 1.40043256e+02] [ 5.06313717e-01 8.62336029e-01 4.79503991e-03 3.91216045e+01] [-9.44475365e-03 -1.48639414e-05 9.99955397e-01 -2.22722972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51999999999998 meters 0.013760289263915359 Centerline is valid? [True, True] Translation: X:140.09, Y:39.15, Z:-2.23 [[ 8.61504217e-01 -5.07676823e-01 8.64452071e-03 1.40092079e+02] [ 5.07651219e-01 8.61547586e-01 5.09875108e-03 3.91509583e+01] [-1.00361837e-02 -4.19408693e-06 9.99949636e-01 -2.22854707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57999999999998 meters 0.013712441387477124 Centerline is valid? [True, True] Translation: X:140.14, Y:39.18, Z:-2.23 [[ 8.60737985e-01 -5.08952133e-01 9.89174561e-03 1.40141825e+02] [ 5.08918676e-01 8.60794822e-01 5.83571116e-03 3.91803349e+01] [-1.14848610e-02 1.10758123e-05 9.99934047e-01 -2.22850326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64 meters 0.013574305948148865 Centerline is valid? [True, True] Translation: X:140.19, Y:39.21, Z:-2.23 [[ 8.59849848e-01 -5.10397750e-01 1.23440313e-02 1.40192111e+02] [ 5.10345711e-01 8.59938449e-01 7.28834008e-03 3.92094991e+01] [-1.43350595e-02 3.28453079e-05 9.99897247e-01 -2.22654564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.7 meters 0.013647277337534165 Centerline is valid? [True, True] Translation: X:140.24, Y:39.24, Z:-2.23 [[ 8.59799654e-01 -5.10437793e-01 1.40646397e-02 1.40241532e+02] [ 5.10370140e-01 8.59914681e-01 8.31034854e-03 3.92408698e+01] [-1.63363062e-02 3.29373477e-05 9.99866553e-01 -2.22661814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76 meters 0.01400372166136239 Centerline is valid? [True, True] Translation: X:140.29, Y:39.27, Z:-2.23 [[ 8.59770350e-01 -5.10476880e-01 1.44325912e-02 1.40290384e+02] [ 5.10405552e-01 8.59891478e-01 8.53338935e-03 3.92717682e+01] [-1.67665601e-02 2.97195277e-05 9.99859431e-01 -2.22810269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82 meters 0.013606348641893631 Centerline is valid? [True, True] Translation: X:140.34, Y:39.31, Z:-2.23 [[ 8.61240942e-01 -5.08012318e-01 1.36939229e-02 1.40336585e+02] [ 5.07947716e-01 8.61349804e-01 8.10149428e-03 3.93054820e+01] [-1.59109167e-02 -2.15417032e-05 9.99873413e-01 -2.23049200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88 meters 0.013588623500680304 Centerline is valid? [True, True] Translation: X:140.39, Y:39.34, Z:-2.23 [[ 8.62208590e-01 -5.06422478e-01 1.15161397e-02 1.40385392e+02] [ 5.06376632e-01 8.62285493e-01 6.81432735e-03 3.93377985e+01] [-1.33811287e-02 -4.38675299e-05 9.99910468e-01 -2.23407899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94 meters 0.01370743789295408 Centerline is valid? [True, True] Translation: X:140.43, Y:39.37, Z:-2.24 [[ 8.63227341e-01 -5.04712711e-01 1.01802628e-02 1.40433866e+02] [ 5.04676724e-01 8.63287366e-01 6.02736501e-03 3.93708749e+01] [-1.18305800e-02 -6.52446086e-05 9.99930014e-01 -2.23669448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.0 meters 0.013810948968250381 Centerline is valid? [True, True] Translation: X:140.48, Y:39.40, Z:-2.24 [[ 8.63645024e-01 -5.04006727e-01 9.72065108e-03 1.40483509e+02] [ 5.03973836e-01 8.63699724e-01 5.75839492e-03 3.94024248e+01] [-1.12979934e-02 -7.42553055e-05 9.99936173e-01 -2.23855419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06 meters 0.013825977456079198 Centerline is valid? [True, True] Translation: X:140.53, Y:39.43, Z:-2.24 [[ 8.63957106e-01 -5.03468224e-01 9.89276616e-03 1.40532722e+02] [ 5.03434075e-01 8.64013738e-01 5.86447583e-03 3.94331475e+01] [-1.15000631e-02 -8.62999858e-05 9.99933868e-01 -2.23952875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12 meters 0.013804913045627537 Centerline is valid? [True, True] Translation: X:140.58, Y:39.46, Z:-2.24 [[ 8.64149781e-01 -5.03123972e-01 1.05557690e-02 1.40582591e+02] [ 5.03085058e-01 8.64214244e-01 6.25822989e-03 3.94637316e+01] [-1.22711114e-02 -9.75983242e-05 9.99924702e-01 -2.24033143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18 meters 0.013975776772535609 Centerline is valid? [True, True] Translation: X:140.63, Y:39.50, Z:-2.24 [[ 8.64574681e-01 -5.02383466e-01 1.10215107e-02 1.40632524e+02] [ 5.02340923e-01 8.64644921e-01 6.53893996e-03 3.94957690e+01] [-1.28147485e-02 -1.16846090e-04 9.99917881e-01 -2.24158904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23999999999998 meters 0.01401390355908423 Centerline is valid? [True, True] Translation: X:140.68, Y:39.53, Z:-2.24 [[ 8.65162306e-01 -5.01365224e-01 1.12736792e-02 1.40683041e+02] [ 5.01320575e-01 8.65235744e-01 6.69239196e-03 3.95269647e+01] [-1.31097228e-02 -1.38277913e-04 9.99914054e-01 -2.24291534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29999999999998 meters 0.014422178854953945 Centerline is valid? [True, True] Translation: X:140.73, Y:39.56, Z:-2.24 [[ 8.66239537e-01 -4.99513912e-01 1.07199050e-02 1.40731669e+02] [ 4.99473352e-01 8.66305850e-01 6.36741700e-03 3.95585126e+01] [-1.24673298e-02 -1.61401478e-04 9.99922267e-01 -2.24491656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35999999999999 meters 0.014572004678880443 Centerline is valid? [True, True] Translation: X:140.78, Y:39.59, Z:-2.25 [[ 8.66412631e-01 -4.99230542e-01 9.90040431e-03 1.40781495e+02] [ 4.99195916e-01 8.66469181e-01 5.88176876e-03 3.95900531e+01] [-1.15147538e-02 -1.53797351e-04 9.99933691e-01 -2.24802890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42 meters 0.014331197917236258 Centerline is valid? [True, True] Translation: X:140.83, Y:39.62, Z:-2.25 [[ 8.65842228e-01 -5.00241286e-01 8.71154570e-03 1.40832152e+02] [ 5.00214506e-01 8.65886043e-01 5.17761997e-03 3.96192412e+01] [-1.01332651e-02 -1.25360484e-04 9.99948649e-01 -2.25068364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48 meters 0.013344546639201227 Centerline is valid? [True, True] Translation: X:140.89, Y:39.64, Z:-2.25 [[ 8.63486745e-01 -5.04300489e-01 8.46512497e-03 1.40886601e+02] [ 5.04275366e-01 8.63528234e-01 5.03431861e-03 3.96435936e+01] [-9.84868375e-03 -7.83133940e-05 9.99951497e-01 -2.25095021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54 meters 0.012881690892433597 Centerline is valid? [True, True] Translation: X:140.94, Y:39.67, Z:-2.25 [[ 8.59904542e-01 -5.10360117e-01 9.83515062e-03 1.40940569e+02] [ 5.10326553e-01 8.59960784e-01 5.85312796e-03 3.96688530e+01] [-1.14450469e-02 -1.39928102e-05 9.99934503e-01 -2.25056759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.6 meters 0.012904627902827898 Centerline is valid? [True, True] Translation: X:140.99, Y:39.70, Z:-2.25 [[ 8.57885819e-01 -5.13718707e-01 1.11808618e-02 1.40990445e+02] [ 5.13675553e-01 8.57958676e-01 6.65860451e-03 3.96959068e+01] [-1.30133670e-02 3.10129627e-05 9.99915322e-01 -2.25063861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66 meters 0.013159329487298093 Centerline is valid? [True, True] Translation: X:141.04, Y:39.72, Z:-2.25 [[ 8.55916462e-01 -5.16976209e-01 1.19418999e-02 1.41042436e+02] [ 5.16927270e-01 8.55999762e-01 7.11376195e-03 3.97240473e+01] [-1.38999092e-02 8.43077745e-05 9.99903388e-01 -2.25163366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72 meters 0.013286441368833208 Centerline is valid? [True, True] Translation: X:141.09, Y:39.75, Z:-2.25 [[ 8.55358054e-01 -5.17877665e-01 1.28577910e-02 1.41091948e+02] [ 5.17820964e-01 8.55454682e-01 7.66390283e-03 3.97537568e+01] [-1.49682216e-02 1.02652720e-04 9.99887965e-01 -2.25116892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78 meters 0.01314125378897817 Centerline is valid? [True, True] Translation: X:141.14, Y:39.79, Z:-2.25 [[ 8.55534769e-01 -5.17611521e-01 1.17716214e-02 1.41139648e+02] [ 5.17563917e-01 8.55615746e-01 7.02041482e-03 3.97866130e+01] [-1.37058322e-02 8.63575140e-05 9.99906067e-01 -2.25332038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84 meters 0.013186554195321009 Centerline is valid? [True, True] Translation: X:141.19, Y:39.82, Z:-2.25 [[ 8.56025242e-01 -5.16813155e-01 1.11780208e-02 1.41187700e+02] [ 5.16770103e-01 8.56098218e-01 6.67093361e-03 3.98175751e+01] [-1.30171099e-02 6.59794063e-05 9.99915272e-01 -2.25470648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.9 meters 0.013112685120609723 Centerline is valid? [True, True] Translation: X:141.24, Y:39.85, Z:-2.26 [[ 8.56413189e-01 -5.16167999e-01 1.12715104e-02 1.41236145e+02] [ 5.16124148e-01 8.56487358e-01 6.72828603e-03 3.98491812e+01] [-1.31268321e-02 5.53057833e-05 9.99913838e-01 -2.25547780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96 meters 0.013044898995566757 Centerline is valid? [True, True] Translation: X:141.28, Y:39.88, Z:-2.26 [[ 8.57751576e-01 -5.13946941e-01 1.09897761e-02 1.41282823e+02] [ 5.13905020e-01 8.57821976e-01 6.56423542e-03 3.98838559e+01] [-1.28009402e-02 1.72178318e-05 9.99918064e-01 -2.25688176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01999999999998 meters 0.012998843801993069 Centerline is valid? [True, True] Translation: X:141.33, Y:39.92, Z:-2.26 [[ 8.59035052e-01 -5.11799045e-01 1.09780431e-02 1.41331043e+02] [ 5.11756983e-01 8.59105196e-01 6.56150640e-03 3.99169000e+01] [-1.27894665e-02 -1.84738048e-05 9.99918211e-01 -2.25758768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07999999999998 meters 0.013167181023025469 Centerline is valid? [True, True] Translation: X:141.38, Y:39.95, Z:-2.26 [[ 8.60425081e-01 -5.09458003e-01 1.10101276e-02 1.41379331e+02] [ 5.09415445e-01 8.60495520e-01 6.58512890e-03 3.99502341e+01] [-1.28290121e-02 -5.72810183e-05 9.99917703e-01 -2.25745612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14 meters 0.013149867795184294 Centerline is valid? [True, True] Translation: X:141.43, Y:39.98, Z:-2.26 [[ 8.60464854e-01 -5.09383572e-01 1.13407535e-02 1.41426790e+02] [ 5.09338361e-01 8.60539582e-01 6.78683117e-03 3.99843289e+01] [-1.32162675e-02 -6.35489166e-05 9.99912659e-01 -2.25806990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.2 meters 0.012932558902744262 Centerline is valid? [True, True] Translation: X:141.48, Y:40.02, Z:-2.26 [[ 8.59046079e-01 -5.11775112e-01 1.12280091e-02 1.41475812e+02] [ 5.11730944e-01 8.59119452e-01 6.72364571e-03 4.00150214e+01] [-1.30871956e-02 -3.02018044e-05 9.99914359e-01 -2.25931612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26 meters 0.012928193583997275 Centerline is valid? [True, True] Translation: X:141.53, Y:40.04, Z:-2.26 [[ 8.56215596e-01 -5.16500190e-01 1.10637695e-02 1.41526055e+02] [ 5.16457642e-01 8.56287074e-01 6.62954097e-03 4.00435100e+01] [-1.28979220e-02 3.76519594e-05 9.99916818e-01 -2.25954045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32 meters 0.013127413824868248 Centerline is valid? [True, True] Translation: X:141.58, Y:40.07, Z:-2.26 [[ 8.54271527e-01 -5.19710322e-01 1.10154349e-02 1.41575857e+02] [ 5.19668351e-01 8.54342539e-01 6.60535342e-03 4.00728413e+01] [-1.28438250e-02 8.16075565e-05 9.99917511e-01 -2.26077172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38 meters 0.013375741485644696 Centerline is valid? [True, True] Translation: X:141.62, Y:40.11, Z:-2.26 [[ 8.52132631e-01 -5.23198410e-01 1.15500607e-02 1.41624977e+02] [ 5.23152570e-01 8.52210892e-01 6.92707657e-03 4.01054094e+01] [-1.34673230e-02 1.39655938e-04 9.99909302e-01 -2.26199586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44 meters 0.01362710329425573 Centerline is valid? [True, True] Translation: X:141.67, Y:40.14, Z:-2.26 [[ 8.51681785e-01 -5.23941921e-01 1.10905506e-02 1.41674239e+02] [ 5.23899666e-01 8.51753980e-01 6.65555937e-03 4.01355715e+01] [-1.29335472e-02 1.41917095e-04 9.99916348e-01 -2.26342983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.5 meters 0.013433794017789887 Centerline is valid? [True, True] Translation: X:141.72, Y:40.17, Z:-2.27 [[ 8.52564563e-01 -5.22525675e-01 1.00292613e-02 1.41722851e+02] [ 5.22491017e-01 8.52623544e-01 6.01911739e-03 4.01689352e+01] [-1.16963277e-02 1.08512728e-04 9.99931590e-01 -2.26615225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56 meters 0.013020335235319805 Centerline is valid? [True, True] Translation: X:141.77, Y:40.20, Z:-2.27 [[ 8.55741565e-01 -5.17342494e-01 7.94466140e-03 1.41770041e+02] [ 5.17320506e-01 8.55778443e-01 4.76980603e-03 4.02039987e+01] [-9.26649332e-03 2.82149726e-05 9.99957065e-01 -2.26985709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62 meters 0.012997991954236182 Centerline is valid? [True, True] Translation: X:141.82, Y:40.24, Z:-2.27 [[ 8.56852502e-01 -5.15515657e-01 6.88450827e-03 1.41819338e+02] [ 5.15499076e-01 8.56880159e-01 4.13470478e-03 4.02355564e+01] [-8.03070360e-03 6.12551261e-06 9.99967753e-01 -2.27141257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68 meters 0.013188253841910268 Centerline is valid? [True, True] Translation: X:141.87, Y:40.27, Z:-2.27 [[ 8.59504703e-01 -5.11094803e-01 5.81101996e-03 1.41867029e+02] [ 5.11082865e-01 8.59524346e-01 3.49336019e-03 4.02679686e+01] [-6.78015137e-03 -3.26467830e-05 9.99977014e-01 -2.27402449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73999999999998 meters 0.014463623749331064 Centerline is valid? [True, True] Translation: X:141.91, Y:40.30, Z:-2.27 [[ 8.63489334e-01 -5.04322297e-01 6.72236003e-03 1.41914545e+02] [ 5.04306110e-01 8.63515495e-01 4.04191181e-03 4.03018445e+01] [-7.84328830e-03 -1.00020497e-04 9.99969236e-01 -2.27495751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79999999999998 meters 0.014826431731985853 Centerline is valid? [True, True] Translation: X:141.96, Y:40.33, Z:-2.27 [[ 8.65514484e-01 -5.00819036e-01 8.06042332e-03 1.41964673e+02] [ 5.00795601e-01 8.65552002e-01 4.84748318e-03 4.03328798e+01] [-9.40442740e-03 -1.58942359e-04 9.99955765e-01 -2.27440808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85999999999999 meters 0.016279332893030244 Centerline is valid? [True, True] Translation: X:142.01, Y:40.36, Z:-2.27 [[ 8.67436400e-01 -4.97455828e-01 9.58075664e-03 1.42013345e+02] [ 4.97422462e-01 8.67489275e-01 5.76636980e-03 4.03632345e+01] [-1.11797179e-02 -2.36275496e-04 9.99937477e-01 -2.27435328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92 meters 0.016113983469738184 Centerline is valid? [True, True] Translation: X:142.06, Y:40.39, Z:-2.27 [[ 8.68430636e-01 -4.95697490e-01 1.05938399e-02 1.42064157e+02] [ 4.95656529e-01 8.68495202e-01 6.37885153e-03 4.03920390e+01] [-1.23626799e-02 -2.88684151e-04 9.99923537e-01 -2.27475361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98 meters 0.016690625666633912 Centerline is valid? [True, True] Translation: X:142.12, Y:40.42, Z:-2.28 [[ 8.69452203e-01 -4.93912872e-01 1.01460150e-02 1.42115308e+02] [ 4.93875173e-01 8.69511348e-01 6.10977572e-03 4.04218277e+01] [-1.18397720e-02 -3.01293064e-04 9.99929862e-01 -2.27749405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04 meters 0.017079579514957876 Centerline is valid? [True, True] Translation: X:142.17, Y:40.45, Z:-2.28 [[ 8.69352897e-01 -4.94098249e-01 9.61562559e-03 1.42165161e+02] [ 4.94064358e-01 8.69406026e-01 5.79411919e-03 4.04493239e+01] [-1.12227470e-02 -2.86396419e-04 9.99936982e-01 -2.27893735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.1 meters 0.016456809395965527 Centerline is valid? [True, True] Translation: X:142.22, Y:40.47, Z:-2.28 [[ 8.68208019e-01 -4.96116194e-01 9.14095958e-03 1.42218894e+02] [ 4.96085670e-01 8.68256103e-01 5.50891439e-03 4.04737863e+01] [-1.06697556e-02 -2.48184596e-04 9.99943046e-01 -2.28008463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16 meters 0.015691238912311792 Centerline is valid? [True, True] Translation: X:142.27, Y:40.50, Z:-2.28 [[ 8.66599023e-01 -4.98934267e-01 8.41012800e-03 1.42272250e+02] [ 4.98908536e-01 8.66639808e-01 5.07100164e-03 4.04993414e+01] [-9.81864821e-03 -1.98640418e-04 9.99951776e-01 -2.28275880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22 meters 0.014257634216614802 Centerline is valid? [True, True] Translation: X:142.33, Y:40.52, Z:-2.28 [[ 8.62923950e-01 -5.05267956e-01 8.15775550e-03 1.42328730e+02] [ 5.05243991e-01 8.62962500e-01 4.92268288e-03 4.05197170e+01] [-9.52711100e-03 -1.26244006e-04 9.99954608e-01 -2.28495495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28 meters 0.01338694143676095 Centerline is valid? [True, True] Translation: X:142.39, Y:40.54, Z:-2.29 [[ 8.58870328e-01 -5.12134718e-01 7.73235731e-03 1.42386343e+02] [ 5.12113470e-01 8.58905133e-01 4.66540382e-03 4.05382771e+01] [-9.03067666e-03 -4.71325824e-05 9.99959221e-01 -2.28607259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34 meters 0.013275810420872098 Centerline is valid? [True, True] Translation: X:142.44, Y:40.56, Z:-2.29 [[ 8.56525981e-01 -5.16038074e-01 8.24315948e-03 1.42440808e+02] [ 5.16014076e-01 8.56565646e-01 4.97668472e-03 4.05620722e+01] [-9.62896603e-03 -9.07344409e-06 9.99953640e-01 -2.28603430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.4 meters 0.013385338045818053 Centerline is valid? [True, True] Translation: X:142.49, Y:40.59, Z:-2.29 [[ 8.56328784e-01 -5.16344236e-01 9.46806314e-03 1.42491534e+02] [ 5.16312554e-01 8.56381124e-01 5.71986524e-03 4.05906143e+01] [-1.10616900e-02 -9.60538464e-06 9.99938818e-01 -2.28621106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46 meters 0.013452515700638075 Centerline is valid? [True, True] Translation: X:142.54, Y:40.62, Z:-2.29 [[ 8.57872095e-01 -5.13770185e-01 9.78087342e-03 1.42541428e+02] [ 5.13736159e-01 8.57927850e-01 5.91302965e-03 4.06228968e+01] [-1.14292220e-02 -4.78347980e-05 9.99934683e-01 -2.28666593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51999999999998 meters 0.014008908637711617 Centerline is valid? [True, True] Translation: X:142.59, Y:40.66, Z:-2.29 [[ 8.59863916e-01 -5.10459080e-01 8.09775677e-03 1.42588892e+02] [ 5.10435582e-01 8.59902042e-01 4.89854398e-03 4.06553815e+01] [-9.46378383e-03 -7.86980216e-05 9.99955214e-01 -2.28934553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57999999999998 meters 0.014230682905457998 Centerline is valid? [True, True] Translation: X:142.64, Y:40.69, Z:-2.29 [[ 8.61048798e-01 -5.08456615e-01 8.17543786e-03 1.42638231e+02] [ 5.08432573e-01 8.61087603e-01 4.94549775e-03 4.06881573e+01] [-9.55433923e-03 -1.01655990e-04 9.99954351e-01 -2.29117421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64 meters 0.014677973606430736 Centerline is valid? [True, True] Translation: X:142.69, Y:40.72, Z:-2.29 [[ 8.61664806e-01 -5.07391974e-01 9.33524482e-03 1.42686430e+02] [ 5.07360518e-01 8.61715363e-01 5.65140164e-03 4.07204628e+01] [-1.09117997e-02 -1.33279255e-04 9.99940456e-01 -2.29177706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.7 meters 0.01460903982007915 Centerline is valid? [True, True] Translation: X:142.74, Y:40.75, Z:-2.29 [[ 8.62399033e-01 -5.06136831e-01 9.66518493e-03 1.42736414e+02] [ 5.06103019e-01 8.62453178e-01 5.85240310e-03 4.07515478e+01] [-1.12978862e-02 -1.55527504e-04 9.99936165e-01 -2.29220147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76 meters 0.015415008247895075 Centerline is valid? [True, True] Translation: X:142.78, Y:40.78, Z:-2.29 [[ 8.63948876e-01 -5.03499333e-01 8.98670907e-03 1.42784312e+02] [ 5.03469920e-01 8.63995596e-01 5.44523038e-03 4.07835999e+01] [-1.05061469e-02 -1.79862973e-04 9.99944793e-01 -2.29384252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82 meters 0.015410493711419187 Centerline is valid? [True, True] Translation: X:142.84, Y:40.81, Z:-2.30 [[ 8.64745935e-01 -5.02129021e-01 8.99518960e-03 1.42835175e+02] [ 5.02099476e-01 8.64792696e-01 5.45057580e-03 4.08141073e+01] [-1.05158666e-02 -1.96883282e-04 9.99944687e-01 -2.29529056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88 meters 0.015546068358548016 Centerline is valid? [True, True] Translation: X:142.89, Y:40.84, Z:-2.30 [[ 8.64669168e-01 -5.02259902e-01 9.06754377e-03 1.42885046e+02] [ 5.02229855e-01 8.64716688e-01 5.49743182e-03 4.08438593e+01] [-1.06019960e-02 -1.99468613e-04 9.99943777e-01 -2.29613322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94 meters 0.015421989904910878 Centerline is valid? [True, True] Translation: X:142.94, Y:40.87, Z:-2.30 [[ 8.64206785e-01 -5.03077427e-01 7.72878649e-03 1.42935052e+02] [ 5.03055610e-01 8.64241329e-01 4.68805499e-03 4.08739724e+01] [-9.03799135e-03 -1.63439527e-04 9.99959143e-01 -2.29873917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.0 meters 0.015358989697918376 Centerline is valid? [True, True] Translation: X:142.99, Y:40.90, Z:-2.30 [[ 8.63945110e-01 -5.03524373e-01 7.87729447e-03 1.42985284e+02] [ 5.03501699e-01 8.63981006e-01 4.78132197e-03 4.09040334e+01] [-9.21334495e-03 -1.64568584e-04 9.99957543e-01 -2.29929109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06 meters 0.015125401312360143 Centerline is valid? [True, True] Translation: X:143.04, Y:40.93, Z:-2.30 [[ 8.63469368e-01 -5.04337780e-01 8.00345854e-03 1.43035909e+02] [ 5.04314375e-01 8.63506444e-01 4.86139339e-03 4.09341848e+01] [-9.36282236e-03 -1.61405087e-04 9.99956155e-01 -2.29969665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12 meters 0.01529571299813026 Centerline is valid? [True, True] Translation: X:143.08, Y:40.97, Z:-2.30 [[ 8.63298838e-01 -5.04627781e-01 8.11903715e-03 1.43084455e+02] [ 5.04603678e-01 8.63337000e-01 4.93483750e-03 4.09650258e+01] [-9.49972128e-03 -1.63343472e-04 9.99954863e-01 -2.30142341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18 meters 0.015597437631532408 Centerline is valid? [True, True] Translation: X:143.13, Y:41.00, Z:-2.30 [[ 8.63997259e-01 -5.03457211e-01 6.29067699e-03 1.43134444e+02] [ 5.03442708e-01 8.64020149e-01 3.82395066e-03 4.09968783e+01] [-7.36046720e-03 -1.36887433e-04 9.99972902e-01 -2.30439733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23999999999998 meters 0.01642564506864179 Centerline is valid? [True, True] Translation: X:143.18, Y:41.03, Z:-2.31 [[ 8.64809658e-01 -5.02086139e-01 3.71005173e-03 1.43182328e+02] [ 5.02081075e-01 8.64817612e-01 2.25674072e-03 4.10294633e+01] [-4.34159631e-03 -8.89044099e-05 9.99990571e-01 -2.30839253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29999999999998 meters 0.01715301266785674 Centerline is valid? [True, True] Translation: X:143.23, Y:41.06, Z:-2.31 [[ 8.66152342e-01 -4.99780062e-01 1.01148750e-04 1.43232152e+02] [ 4.99780058e-01 8.66152348e-01 5.78887304e-05 4.10620313e+01] [-1.16541861e-04 4.11668795e-07 9.99999993e-01 -2.31312126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35999999999999 meters 0.01778518100242602 Centerline is valid? [True, True] Translation: X:143.28, Y:41.09, Z:-2.31 [[ 8.66165565e-01 -4.99756800e-01 -5.94956981e-04 1.43280755e+02] [ 4.99756667e-01 8.66165770e-01 -3.64696767e-04 4.10926269e+01] [ 6.97591060e-04 1.85540636e-05 9.99999757e-01 -2.31416747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42 meters 0.016087134657338346 Centerline is valid? [True, True] Translation: X:143.33, Y:41.12, Z:-2.31 [[ 8.64849163e-01 -5.02030061e-01 1.31982613e-03 1.43333225e+02] [ 5.02029424e-01 8.64850170e-01 8.00266347e-04 4.11208055e+01] [-1.54320962e-03 -2.95181272e-05 9.99998809e-01 -2.31102684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48 meters 0.015451194159602515 Centerline is valid? [True, True] Translation: X:143.38, Y:41.15, Z:-2.31 [[ 8.63011871e-01 -5.05171399e-01 3.51689651e-03 1.43384103e+02] [ 5.05166861e-01 8.63019033e-01 2.14256123e-03 4.11492456e+01] [-4.11750929e-03 -7.24362047e-05 9.99991520e-01 -2.31011667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54 meters 0.01442889922282174 Centerline is valid? [True, True] Translation: X:143.44, Y:41.18, Z:-2.31 [[ 8.60771553e-01 -5.08953451e-01 6.22235190e-03 1.43437470e+02] [ 5.08939342e-01 8.60794038e-01 3.79086148e-03 4.11760184e+01] [-7.28553545e-03 -9.62660437e-05 9.99973456e-01 -2.30771966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.6 meters 0.013794425080959759 Centerline is valid? [True, True] Translation: X:143.49, Y:41.20, Z:-2.30 [[ 8.58451122e-01 -5.12818859e-01 8.85933467e-03 1.43490494e+02] [ 5.12790416e-01 8.58496831e-01 5.40189838e-03 4.12027964e+01] [-1.03759061e-02 -9.42838173e-05 9.99946164e-01 -2.30491036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66 meters 0.013407361845241094 Centerline is valid? [True, True] Translation: X:143.54, Y:41.23, Z:-2.31 [[ 8.56026295e-01 -5.16855870e-01 8.88780238e-03 1.43542279e+02] [ 5.16827429e-01 8.56072431e-01 5.42230187e-03 4.12308174e+01] [-1.04111511e-02 -4.81729242e-05 9.99945801e-01 -2.30502683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72 meters 0.013331567026376025 Centerline is valid? [True, True] Translation: X:143.59, Y:41.26, Z:-2.31 [[ 8.54719866e-01 -5.19015715e-01 8.75428523e-03 1.43591948e+02] [ 5.18988207e-01 8.54764697e-01 5.34357143e-03 4.12614487e+01] [-1.02562515e-02 -2.38858664e-05 9.99947403e-01 -2.30694728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78 meters 0.013380372566299946 Centerline is valid? [True, True] Translation: X:143.64, Y:41.29, Z:-2.31 [[ 8.52950107e-01 -5.21948817e-01 6.74882582e-03 1.43642233e+02] [ 5.21932547e-01 8.52976806e-01 4.12121758e-03 4.12916628e+01] [-7.90765654e-03 7.23887345e-06 9.99968734e-01 -2.30955631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84 meters 0.013628391010770562 Centerline is valid? [True, True] Translation: X:143.69, Y:41.32, Z:-2.31 [[ 8.50858240e-01 -5.25374693e-01 4.65689865e-03 1.43692747e+02] [ 5.25366996e-01 8.50870984e-01 2.84397288e-03 4.13223357e+01] [-5.45657132e-03 2.67630991e-05 9.99985112e-01 -2.31271824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.9 meters 0.014573331548940222 Centerline is valid? [True, True] Translation: X:143.75, Y:41.35, Z:-2.31 [[ 8.46267759e-01 -5.32739410e-01 4.42731347e-03 1.43745359e+02] [ 5.32732547e-01 8.46279337e-01 2.70502223e-03 4.13499220e+01] [-5.18781585e-03 6.94008781e-05 9.99986541e-01 -2.31312158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96 meters 0.016557612958903446 Centerline is valid? [True, True] Translation: X:143.80, Y:41.38, Z:-2.31 [[ 8.41126236e-01 -5.40783152e-01 7.76131517e-03 1.43797845e+02] [ 5.40762336e-01 8.41162019e-01 4.74912593e-03 4.13757252e+01] [-9.09677083e-03 2.02412501e-04 9.99958603e-01 -2.31076055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01999999999998 meters 0.01717447425063873 Centerline is valid? [True, True] Translation: X:143.85, Y:41.41, Z:-2.31 [[ 8.38680781e-01 -5.44539425e-01 9.55837816e-03 1.43848775e+02] [ 5.44508076e-01 8.38735194e-01 5.85055855e-03 4.14056648e+01] [-1.12028079e-02 2.97863094e-04 9.99937202e-01 -2.30944349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07999999999998 meters 0.018118670378251222 Centerline is valid? [True, True] Translation: X:143.90, Y:41.44, Z:-2.31 [[ 8.38809221e-01 -5.44345258e-01 9.34509733e-03 1.43897358e+02] [ 5.44315274e-01 8.38861226e-01 5.72066769e-03 4.14377526e+01] [-1.09532581e-02 2.88130406e-04 9.99939970e-01 -2.31122685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14 meters 0.016083627653848673 Centerline is valid? [True, True] Translation: X:143.94, Y:41.48, Z:-2.31 [[ 8.41362588e-01 -5.40402173e-01 8.63057833e-03 1.43943468e+02] [ 5.40376387e-01 8.41406824e-01 5.28357921e-03 4.14750444e+01] [-1.01170852e-02 2.18354852e-04 9.99948797e-01 -2.31257120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.2 meters 0.014327186584850467 Centerline is valid? [True, True] Translation: X:143.99, Y:41.52, Z:-2.31 [[ 8.46754923e-01 -5.31928398e-01 7.63415215e-03 1.43987975e+02] [ 5.31907864e-01 8.46789330e-01 4.67494506e-03 4.15156173e+01] [-8.95125462e-03 1.02132817e-04 9.99959932e-01 -2.31487107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26 meters 0.013387173052360323 Centerline is valid? [True, True] Translation: X:144.03, Y:41.55, Z:-2.32 [[ 8.51335112e-01 -5.24578720e-01 6.75971836e-03 1.44033921e+02] [ 5.24562375e-01 8.51361948e-01 4.14111023e-03 4.15543972e+01] [-7.92730529e-03 2.04213804e-05 9.99968578e-01 -2.31729807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32 meters 0.013315338817453165 Centerline is valid? [True, True] Translation: X:144.08, Y:41.59, Z:-2.32 [[ 8.53299591e-01 -5.21381716e-01 6.39642541e-03 1.44081745e+02] [ 5.21366981e-01 8.53323565e-01 3.91986078e-03 4.15876876e+01] [-7.50196428e-03 -9.93059505e-06 9.99971860e-01 -2.31867734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38 meters 0.013526498893434932 Centerline is valid? [True, True] Translation: X:144.13, Y:41.62, Z:-2.32 [[ 8.54972221e-01 -5.18637300e-01 6.15247740e-03 1.44130451e+02] [ 5.18623567e-01 8.54994357e-01 3.77434248e-03 4.16195043e+01] [-7.21784825e-03 -3.61381995e-05 9.99973950e-01 -2.31922550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44 meters 0.014137553898746998 Centerline is valid? [True, True] Translation: X:144.18, Y:41.65, Z:-2.32 [[ 8.57006204e-01 -5.15272203e-01 5.90954689e-03 1.44180175e+02] [ 5.15259459e-01 8.57026577e-01 3.62449717e-03 4.16515165e+01] [-6.93224138e-03 -6.12666276e-05 9.99975970e-01 -2.31942333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.5 meters 0.014794252108579367 Centerline is valid? [True, True] Translation: X:144.23, Y:41.68, Z:-2.32 [[ 8.58271665e-01 -5.13160337e-01 6.01809118e-03 1.44229635e+02] [ 5.13147054e-01 8.58292760e-01 3.69315772e-03 4.16839136e+01] [-7.06046615e-03 -8.15668683e-05 9.99975071e-01 -2.32107130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56 meters 0.015186901454533046 Centerline is valid? [True, True] Translation: X:144.28, Y:41.71, Z:-2.32 [[ 8.60740405e-01 -5.09004962e-01 6.31689534e-03 1.44279824e+02] [ 5.08990199e-01 8.60763576e-01 3.87864046e-03 4.17143543e+01] [-7.41160066e-03 -1.23264749e-04 9.99972526e-01 -2.32101316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62 meters 0.01595714689885031 Centerline is valid? [True, True] Translation: X:144.33, Y:41.75, Z:-2.32 [[ 8.62311507e-01 -5.06346196e-01 5.69169716e-03 1.44329649e+02] [ 5.06334142e-01 8.62330280e-01 3.49629153e-03 4.17453757e+01] [-6.67845672e-03 -1.32991817e-04 9.99977690e-01 -2.32241927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68 meters 0.016060370950918727 Centerline is valid? [True, True] Translation: X:144.38, Y:41.77, Z:-2.33 [[ 8.62578834e-01 -5.05902860e-01 4.47786996e-03 1.44380393e+02] [ 5.05895390e-01 8.62590450e-01 2.75124307e-03 4.17745276e+01] [-5.25442961e-03 -1.07830268e-04 9.99986190e-01 -2.32509878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73999999999998 meters 0.015715295919508678 Centerline is valid? [True, True] Translation: X:144.43, Y:41.80, Z:-2.33 [[ 8.60333682e-01 -5.09722019e-01 3.06895126e-03 1.44432549e+02] [ 5.09718528e-01 8.60339154e-01 1.88746634e-03 4.18006476e+01] [-3.60242209e-03 -5.95495445e-05 9.99993509e-01 -2.32713100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79999999999998 meters 0.015324253924570092 Centerline is valid? [True, True] Translation: X:144.48, Y:41.83, Z:-2.33 [[ 8.58187946e-01 -5.13330314e-01 2.33214875e-03 1.44483737e+02] [ 5.13328311e-01 8.58191114e-01 1.43427129e-03 4.18272534e+01] [-2.73768426e-03 -3.37163533e-05 9.99996252e-01 -2.32967327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85999999999999 meters 0.013957119353230617 Centerline is valid? [True, True] Translation: X:144.54, Y:41.85, Z:-2.33 [[ 8.55154955e-01 -5.18359534e-01 3.66014614e-03 1.44538818e+02] [ 5.18354650e-01 8.55162788e-01 2.25020855e-03 4.18496362e+01] [-4.29643783e-03 -2.70232254e-05 9.99990770e-01 -2.32669300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92 meters 0.01384657862046544 Centerline is valid? [True, True] Translation: X:144.59, Y:41.88, Z:-2.33 [[ 8.53337931e-01 -5.21337358e-01 4.66199974e-03 1.44591382e+02] [ 5.21329464e-01 8.53350666e-01 2.86898787e-03 4.18770540e+01] [-5.47403114e-03 -1.77783468e-05 9.99985017e-01 -2.32626397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98 meters 0.01368634470030162 Centerline is valid? [True, True] Translation: X:144.64, Y:41.91, Z:-2.33 [[ 8.51926919e-01 -5.23629570e-01 5.70937544e-03 1.44642902e+02] [ 5.23617763e-01 8.51946051e-01 3.51644910e-03 4.19052131e+01] [-6.70539658e-03 -6.22725589e-06 9.99977519e-01 -2.32555658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04 meters 0.013615848819140011 Centerline is valid? [True, True] Translation: X:144.69, Y:41.94, Z:-2.32 [[ 8.50764221e-01 -5.25494872e-01 7.44176131e-03 1.44693927e+02] [ 5.25474849e-01 8.50796767e-01 4.58735445e-03 4.19352708e+01] [-8.74205770e-03 7.70136315e-06 9.99961787e-01 -2.32473926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.1 meters 0.013603993229399957 Centerline is valid? [True, True] Translation: X:144.74, Y:41.97, Z:-2.33 [[ 8.50751277e-01 -5.25510609e-01 7.80153333e-03 1.44742530e+02] [ 5.25488579e-01 8.50787047e-01 4.81181700e-03 4.19664132e+01] [-9.16610439e-03 5.95720456e-06 9.99957990e-01 -2.32528596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16 meters 0.013627201370868978 Centerline is valid? [True, True] Translation: X:144.79, Y:42.00, Z:-2.33 [[ 8.51743876e-01 -5.23901366e-01 7.72845265e-03 1.44790009e+02] [ 5.23879653e-01 8.51778938e-01 4.76971770e-03 4.20000679e+01] [-9.08179481e-03 -1.37987509e-05 9.99958760e-01 -2.32720189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22 meters 0.0137372082147199 Centerline is valid? [True, True] Translation: X:144.84, Y:42.03, Z:-2.33 [[ 8.53069623e-01 -5.21731996e-01 8.24275580e-03 1.44837495e+02] [ 5.21707149e-01 8.53109443e-01 5.09199470e-03 4.20338759e+01] [-9.68862937e-03 -4.35213673e-05 9.99953063e-01 -2.32847936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28 meters 0.014206919161223129 Centerline is valid? [True, True] Translation: X:144.88, Y:42.07, Z:-2.33 [[ 8.55861762e-01 -5.17124791e-01 9.08819268e-03 1.44884114e+02] [ 5.17094320e-01 8.55910006e-01 5.61470326e-03 4.20701220e+01] [-1.06821773e-02 -1.05957006e-04 9.99942938e-01 -2.32841524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34 meters 0.01471715636628181 Centerline is valid? [True, True] Translation: X:144.93, Y:42.10, Z:-2.33 [[ 8.57771172e-01 -5.13939377e-01 9.74342174e-03 1.44931916e+02] [ 5.13904106e-01 8.57826493e-01 6.02316500e-03 4.21046455e+01] [-1.14537070e-02 -1.59312860e-04 9.99934391e-01 -2.32847480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.4 meters 0.015853516147330507 Centerline is valid? [True, True] Translation: X:144.98, Y:42.14, Z:-2.33 [[ 8.60223614e-01 -5.09819447e-01 9.97323315e-03 1.44978848e+02] [ 5.09782173e-01 8.60281397e-01 6.16882678e-03 4.21413893e+01] [-1.17247748e-02 -2.22394006e-04 9.99931238e-01 -2.33035359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46 meters 0.01712828870320307 Centerline is valid? [True, True] Translation: X:145.03, Y:42.18, Z:-2.33 [[ 8.60931953e-01 -5.08632254e-01 9.45530536e-03 1.45026173e+02] [ 5.08598637e-01 8.60983843e-01 5.85225440e-03 4.21750264e+01] [-1.11175105e-02 -2.29437382e-04 9.99938172e-01 -2.33188613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51999999999998 meters 0.01628748782054368 Centerline is valid? [True, True] Translation: X:145.08, Y:42.21, Z:-2.33 [[ 8.61778537e-01 -5.07206696e-01 8.89497364e-03 1.45076278e+02] [ 5.07176869e-01 8.61824410e-01 5.50553036e-03 4.22057377e+01] [-1.04583473e-02 -2.33223024e-04 9.99945283e-01 -2.33320413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57999999999998 meters 0.016502833941344466 Centerline is valid? [True, True] Translation: X:145.12, Y:42.24, Z:-2.34 [[ 8.61480750e-01 -5.07717766e-01 8.57833035e-03 1.45124357e+02] [ 5.07690011e-01 8.61523430e-01 5.31335894e-03 4.22380182e+01] [-1.00881193e-02 -2.22223815e-04 9.99949089e-01 -2.33571204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64 meters 0.01639642995207299 Centerline is valid? [True, True] Translation: X:145.17, Y:42.27, Z:-2.34 [[ 8.61037371e-01 -5.08475337e-01 8.21442838e-03 1.45174364e+02] [ 5.08449922e-01 8.61076530e-01 5.08790418e-03 4.22684151e+01] [-9.66032528e-03 -2.04250168e-04 9.99953317e-01 -2.33682936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.7 meters 0.016167224192632435 Centerline is valid? [True, True] Translation: X:145.22, Y:42.30, Z:-2.34 [[ 8.60781164e-01 -5.08911333e-01 8.06487651e-03 1.45223646e+02] [ 5.08886831e-01 8.60818922e-01 4.99769015e-03 4.22986966e+01] [-9.48577946e-03 -1.97808090e-04 9.99954989e-01 -2.33787706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76 meters 0.016198457187622774 Centerline is valid? [True, True] Translation: X:145.27, Y:42.33, Z:-2.34 [[ 8.60312859e-01 -5.09707428e-01 7.75387043e-03 1.45273489e+02] [ 5.09684783e-01 8.60347781e-01 4.80810598e-03 4.23299158e+01] [-9.12175255e-03 -1.84445639e-04 9.99958379e-01 -2.33979226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82 meters 0.015558278219782229 Centerline is valid? [True, True] Translation: X:145.32, Y:42.36, Z:-2.34 [[ 8.59486970e-01 -5.11111482e-01 6.87035067e-03 1.45324131e+02] [ 5.11093734e-01 8.59514415e-01 4.26205891e-03 4.23596309e+01] [-8.08355269e-03 -1.51790917e-04 9.99967316e-01 -2.34142750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88 meters 0.015384442947695353 Centerline is valid? [True, True] Translation: X:145.37, Y:42.39, Z:-2.34 [[ 8.58678198e-01 -5.12487278e-01 5.34250340e-03 1.45373655e+02] [ 5.12476569e-01 8.58694811e-01 3.31476737e-03 4.23893198e+01] [-6.28635605e-03 -1.08410658e-04 9.99980235e-01 -2.34399594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94 meters 0.015134589844162738 Centerline is valid? [True, True] Translation: X:145.42, Y:42.42, Z:-2.35 [[ 8.57979515e-01 -5.13660956e-01 4.85534152e-03 1.45424573e+02] [ 5.13652119e-01 8.57993248e-01 3.01434062e-03 4.24196724e+01] [-5.71419933e-03 -9.22860428e-05 9.99983670e-01 -2.34546825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.0 meters 0.014113879485506407 Centerline is valid? [True, True] Translation: X:145.48, Y:42.44, Z:-2.35 [[ 8.54088176e-01 -5.20110452e-01 4.30174359e-03 1.45477360e+02] [ 5.20103583e-01 8.54099008e-01 2.67355445e-03 4.24440419e+01] [-5.06465854e-03 -4.60989861e-05 9.99987173e-01 -2.34683780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06 meters 0.013656426487433097 Centerline is valid? [True, True] Translation: X:145.53, Y:42.47, Z:-2.35 [[ 8.52356636e-01 -5.22933112e-01 5.39684698e-03 1.45529993e+02] [ 5.22922359e-01 8.52373721e-01 3.35357943e-03 4.24714938e+01] [-6.35382826e-03 -3.63137239e-05 9.99979814e-01 -2.34542713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12 meters 0.013470112371416397 Centerline is valid? [True, True] Translation: X:145.58, Y:42.50, Z:-2.35 [[ 8.51306988e-01 -5.24624974e-01 6.71180599e-03 1.45579729e+02] [ 5.24608359e-01 8.51333446e-01 4.17542147e-03 4.25006609e+01] [-7.90451530e-03 -3.34959491e-05 9.99968758e-01 -2.34506332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18 meters 0.013475761737296478 Centerline is valid? [True, True] Translation: X:145.63, Y:42.53, Z:-2.35 [[ 8.51247158e-01 -5.24716929e-01 7.10076445e-03 1.45629137e+02] [ 5.24698340e-01 8.51276773e-01 4.41684497e-03 4.25320803e+01] [-8.36230917e-03 -3.40674116e-05 9.99965035e-01 -2.34551710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23999999999998 meters 0.01341799794579504 Centerline is valid? [True, True] Translation: X:145.68, Y:42.56, Z:-2.35 [[ 8.51383596e-01 -5.24492645e-01 7.31018177e-03 1.45677426e+02] [ 5.24472910e-01 8.51414978e-01 4.54999905e-03 4.25636104e+01] [-8.61043928e-03 -3.98022410e-05 9.99962929e-01 -2.34599567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29999999999998 meters 0.01348049477429325 Centerline is valid? [True, True] Translation: X:145.73, Y:42.60, Z:-2.35 [[ 8.51656035e-01 -5.24040626e-01 7.96367241e-03 1.45726694e+02] [ 5.24017153e-01 8.51693266e-01 4.96025641e-03 4.25950432e+01] [-9.38198204e-03 -5.13313608e-05 9.99955987e-01 -2.34608322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35999999999999 meters 0.013438555509375965 Centerline is valid? [True, True] Translation: X:145.78, Y:42.62, Z:-2.35 [[ 8.50858801e-01 -5.25307877e-01 9.53604584e-03 1.45776652e+02] [ 5.25274235e-01 8.50912235e-01 5.94522812e-03 4.26246744e+01] [-1.12374132e-02 -4.95104814e-05 9.99936857e-01 -2.34526436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42 meters 0.013407050190326142 Centerline is valid? [True, True] Translation: X:145.83, Y:42.66, Z:-2.35 [[ 8.49802645e-01 -5.27009740e-01 9.80804946e-03 1.45826120e+02] [ 5.26974253e-01 8.49859243e-01 6.11588601e-03 4.26554176e+01] [-1.15585930e-02 -2.87065719e-05 9.99933197e-01 -2.34719771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48 meters 0.013388714673084601 Centerline is valid? [True, True] Translation: X:145.88, Y:42.68, Z:-2.35 [[ 8.48088918e-01 -5.29766325e-01 9.63467908e-03 1.45876195e+02] [ 5.29732249e-01 8.48143644e-01 6.00865182e-03 4.26849355e+01] [-1.13547732e-02 7.92919311e-06 9.99935532e-01 -2.34780019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54 meters 0.013629459361915987 Centerline is valid? [True, True] Translation: X:145.93, Y:42.71, Z:-2.35 [[ 8.45575917e-01 -5.33775764e-01 9.20884567e-03 1.45927227e+02] [ 5.33744832e-01 8.45626058e-01 5.74668790e-03 4.27142748e+01] [-1.08546826e-02 5.59128905e-05 9.99941085e-01 -2.34906004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.6 meters 0.014139505296589125 Centerline is valid? [True, True] Translation: X:145.98, Y:42.74, Z:-2.35 [[ 8.43687386e-01 -5.36769362e-01 8.38133814e-03 1.45978519e+02] [ 5.36743862e-01 8.43729011e-01 5.23277903e-03 4.27436446e+01] [-9.88037360e-03 8.38021410e-05 9.99951184e-01 -2.35150431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66 meters 0.014141462201864964 Centerline is valid? [True, True] Translation: X:146.03, Y:42.77, Z:-2.35 [[ 8.43351193e-01 -5.37309643e-01 7.55736010e-03 1.46028237e+02] [ 5.37288913e-01 8.43385049e-01 4.72047055e-03 4.27749932e+01] [-8.91011886e-03 7.94713255e-05 9.99960301e-01 -2.35231821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72 meters 0.013972384488210757 Centerline is valid? [True, True] Translation: X:146.08, Y:42.81, Z:-2.35 [[ 8.43984743e-01 -5.36323629e-01 6.83505009e-03 1.46076486e+02] [ 5.36306627e-01 8.44012417e-01 4.27089624e-03 4.28077456e+01] [-8.05944972e-03 6.11113938e-05 9.99967520e-01 -2.35349870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78 meters 0.013744205429458546 Centerline is valid? [True, True] Translation: X:146.12, Y:42.84, Z:-2.36 [[ 8.46379553e-01 -5.32563705e-01 4.18947362e-03 1.46123572e+02] [ 5.32557273e-01 8.46389922e-01 2.61751317e-03 4.28427832e+01] [-4.93992076e-03 1.57250215e-05 9.99987798e-01 -2.35750793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84 meters 0.013782125069263988 Centerline is valid? [True, True] Translation: X:146.17, Y:42.88, Z:-2.36 [[ 8.48877508e-01 -5.28567741e-01 4.80834251e-03 1.46170969e+02] [ 5.28559189e-01 8.48891126e-01 3.00685499e-03 4.28769782e+01] [-5.67108583e-03 -1.09579539e-05 9.99983919e-01 -2.35804575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.9 meters 0.01384966010641515 Centerline is valid? [True, True] Translation: X:146.22, Y:42.91, Z:-2.36 [[ 8.49524185e-01 -5.27527682e-01 4.81708198e-03 1.46219575e+02] [ 5.27519071e-01 8.49537842e-01 3.01418926e-03 4.29087154e+01] [-5.68236170e-03 -1.95240668e-05 9.99983855e-01 -2.35837603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96 meters 0.01416354934003254 Centerline is valid? [True, True] Translation: X:146.27, Y:42.94, Z:-2.36 [[ 8.51178546e-01 -5.24855474e-01 4.67068600e-03 1.46267636e+02] [ 5.24847326e-01 8.51191359e-01 2.92473163e-03 4.29424011e+01] [-5.51070897e-03 -3.80717594e-05 9.99984815e-01 -2.36032921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01999999999998 meters 0.014377644889135115 Centerline is valid? [True, True] Translation: X:146.32, Y:42.97, Z:-2.36 [[ 8.52376929e-01 -5.22886814e-01 6.55360883e-03 1.46316934e+02] [ 5.22870687e-01 8.52402120e-01 4.10747571e-03 4.29740379e+01] [-7.73405495e-03 -7.44275843e-05 9.99970089e-01 -2.35817364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07999999999998 meters 0.01475150577116656 Centerline is valid? [True, True] Translation: X:146.36, Y:43.00, Z:-2.36 [[ 8.52447809e-01 -5.22771071e-01 6.56804857e-03 1.46364392e+02] [ 5.22754839e-01 8.52473109e-01 4.12040768e-03 4.30048009e+01] [-7.75311472e-03 -7.89533324e-05 9.99969941e-01 -2.35856819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14 meters 0.014190003039835001 Centerline is valid? [True, True] Translation: X:146.42, Y:43.03, Z:-2.36 [[ 8.51169665e-01 -5.24850098e-01 6.52503612e-03 1.46415852e+02] [ 5.24834137e-01 8.51194673e-01 4.09372256e-03 4.30334047e+01] [-7.70266667e-03 -5.98907555e-05 9.99970332e-01 -2.35887039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.2 meters 0.014077740216266807 Centerline is valid? [True, True] Translation: X:146.47, Y:43.06, Z:-2.36 [[ 8.50098221e-01 -5.26593283e-01 5.70351391e-03 1.46466407e+02] [ 5.26581106e-01 8.50117352e-01 3.58134890e-03 4.30624268e+01] [-6.73457042e-03 -4.11356622e-05 9.99977322e-01 -2.36024292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26 meters 0.013919693742182791 Centerline is valid? [True, True] Translation: X:146.52, Y:43.09, Z:-2.36 [[ 8.47915534e-01 -5.30098799e-01 5.87453531e-03 1.46518605e+02] [ 5.30085970e-01 8.47935884e-01 3.68796733e-03 4.30905261e+01] [-6.93621634e-03 -1.30760439e-05 9.99975944e-01 -2.36126683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32 meters 0.013862353539283716 Centerline is valid? [True, True] Translation: X:146.57, Y:43.12, Z:-2.36 [[ 8.46497775e-01 -5.32363572e-01 5.52675317e-03 1.46568177e+02] [ 5.32352257e-01 8.46515816e-01 3.47089488e-03 4.31200359e+01] [-6.52626197e-03 4.07473203e-06 9.99978704e-01 -2.36255478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38 meters 0.013894211567025621 Centerline is valid? [True, True] Translation: X:146.62, Y:43.15, Z:-2.36 [[ 8.46035390e-01 -5.33107392e-01 4.54173707e-03 1.46617033e+02] [ 5.33099746e-01 8.46047581e-01 2.85527733e-03 4.31500894e+01] [-5.36469511e-03 5.53320416e-06 9.99985610e-01 -2.36457706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44 meters 0.013792019437992046 Centerline is valid? [True, True] Translation: X:146.67, Y:43.18, Z:-2.37 [[ 8.46301058e-01 -5.32692003e-01 3.70799286e-03 1.46667023e+02] [ 5.32686909e-01 8.46309181e-01 2.32947618e-03 4.31818450e+01] [-4.37900174e-03 3.76110238e-06 9.99990412e-01 -2.36501400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.5 meters 0.013902697659934843 Centerline is valid? [True, True] Translation: X:146.72, Y:43.21, Z:-2.37 [[ 8.48006087e-01 -5.29973246e-01 3.74641881e-03 1.46715055e+02] [ 5.29968005e-01 8.48014362e-01 2.35703885e-03 4.32148592e+01] [-4.42618449e-03 -1.33011866e-05 9.99990204e-01 -2.36519998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56 meters 0.013961265811804431 Centerline is valid? [True, True] Translation: X:146.76, Y:43.25, Z:-2.36 [[ 8.49109391e-01 -5.28195128e-01 4.81127215e-03 1.46762721e+02] [ 5.28186462e-01 8.49123021e-01 3.02587254e-03 4.32484723e+01] [-5.68361308e-03 -2.80479776e-05 9.99983848e-01 -2.36495765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62 meters 0.014297840943301634 Centerline is valid? [True, True] Translation: X:146.81, Y:43.28, Z:-2.36 [[ 8.50659090e-01 -5.25678161e-01 6.44850979e-03 1.46809686e+02] [ 5.25662474e-01 8.50683529e-01 4.06153673e-03 4.32820112e+01] [-7.62070222e-03 -6.52435268e-05 9.99970960e-01 -2.36411736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68 meters 0.014785279209313688 Centerline is valid? [True, True] Translation: X:146.86, Y:43.32, Z:-2.36 [[ 8.52799809e-01 -5.22182258e-01 7.62731981e-03 1.46857677e+02] [ 5.22160171e-01 8.52833909e-01 4.80405939e-03 4.33165663e+01] [-9.01343154e-03 -1.14218310e-04 9.99959372e-01 -2.36267947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73999999999998 meters 0.015512809643910639 Centerline is valid? [True, True] Translation: X:146.91, Y:43.35, Z:-2.36 [[ 8.54698944e-01 -5.19072028e-01 7.34474653e-03 1.46905981e+02] [ 5.19051412e-01 8.54730489e-01 4.62844307e-03 4.33508620e+01] [-8.68027412e-03 -1.43624343e-04 9.99962315e-01 -2.36302768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79999999999998 meters 0.01616304355006366 Centerline is valid? [True, True] Translation: X:146.95, Y:43.38, Z:-2.36 [[ 8.55370868e-01 -5.17972606e-01 6.71245432e-03 1.46954692e+02] [ 5.17955337e-01 8.55397194e-01 4.23197846e-03 4.33847973e+01] [-7.93386350e-03 -1.43159550e-04 9.99968516e-01 -2.36457371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85999999999999 meters 0.01567611123503382 Centerline is valid? [True, True] Translation: X:147.00, Y:43.41, Z:-2.37 [[ 8.54704381e-01 -5.19092693e-01 4.81639448e-03 1.47003899e+02] [ 5.19083820e-01 8.54717946e-01 3.03654686e-03 4.34148917e+01] [-5.69290808e-03 -9.52374549e-05 9.99983791e-01 -2.36690050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92 meters 0.01515028893657906 Centerline is valid? [True, True] Translation: X:147.06, Y:43.44, Z:-2.37 [[ 8.52730149e-01 -5.22336156e-01 4.02896294e-03 1.47055205e+02] [ 5.22329978e-01 8.52739665e-01 2.54137338e-03 4.34444813e+01] [-4.76310771e-03 -6.26575820e-05 9.99988654e-01 -2.36850671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98 meters 0.014005969451141338 Centerline is valid? [True, True] Translation: X:147.11, Y:43.47, Z:-2.37 [[ 8.48642426e-01 -5.28950033e-01 4.23032679e-03 1.47108231e+02] [ 5.28943289e-01 8.48652969e-01 2.67131721e-03 4.34708824e+01] [-5.00307272e-03 -2.93901480e-05 9.99987484e-01 -2.36787694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04 meters 0.01375796582461176 Centerline is valid? [True, True] Translation: X:147.16, Y:43.50, Z:-2.37 [[ 8.44937780e-01 -5.34836903e-01 5.44382447e-03 1.47160808e+02] [ 5.34825850e-01 8.44955317e-01 3.43847371e-03 4.34990209e+01] [-6.43881106e-03 6.20170372e-06 9.99979271e-01 -2.36762171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.1 meters 0.014570918997325667 Centerline is valid? [True, True] Translation: X:147.21, Y:43.52, Z:-2.37 [[ 8.39464987e-01 -5.43377548e-01 6.27504074e-03 1.47213844e+02] [ 5.43363070e-01 8.39488436e-01 3.96745024e-03 4.35243205e+01] [-7.42364752e-03 7.90898378e-05 9.99972441e-01 -2.36740190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16 meters 0.015076652913002206 Centerline is valid? [True, True] Translation: X:147.26, Y:43.55, Z:-2.37 [[ 8.36257346e-01 -5.48289974e-01 7.19414901e-03 1.47264754e+02] [ 5.48271126e-01 8.36288279e-01 4.54838781e-03 4.35541127e+01] [-8.51021792e-03 1.40721454e-04 9.99963778e-01 -2.36810995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22 meters 0.016302086856972382 Centerline is valid? [True, True] Translation: X:147.32, Y:43.58, Z:-2.37 [[ 8.33003731e-01 -5.53227986e-01 6.60146726e-03 1.47316261e+02] [ 5.53212244e-01 8.33029871e-01 4.17708216e-03 4.35838198e+01] [-7.81009818e-03 1.72487488e-04 9.99969486e-01 -2.36981896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28 meters 0.016332696048713458 Centerline is valid? [True, True] Translation: X:147.36, Y:43.62, Z:-2.37 [[ 8.32640824e-01 -5.53794309e-01 4.59588218e-03 1.47364531e+02] [ 5.53786697e-01 8.32653498e-01 2.90624479e-03 4.36180500e+01] [-5.43623920e-03 1.25280359e-04 9.99985216e-01 -2.37237513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34 meters 0.01629795288462766 Centerline is valid? [True, True] Translation: X:147.41, Y:43.65, Z:-2.37 [[ 8.33659890e-01 -5.52267590e-01 3.42000429e-03 1.47413353e+02] [ 5.52263362e-01 8.33666901e-01 2.16276612e-03 4.36510832e+01] [-4.04557001e-03 8.57317018e-05 9.99991813e-01 -2.37458723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.4 meters 0.01558510124709709 Centerline is valid? [True, True] Translation: X:147.46, Y:43.69, Z:-2.38 [[ 8.35502209e-01 -5.49480104e-01 2.77012655e-03 1.47461485e+02] [ 5.49477314e-01 8.35506799e-01 1.75190427e-03 4.36851672e+01] [-3.27709611e-03 5.84018093e-05 9.99994629e-01 -2.37525141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46 meters 0.014467579823463654 Centerline is valid? [True, True] Translation: X:147.51, Y:43.72, Z:-2.37 [[ 8.39511099e-01 -5.43323811e-01 4.51111831e-03 1.47507008e+02] [ 5.43316296e-01 8.39523218e-01 2.85807733e-03 4.37230132e+01] [-5.34005003e-03 5.15764499e-05 9.99985741e-01 -2.37485692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51999999999998 meters 0.013756888816441536 Centerline is valid? [True, True] Translation: X:147.55, Y:43.76, Z:-2.37 [[ 8.42475538e-01 -5.38690325e-01 6.90662745e-03 1.47553050e+02] [ 5.38672529e-01 8.42503847e-01 4.37875599e-03 4.37605522e+01] [-8.17765369e-03 3.14156712e-05 9.99966562e-01 -2.37397188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57999999999998 meters 0.013688617542652225 Centerline is valid? [True, True] Translation: X:147.60, Y:43.80, Z:-2.37 [[ 8.46535582e-01 -5.32243863e-01 9.69432366e-03 1.47598169e+02] [ 5.32208318e-01 8.46591087e-01 6.15127569e-03 4.37997343e+01] [-1.14811067e-02 -4.78740574e-05 9.99934089e-01 -2.37178625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64 meters 0.014178414077257229 Centerline is valid? [True, True] Translation: X:147.64, Y:43.84, Z:-2.37 [[ 8.48899675e-01 -5.28457417e-01 1.01045091e-02 1.47642903e+02] [ 5.28418479e-01 8.48959803e-01 6.41589312e-03 4.38371063e+01] [-1.19688484e-02 -1.07040253e-04 9.99928365e-01 -2.37248922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.7 meters 0.013995022004424642 Centerline is valid? [True, True] Translation: X:147.69, Y:43.87, Z:-2.38 [[ 8.48719904e-01 -5.28760462e-01 9.32192989e-03 1.47690556e+02] [ 5.28727340e-01 8.48771091e-01 5.91905382e-03 4.38710860e+01] [-1.10419462e-02 -9.48596005e-05 9.99939031e-01 -2.37517792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76 meters 0.013735866943579266 Centerline is valid? [True, True] Translation: X:147.74, Y:43.90, Z:-2.38 [[ 8.47147091e-01 -5.31289920e-01 8.53386992e-03 1.47739005e+02] [ 5.31262256e-01 8.47190072e-01 5.42195446e-03 4.39036439e+01] [-1.01104396e-02 -5.94699618e-05 9.99948886e-01 -2.37841355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82 meters 0.013533053658754563 Centerline is valid? [True, True] Translation: X:147.79, Y:43.93, Z:-2.38 [[ 8.43870347e-01 -5.36503111e-01 6.87382958e-03 1.47789315e+02] [ 5.36485325e-01 8.43898342e-01 4.36853101e-03 4.39331926e+01] [-8.14454386e-03 1.23491310e-06 9.99966833e-01 -2.38082193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88 meters 0.013661359764095141 Centerline is valid? [True, True] Translation: X:147.84, Y:43.96, Z:-2.38 [[ 8.41731362e-01 -5.39858091e-01 6.44632162e-03 1.47839704e+02] [ 5.39842528e-01 8.41756046e-01 4.09937377e-03 4.39637868e+01] [-7.63931029e-03 2.94270873e-05 9.99970820e-01 -2.38168674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94 meters 0.013898247460987263 Centerline is valid? [True, True] Translation: X:147.89, Y:43.99, Z:-2.38 [[ 8.39733429e-01 -5.42956881e-01 6.75238831e-03 1.47888769e+02] [ 5.42939873e-01 8.39760574e-01 4.29795259e-03 4.39947616e+01] [-8.00399242e-03 5.70063905e-05 9.99967966e-01 -2.38274079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.0 meters 0.013904256369036505 Centerline is valid? [True, True] Translation: X:147.94, Y:44.03, Z:-2.38 [[ 8.38983202e-01 -5.44109052e-01 7.24750729e-03 1.47937690e+02] [ 5.44089506e-01 8.39014502e-01 4.61260776e-03 4.40259461e+01] [-8.59052535e-03 7.33922257e-05 9.99963098e-01 -2.38203313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06 meters 0.013945750766813963 Centerline is valid? [True, True] Translation: X:147.99, Y:44.06, Z:-2.38 [[ 8.38683611e-01 -5.44575612e-01 6.87040221e-03 1.47986593e+02] [ 5.44558042e-01 8.38711749e-01 4.37509075e-03 4.40578917e+01] [-8.14485477e-03 7.20158684e-05 9.99966828e-01 -2.38294869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12 meters 0.013881550458238788 Centerline is valid? [True, True] Translation: X:148.03, Y:44.09, Z:-2.39 [[ 8.38387799e-01 -5.45052334e-01 4.88390174e-03 1.48034922e+02] [ 5.45043459e-01 8.38402022e-01 3.11089449e-03 4.40924099e+01] [-5.79027340e-03 5.38027183e-05 9.99983235e-01 -2.38599743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18 meters 0.014017372070702987 Centerline is valid? [True, True] Translation: X:148.08, Y:44.12, Z:-2.39 [[ 8.37753820e-01 -5.46038332e-01 3.26757529e-03 1.48084310e+02] [ 5.46034368e-01 8.37760192e-01 2.08096391e-03 4.41249504e+01] [-3.87373057e-03 4.08729438e-05 9.99992496e-01 -2.38783559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.23999999999998 meters 0.014325956971200735 Centerline is valid? [True, True] Translation: X:148.13, Y:44.16, Z:-2.39 [[ 8.37084110e-01 -5.47070451e-01 2.02828379e-03 1.48133485e+02] [ 5.47068923e-01 8.37086567e-01 1.29319874e-03 4.41554354e+01] [-2.40531993e-03 2.70949070e-05 9.99997107e-01 -2.38855687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29999999999998 meters 0.014930294120390786 Centerline is valid? [True, True] Translation: X:148.18, Y:44.19, Z:-2.39 [[ 8.36291474e-01 -5.48280135e-01 2.33747158e-03 1.48182249e+02] [ 5.48278109e-01 8.36294740e-01 1.49089202e-03 4.41856887e+01] [-2.77224167e-03 3.47642141e-05 9.99996157e-01 -2.38972720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35999999999999 meters 0.015031638688061118 Centerline is valid? [True, True] Translation: X:148.23, Y:44.22, Z:-2.39 [[ 8.35641770e-01 -5.49257783e-01 4.32674773e-03 1.48231426e+02] [ 5.49250854e-01 8.35652968e-01 2.75982813e-03 4.42183023e+01] [-5.13151666e-03 7.02422261e-05 9.99986831e-01 -2.38976271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42 meters 0.01422631968815547 Centerline is valid? [True, True] Translation: X:148.28, Y:44.25, Z:-2.39 [[ 8.35780818e-01 -5.49014293e-01 7.33010751e-03 1.48280241e+02] [ 5.48994351e-01 8.35812954e-01 4.68074929e-03 4.42515662e+01] [-8.69639707e-03 1.12107149e-04 9.99962179e-01 -2.38618206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48 meters 0.013830076633588081 Centerline is valid? [True, True] Translation: X:148.33, Y:44.28, Z:-2.39 [[ 8.36961948e-01 -5.47205906e-01 7.77141156e-03 1.48328794e+02] [ 5.47183384e-01 8.36998021e-01 4.96555236e-03 4.42847511e+01] [-9.22183567e-03 9.64089057e-05 9.99957473e-01 -2.38578101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54 meters 0.013432940746367713 Centerline is valid? [True, True] Translation: X:148.37, Y:44.32, Z:-2.39 [[ 8.40351513e-01 -5.41985539e-01 7.81089790e-03 1.48374768e+02] [ 5.41962526e-01 8.40387812e-01 4.99470361e-03 4.43202870e+01] [-9.27124052e-03 3.59072189e-05 9.99957020e-01 -2.38823543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.6 meters 0.013334105181618094 Centerline is valid? [True, True] Translation: X:148.42, Y:44.35, Z:-2.39 [[ 8.42577648e-01 -5.38528065e-01 7.10138234e-03 1.48421579e+02] [ 5.38508926e-01 8.42607574e-01 4.54022268e-03 4.43541201e+01] [-8.42871587e-03 -1.33237422e-06 9.99964478e-01 -2.38975364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66 meters 0.013844675434497848 Centerline is valid? [True, True] Translation: X:148.47, Y:44.39, Z:-2.39 [[ 8.45907769e-01 -5.33308513e-01 4.69855622e-03 1.48468700e+02] [ 5.33300051e-01 8.45920817e-01 3.00456433e-03 4.43902611e+01] [-5.57696625e-03 -3.58440363e-05 9.99984448e-01 -2.39240864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72 meters 0.013997906175955008 Centerline is valid? [True, True] Translation: X:148.52, Y:44.42, Z:-2.39 [[ 8.47445915e-01 -5.30868420e-01 3.76056285e-03 1.48516558e+02] [ 5.30862968e-01 8.47454257e-01 2.40654247e-03 4.44238823e+01] [-4.46446240e-03 -4.30710259e-05 9.99990033e-01 -2.39392514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78 meters 0.014006903346175657 Centerline is valid? [True, True] Translation: X:148.56, Y:44.46, Z:-2.39 [[ 8.47034553e-01 -5.31521093e-01 4.21826278e-03 1.48564680e+02] [ 5.31514231e-01 8.47045055e-01 2.70110040e-03 4.44552562e+01] [-5.00875047e-03 -4.58586662e-05 9.99987455e-01 -2.39472227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84 meters 0.013579853246360686 Centerline is valid? [True, True] Translation: X:148.62, Y:44.48, Z:-2.39 [[ 8.45042702e-01 -5.34675774e-01 4.96479041e-03 1.48616553e+02] [ 5.34666329e-01 8.45057286e-01 3.17827000e-03 4.44834620e+01] [-5.89487628e-03 -3.12676110e-05 9.99982625e-01 -2.39369019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.9 meters 0.013414703875233575 Centerline is valid? [True, True] Translation: X:148.67, Y:44.51, Z:-2.40 [[ 8.43238346e-01 -5.37514488e-01 5.22182869e-03 1.48667467e+02] [ 5.37504081e-01 8.43254514e-01 3.34493384e-03 4.45124446e+01] [-6.20128102e-03 -1.38222449e-05 9.99980772e-01 -2.39570484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96 meters 0.013366952123561409 Centerline is valid? [True, True] Translation: X:148.72, Y:44.54, Z:-2.40 [[ 8.42538871e-01 -5.38607772e-01 5.46985814e-03 1.48716819e+02] [ 5.38596353e-01 8.42556626e-01 3.50723153e-03 4.45409736e+01] [-6.49768738e-03 -8.93324947e-06 9.99978890e-01 -2.39591955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01999999999998 meters 0.013444513444263199 Centerline is valid? [True, True] Translation: X:148.77, Y:44.57, Z:-2.40 [[ 8.42266019e-01 -5.39045106e-01 4.28097290e-03 1.48767663e+02] [ 5.39038123e-01 8.42276898e-01 2.74372172e-03 4.45711150e+01] [-5.08475434e-03 -3.33596810e-06 9.99987073e-01 -2.39709676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07999999999998 meters 0.013633563859826362 Centerline is valid? [True, True] Translation: X:148.82, Y:44.60, Z:-2.40 [[ 8.42560765e-01 -5.38599628e-01 1.34078095e-03 1.48818970e+02] [ 5.38598947e-01 8.42561832e-01 8.56666847e-04 4.46002567e+01] [-1.59109130e-03 3.49333898e-07 9.99998734e-01 -2.39991479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14 meters 0.013565963140721586 Centerline is valid? [True, True] Translation: X:148.87, Y:44.63, Z:-2.40 [[ 8.42546665e-01 -5.38622714e-01 8.30065173e-04 1.48869464e+02] [ 5.38622455e-01 8.42547074e-01 5.28932013e-04 4.46301083e+01] [-9.84263780e-04 1.44183713e-06 9.99999516e-01 -2.40109273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.2 meters 0.01365026034336518 Centerline is valid? [True, True] Translation: X:148.92, Y:44.66, Z:-2.40 [[ 8.41272631e-01 -5.40605982e-01 2.35202517e-03 1.48921535e+02] [ 5.40603872e-01 8.41275919e-01 1.51024038e-03 4.46563817e+01] [-2.79514712e-03 9.90021077e-07 9.99996094e-01 -2.40061453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26 meters 0.013735190791080851 Centerline is valid? [True, True] Translation: X:148.97, Y:44.68, Z:-2.40 [[ 8.39231940e-01 -5.43754740e-01 4.53144609e-03 1.48974874e+02] [ 5.43746955e-01 8.39244173e-01 2.90983157e-03 4.46820725e+01] [-5.38522443e-03 2.19364160e-05 9.99985499e-01 -2.39857397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32 meters 0.013782293867010093 Centerline is valid? [True, True] Translation: X:149.03, Y:44.71, Z:-2.40 [[ 8.38414411e-01 -5.45011429e-01 4.88031553e-03 1.49025614e+02] [ 5.45002410e-01 8.38428614e-01 3.13554231e-03 4.47102825e+01] [-5.80070258e-03 3.08998656e-05 9.99983175e-01 -2.39930871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38 meters 0.013915971181457112 Centerline is valid? [True, True] Translation: X:149.08, Y:44.74, Z:-2.40 [[ 8.38277982e-01 -5.45226109e-01 4.30285994e-03 1.49076010e+02] [ 5.45219084e-01 8.38289025e-01 2.76799523e-03 4.47386035e+01] [-5.11622353e-03 2.56518970e-05 9.99986912e-01 -2.40152058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44 meters 0.01396906676118438 Centerline is valid? [True, True] Translation: X:149.13, Y:44.77, Z:-2.40 [[ 8.39548249e-01 -5.43279822e-01 2.40274291e-03 1.49125277e+02] [ 5.43277624e-01 8.39551687e-01 1.54529957e-03 4.47687366e+01] [-2.85675694e-03 8.00291134e-06 9.99995919e-01 -2.40422663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.5 meters 0.01399525856490558 Centerline is valid? [True, True] Translation: X:149.18, Y:44.80, Z:-2.41 [[ 8.42285962e-01 -5.39029927e-01 1.04658101e-03 1.49175472e+02] [ 5.39029511e-01 8.42286612e-01 6.69694429e-04 4.48000934e+01] [-1.24250652e-03 6.38357248e-08 9.99999228e-01 -2.40567581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56 meters 0.014335321097120575 Centerline is valid? [True, True] Translation: X:149.23, Y:44.83, Z:-2.41 [[ 8.44076947e-01 -5.36221830e-01 5.06318800e-04 1.49226280e+02] [ 5.36221733e-01 8.44077099e-01 3.21884799e-04 4.48293749e+01] [-5.99973759e-04 -1.96394022e-07 9.99999820e-01 -2.40747648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62 meters 0.01427485727587829 Centerline is valid? [True, True] Translation: X:149.28, Y:44.86, Z:-2.41 [[ 8.44483680e-01 -5.35579105e-01 1.52841242e-03 1.49277131e+02] [ 5.35578208e-01 8.44485063e-01 9.80528215e-04 4.48578874e+01] [-1.81587188e-03 -9.45569305e-06 9.99998351e-01 -2.40660783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68 meters 0.014417522833685095 Centerline is valid? [True, True] Translation: X:149.33, Y:44.88, Z:-2.41 [[ 8.44583170e-01 -5.35421913e-01 1.62568701e-03 1.49329194e+02] [ 5.35420896e-01 8.44584735e-01 1.04393713e-03 4.48847206e+01] [-1.93197725e-03 -1.12649338e-05 9.99998134e-01 -2.40726952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.73999999999998 meters 0.014488522615448415 Centerline is valid? [True, True] Translation: X:149.38, Y:44.91, Z:-2.41 [[ 8.44444094e-01 -5.35641086e-01 1.67296731e-03 1.49380294e+02] [ 5.35640007e-01 8.44445751e-01 1.07512843e-03 4.49131125e+01] [-1.98861309e-03 -1.17776324e-05 9.99998023e-01 -2.40743884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79999999999998 meters 0.014455200921509577 Centerline is valid? [True, True] Translation: X:149.43, Y:44.94, Z:-2.41 [[ 8.43935396e-01 -5.36436005e-01 3.07557836e-03 1.49432422e+02] [ 5.36432342e-01 8.43941000e-01 1.98247779e-03 4.49406768e+01] [-3.65907914e-03 -2.32434714e-05 9.99993305e-01 -2.40663261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85999999999999 meters 0.014287574696956146 Centerline is valid? [True, True] Translation: X:149.48, Y:44.97, Z:-2.41 [[ 8.42875779e-01 -5.38100314e-01 2.91079066e-03 1.49481724e+02] [ 5.38097042e-01 8.42880805e-01 1.87656062e-03 4.49706924e+01] [-3.46322743e-03 -1.54196552e-05 9.99994003e-01 -2.40803895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92 meters 0.014365916329670821 Centerline is valid? [True, True] Translation: X:149.53, Y:45.00, Z:-2.41 [[ 8.43096263e-01 -5.37755495e-01 2.77830446e-03 1.49529482e+02] [ 5.37752509e-01 8.43100841e-01 1.79202657e-03 4.50040396e+01] [-3.30606296e-03 -1.68107149e-05 9.99994535e-01 -2.40894659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98 meters 0.014587799681489405 Centerline is valid? [True, True] Translation: X:149.58, Y:45.04, Z:-2.41 [[ 8.44161467e-01 -5.36085908e-01 1.82140830e-03 1.49577771e+02] [ 5.36084622e-01 8.44163431e-01 1.17428607e-03 4.50385319e+01] [-2.16708450e-03 -1.48580676e-05 9.99997652e-01 -2.41022569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04 meters 0.014826488170559005 Centerline is valid? [True, True] Translation: X:149.63, Y:45.07, Z:-2.41 [[ 8.44777432e-01 -5.35117750e-01 -2.89156649e-04 1.49625427e+02] [ 5.35117716e-01 8.44777482e-01 -1.91780587e-04 4.50728393e+01] [ 3.46898222e-04 7.27906622e-06 9.99999940e-01 -2.41334796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.1 meters 0.014862928105160713 Centerline is valid? [True, True] Translation: X:149.67, Y:45.10, Z:-2.42 [[ 8.43515459e-01 -5.37104222e-01 -8.51947398e-04 1.49674374e+02] [ 5.37103937e-01 8.43515889e-01 -5.53376323e-04 4.51040962e+01] [ 1.01585193e-03 9.19718171e-06 9.99999484e-01 -2.41676701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16 meters 0.01430968247059525 Centerline is valid? [True, True] Translation: X:149.73, Y:45.13, Z:-2.41 [[ 8.40216462e-01 -5.42250845e-01 -5.65035273e-04 1.49726929e+02] [ 5.42250718e-01 8.40216652e-01 -3.70708270e-04 4.51318157e+01] [ 6.75768918e-04 5.08440904e-06 9.99999772e-01 -2.41484458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22 meters 0.01459703353200321 Centerline is valid? [True, True] Translation: X:149.78, Y:45.16, Z:-2.41 [[ 8.35716433e-01 -5.49160309e-01 9.99700454e-04 1.49780303e+02] [ 5.49159931e-01 8.35717031e-01 6.43986644e-04 4.51587409e+01] [-1.18911860e-03 1.08052117e-05 9.99999293e-01 -2.41378129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28 meters 0.016266774939210315 Centerline is valid? [True, True] Translation: X:149.83, Y:45.18, Z:-2.41 [[ 8.29292978e-01 -5.58798834e-01 4.12546634e-03 1.49833239e+02] [ 5.58792444e-01 8.29303235e-01 2.67383539e-03 4.51835961e+01] [-4.91539868e-03 8.78865054e-05 9.99987915e-01 -2.41234193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34 meters 0.016954413823550573 Centerline is valid? [True, True] Translation: X:149.88, Y:45.21, Z:-2.41 [[ 8.27089793e-01 -5.62038014e-01 5.97870942e-03 1.49883787e+02] [ 5.62024679e-01 8.27111387e-01 3.87475897e-03 4.52146456e+01] [-7.12282047e-03 1.55408646e-04 9.99974620e-01 -2.41198067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.4 meters 0.017925117628511355 Centerline is valid? [True, True] Translation: X:149.93, Y:45.25, Z:-2.41 [[ 8.27500211e-01 -5.61429467e-01 6.35253909e-03 1.49932322e+02] [ 5.61414365e-01 8.27524579e-01 4.12094709e-03 4.52459719e+01] [-7.57050337e-03 1.56322118e-04 9.99971331e-01 -2.41274864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46 meters 0.015698038148108485 Centerline is valid? [True, True] Translation: X:149.98, Y:45.29, Z:-2.41 [[ 8.30523420e-01 -5.56946468e-01 6.44051878e-03 1.49976766e+02] [ 5.56930810e-01 8.30548384e-01 4.17781727e-03 4.52861644e+01] [-7.67598303e-03 1.17148249e-04 9.99970532e-01 -2.41388241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51999999999998 meters 0.015014384127761324 Centerline is valid? [True, True] Translation: X:150.02, Y:45.32, Z:-2.42 [[ 8.33478762e-01 -5.52517831e-01 6.09921558e-03 1.50022680e+02] [ 5.52503661e-01 8.33501075e-01 3.95758849e-03 4.53235381e+01] [-7.27034095e-03 7.12729889e-05 9.99973568e-01 -2.41596033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57999999999998 meters 0.014405089339179077 Centerline is valid? [True, True] Translation: X:150.07, Y:45.36, Z:-2.42 [[ 8.38230014e-01 -5.45295727e-01 4.79733399e-03 1.50066147e+02] [ 5.45286828e-01 8.38243741e-01 3.11530865e-03 4.53627776e+01] [-5.72009969e-03 4.57781847e-06 9.99983640e-01 -2.41922519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64 meters 0.014568921364022977 Centerline is valid? [True, True] Translation: X:150.11, Y:45.40, Z:-2.42 [[ 8.40998081e-01 -5.41026806e-01 3.49620406e-03 1.50113033e+02] [ 5.41022051e-01 8.41005348e-01 2.26830441e-03 4.53990566e+01] [-4.16753980e-03 -1.61161588e-05 9.99991316e-01 -2.42117883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.7 meters 0.015117860590148238 Centerline is valid? [True, True] Translation: X:150.16, Y:45.43, Z:-2.42 [[ 8.43386277e-01 -5.37298539e-01 3.14120537e-03 1.50159759e+02] [ 5.37294664e-01 8.43392126e-01 2.04077898e-03 4.54342518e+01] [-3.74577544e-03 -3.34121007e-05 9.99992984e-01 -2.42317329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76 meters 0.014866469359596988 Centerline is valid? [True, True] Translation: X:150.21, Y:45.47, Z:-2.42 [[ 8.43593052e-01 -5.36966808e-01 4.17247844e-03 1.50209287e+02] [ 5.36959974e-01 8.43603370e-01 2.70937518e-03 4.54653801e+01] [-4.97476141e-03 -4.51561602e-05 9.99987625e-01 -2.42150879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82 meters 0.014658402867094673 Centerline is valid? [True, True] Translation: X:150.26, Y:45.49, Z:-2.42 [[ 8.41958215e-01 -5.39500533e-01 6.74820102e-03 1.50259888e+02] [ 5.39482679e-01 8.41985256e-01 4.38951575e-03 4.54938892e+01] [-8.05003185e-03 -5.52512795e-05 9.99967596e-01 -2.41986750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88 meters 0.014167566923042777 Centerline is valid? [True, True] Translation: X:150.31, Y:45.52, Z:-2.42 [[ 8.39474791e-01 -5.43353878e-01 6.97409099e-03 1.50312771e+02] [ 5.43334944e-01 8.39503760e-01 4.53605775e-03 4.55214022e+01] [-8.31946018e-03 -1.86387883e-05 9.99965393e-01 -2.41890078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94 meters 0.014304330598556412 Centerline is valid? [True, True] Translation: X:150.36, Y:45.55, Z:-2.42 [[ 8.35535938e-01 -5.49379895e-01 7.83753771e-03 1.50364305e+02] [ 5.49356211e-01 8.35572695e-01 5.10142825e-03 4.55460991e+01] [-9.35145462e-03 4.31733845e-05 9.99956273e-01 -2.42073686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.0 meters 0.014818657715269952 Centerline is valid? [True, True] Translation: X:150.42, Y:45.57, Z:-2.42 [[ 8.32890173e-01 -5.53400300e-01 6.48601029e-03 1.50416878e+02] [ 5.53384195e-01 8.32915424e-01 4.22246231e-03 4.55731946e+01] [-7.73900992e-03 7.24082258e-05 9.99970051e-01 -2.42324419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06 meters 0.014596112045558428 Centerline is valid? [True, True] Translation: X:150.47, Y:45.60, Z:-2.42 [[ 8.33448452e-01 -5.52576682e-01 4.76325647e-03 1.50465891e+02] [ 5.52567983e-01 8.33462062e-01 3.10092179e-03 4.56043943e+01] [-5.68349063e-03 4.75645507e-05 9.99983848e-01 -2.42484124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12 meters 0.014518622715906707 Centerline is valid? [True, True] Translation: X:150.51, Y:45.64, Z:-2.43 [[ 8.35282851e-01 -5.49807373e-01 3.79626841e-03 1.50513561e+02] [ 5.49801805e-01 8.35291478e-01 2.47444340e-03 4.56375505e+01] [-4.53145788e-03 2.03350857e-05 9.99989733e-01 -2.42714706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18 meters 0.014448144777712101 Centerline is valid? [True, True] Translation: X:150.56, Y:45.67, Z:-2.43 [[ 8.36553482e-01 -5.47882160e-01 1.84675164e-03 1.50561964e+02] [ 5.47880845e-01 8.36555520e-01 1.20069969e-03 4.56718727e+01] [-2.20275221e-03 7.35034071e-06 9.99997574e-01 -2.42917826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.23999999999998 meters 0.01433678656838502 Centerline is valid? [True, True] Translation: X:150.61, Y:45.71, Z:-2.43 [[ 8.37809464e-01 -5.45962409e-01 5.90654700e-04 1.50610642e+02] [ 5.45962276e-01 8.37809673e-01 3.81127789e-04 4.57057347e+01] [-7.02937667e-04 3.16271542e-06 9.99999753e-01 -2.43057583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29999999999998 meters 0.014133581100208036 Centerline is valid? [True, True] Translation: X:150.66, Y:45.74, Z:-2.43 [[ 8.37246607e-01 -5.46821266e-01 2.14985403e-03 1.50659633e+02] [ 5.46819474e-01 8.37249367e-01 1.39997170e-03 4.57383985e+01] [-2.56549823e-03 3.46049159e-06 9.99996709e-01 -2.42934879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35999999999999 meters 0.014080209183053466 Centerline is valid? [True, True] Translation: X:150.71, Y:45.77, Z:-2.43 [[ 8.35058229e-01 -5.50139842e-01 4.88962553e-03 1.50708943e+02] [ 5.50130577e-01 8.35072544e-01 3.19296575e-03 4.57691202e+01] [-5.83976970e-03 2.36201827e-05 9.99982948e-01 -2.42766056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42 meters 0.014209633100358972 Centerline is valid? [True, True] Translation: X:150.76, Y:45.80, Z:-2.43 [[ 8.33312035e-01 -5.52770802e-01 5.95761012e-03 1.50758579e+02] [ 5.52757102e-01 8.33333329e-01 3.89212940e-03 4.57981541e+01] [-7.11613057e-03 4.97530398e-05 9.99974679e-01 -2.42695775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48 meters 0.014432180076258006 Centerline is valid? [True, True] Translation: X:150.81, Y:45.83, Z:-2.43 [[ 8.31809378e-01 -5.55031326e-01 5.77802450e-03 1.50809566e+02] [ 5.55018496e-01 8.31829443e-01 3.77446761e-03 4.58283398e+01] [-6.90127867e-03 6.72729192e-05 9.99976184e-01 -2.42699016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54 meters 0.014533171346946287 Centerline is valid? [True, True] Translation: X:150.86, Y:45.86, Z:-2.43 [[ 8.32117272e-01 -5.54576622e-01 5.06117292e-03 1.50857032e+02] [ 5.54566754e-01 8.32132662e-01 3.30875430e-03 4.58602677e+01] [-6.04652508e-03 5.34866354e-05 9.99981718e-01 -2.42976873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.6 meters 0.01408023579854191 Centerline is valid? [True, True] Translation: X:150.90, Y:45.90, Z:-2.43 [[ 8.33181839e-01 -5.52984820e-01 3.97639275e-03 1.50903157e+02] [ 5.52978719e-01 8.33191327e-01 2.59774047e-03 4.58953289e+01] [-4.74960700e-03 3.44703858e-05 9.99988720e-01 -2.43067197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66 meters 0.013811968175429401 Centerline is valid? [True, True] Translation: X:150.95, Y:45.93, Z:-2.43 [[ 8.35524933e-01 -5.49434756e-01 4.41981037e-03 1.50950498e+02] [ 5.49427154e-01 8.35536623e-01 2.89027770e-03 4.59297302e+01] [-5.28093245e-03 1.34647542e-05 9.99986056e-01 -2.43127353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72 meters 0.013800778503356988 Centerline is valid? [True, True] Translation: X:151.00, Y:45.96, Z:-2.43 [[ 8.37731337e-01 -5.46064118e-01 4.49282780e-03 1.50997257e+02] [ 5.46056207e-01 8.37743385e-01 2.93930700e-03 4.59648373e+01] [-5.36888685e-03 -9.01307913e-06 9.99985587e-01 -2.43220153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78 meters 0.013820221341503024 Centerline is valid? [True, True] Translation: X:151.05, Y:46.00, Z:-2.43 [[ 8.38924868e-01 -5.44228679e-01 4.49561319e-03 1.51045510e+02] [ 5.44220721e-01 8.38936913e-01 2.94329235e-03 4.59984984e+01] [-5.37335996e-03 -2.25952949e-05 9.99985563e-01 -2.43275380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84 meters 0.014053027461255082 Centerline is valid? [True, True] Translation: X:151.09, Y:46.03, Z:-2.43 [[ 8.39864025e-01 -5.42774410e-01 4.93548336e-03 1.51092970e+02] [ 5.42764782e-01 8.39878526e-01 3.23311218e-03 4.60318252e+01] [-5.90005705e-03 -3.65680650e-05 9.99982594e-01 -2.43313593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.9 meters 0.013963451342621424 Centerline is valid? [True, True] Translation: X:151.14, Y:46.06, Z:-2.43 [[ 8.40109294e-01 -5.42386818e-01 5.73707177e-03 1.51141547e+02] [ 5.42373777e-01 8.40128882e-01 3.76137658e-03 4.60644690e+01] [-6.86000076e-03 -4.83301321e-05 9.99976469e-01 -2.43364583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96 meters 0.0138598364228136 Centerline is valid? [True, True] Translation: X:151.19, Y:46.09, Z:-2.43 [[ 8.39003647e-01 -5.44097017e-01 5.59614335e-03 1.51191524e+02] [ 5.44084633e-01 8.39022309e-01 3.67113842e-03 4.60946812e+01] [-6.69274458e-03 -3.53229215e-05 9.99977603e-01 -2.43498122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01999999999998 meters 0.013703500263222925 Centerline is valid? [True, True] Translation: X:151.24, Y:46.12, Z:-2.44 [[ 8.37376798e-01 -5.46597422e-01 5.59972678e-03 1.51242759e+02] [ 5.46585060e-01 8.37395521e-01 3.67607877e-03 4.61245797e+01] [-6.69852130e-03 -1.75360709e-05 9.99977565e-01 -2.43573287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07999999999998 meters 0.013624639232980407 Centerline is valid? [True, True] Translation: X:151.29, Y:46.15, Z:-2.44 [[ 8.35715247e-01 -5.49134435e-01 5.60335362e-03 1.51292912e+02] [ 5.49122105e-01 8.35734032e-01 3.67993967e-03 4.61534816e+01] [-6.70369490e-03 1.54364486e-06 9.99977530e-01 -2.43572511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14 meters 0.013715861255259592 Centerline is valid? [True, True] Translation: X:151.34, Y:46.18, Z:-2.44 [[ 8.34405173e-01 -5.51129599e-01 4.91652366e-03 1.51343761e+02] [ 5.51120130e-01 8.34419658e-01 3.23057242e-03 4.61833093e+01] [-5.88290807e-03 1.39888142e-05 9.99982695e-01 -2.43594761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.2 meters 0.013869387138159765 Centerline is valid? [True, True] Translation: X:151.39, Y:46.21, Z:-2.44 [[ 8.33390806e-01 -5.52667727e-01 4.25993892e-03 1.51394345e+02] [ 5.52660635e-01 8.33401693e-01 2.80006412e-03 4.62139557e+01] [-5.09774538e-03 2.07528541e-05 9.99987006e-01 -2.43828241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26 meters 0.01383573806230375 Centerline is valid? [True, True] Translation: X:151.44, Y:46.25, Z:-2.44 [[ 8.33457867e-01 -5.52561612e-01 4.86302269e-03 1.51443030e+02] [ 5.52552356e-01 8.33472054e-01 3.19845494e-03 4.62456453e+01] [-5.82053692e-03 2.12972139e-05 9.99983060e-01 -2.43802237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32 meters 0.013732311029722884 Centerline is valid? [True, True] Translation: X:151.49, Y:46.28, Z:-2.44 [[ 8.34232115e-01 -5.51387121e-01 5.38709468e-03 1.51491456e+02] [ 5.51375719e-01 8.34249508e-01 3.54608325e-03 4.62786793e+01] [-6.44944572e-03 1.20566683e-05 9.99979202e-01 -2.43768734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38 meters 0.013845678680569695 Centerline is valid? [True, True] Translation: X:151.54, Y:46.31, Z:-2.44 [[ 8.36044157e-01 -5.48643262e-01 4.55400889e-03 1.51538652e+02] [ 5.48635065e-01 8.36056560e-01 2.99893479e-03 4.63141168e+01] [-5.45275437e-03 -8.75294692e-06 9.99985134e-01 -2.43928912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44 meters 0.013905642258098695 Centerline is valid? [True, True] Translation: X:151.59, Y:46.35, Z:-2.44 [[ 8.36683061e-01 -5.47668013e-01 4.60475692e-03 1.51586594e+02] [ 5.47659611e-01 8.36695732e-01 3.03367316e-03 4.63470993e+01] [-5.51422621e-03 -1.63835601e-05 9.99984796e-01 -2.43996104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.5 meters 0.013836892697861397 Centerline is valid? [True, True] Translation: X:151.64, Y:46.38, Z:-2.44 [[ 8.36668109e-01 -5.47678908e-01 5.85560990e-03 1.51635355e+02] [ 5.47665293e-01 8.36688600e-01 3.86183297e-03 4.63798678e+01] [-7.01436651e-03 -2.41581762e-05 9.99975399e-01 -2.43848086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56 meters 0.013751558720325465 Centerline is valid? [True, True] Translation: X:151.68, Y:46.41, Z:-2.44 [[ 8.36082862e-01 -5.48563542e-01 6.59455950e-03 1.51683781e+02] [ 5.48546281e-01 8.36108868e-01 4.35175891e-03 4.64127359e+01] [-7.90098596e-03 -2.10099485e-05 9.99968787e-01 -2.43881708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62 meters 0.013776113724179577 Centerline is valid? [True, True] Translation: X:151.73, Y:46.44, Z:-2.44 [[ 8.34632848e-01 -5.50757322e-01 7.37435446e-03 1.51732868e+02] [ 5.50735791e-01 8.34665425e-01 4.86993169e-03 4.64438209e+01] [-8.83726924e-03 -3.28401831e-06 9.99960951e-01 -2.43820223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68 meters 0.013797678618925323 Centerline is valid? [True, True] Translation: X:151.78, Y:46.47, Z:-2.44 [[ 8.33270859e-01 -5.52824972e-01 6.65021909e-03 1.51781789e+02] [ 5.52807510e-01 8.33297396e-01 4.39400423e-03 4.64743857e+01] [-7.97072551e-03 1.48953745e-05 9.99968233e-01 -2.43923084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.73999999999998 meters 0.01393635118047238 Centerline is valid? [True, True] Translation: X:151.83, Y:46.50, Z:-2.44 [[ 8.30943267e-01 -5.56340163e-01 4.34852983e-03 1.51832071e+02] [ 5.56332742e-01 8.30954645e-01 2.87358542e-03 4.65047810e+01] [-5.21212204e-03 3.14430688e-05 9.99986416e-01 -2.44030278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79999999999998 meters 0.014201838126977595 Centerline is valid? [True, True] Translation: X:151.88, Y:46.54, Z:-2.44 [[ 8.29592207e-01 -5.58360390e-01 3.23182965e-03 1.51881621e+02] [ 5.58356306e-01 8.29598502e-01 2.13570428e-03 4.65365356e+01] [-3.87361371e-03 3.27488418e-05 9.99992497e-01 -2.44275656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85999999999999 meters 0.014554406305192195 Centerline is valid? [True, True] Translation: X:151.93, Y:46.57, Z:-2.44 [[ 8.28274461e-01 -5.60321435e-01 1.14281408e-03 1.51930817e+02] [ 5.60320930e-01 8.28275250e-01 7.52774046e-04 4.65683395e+01] [-1.36836005e-03 1.68391299e-05 9.99999064e-01 -2.44404388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92 meters 0.014441270182831686 Centerline is valid? [True, True] Translation: X:151.98, Y:46.60, Z:-2.44 [[ 8.27754475e-01 -5.61089467e-01 1.06727505e-03 1.51978642e+02] [ 5.61089028e-01 8.27755163e-01 7.02369844e-04 4.66014048e+01] [-1.27753476e-03 1.74465395e-05 9.99999184e-01 -2.44361650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98 meters 0.014256987751000075 Centerline is valid? [True, True] Translation: X:152.02, Y:46.64, Z:-2.44 [[ 8.28559874e-01 -5.59899938e-01 7.70875550e-04 1.52024720e+02] [ 5.59899706e-01 8.28560233e-01 5.09573194e-04 4.66361506e+01] [-9.24026825e-04 9.40109258e-06 9.99999573e-01 -2.44444888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04 meters 0.013682868814064646 Centerline is valid? [True, True] Translation: X:152.07, Y:46.67, Z:-2.44 [[ 8.30671260e-01 -5.56762343e-01 9.74929180e-04 1.52071202e+02] [ 5.56761973e-01 8.30671832e-01 6.42350025e-04 4.66726607e+01] [-1.16748251e-03 9.22178825e-06 9.99999318e-01 -2.44416703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.1 meters 0.013442980020505903 Centerline is valid? [True, True] Translation: X:152.12, Y:46.71, Z:-2.44 [[ 8.32461195e-01 -5.54081082e-01 1.58547937e-03 1.52118249e+02] [ 5.54080091e-01 8.32462704e-01 1.04800903e-03 4.67088169e+01] [-1.90053442e-03 6.05570660e-06 9.99998194e-01 -2.44385339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16 meters 0.013582906874173023 Centerline is valid? [True, True] Translation: X:152.16, Y:46.75, Z:-2.44 [[ 8.35655239e-01 -5.49252074e-01 1.57517572e-03 1.52163696e+02] [ 5.49251086e-01 8.35656724e-01 1.04172238e-03 4.67468758e+01] [-1.88847435e-03 -5.35379108e-06 9.99998217e-01 -2.44353888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22 meters 0.013818531544023203 Centerline is valid? [True, True] Translation: X:152.21, Y:46.78, Z:-2.44 [[ 8.37871293e-01 -5.45865538e-01 1.58474791e-03 1.52210601e+02] [ 5.45864531e-01 8.37872791e-01 1.04861127e-03 4.67831512e+01] [-1.90021791e-03 -1.35436064e-05 9.99998194e-01 -2.44436568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28 meters 0.014500829412890959 Centerline is valid? [True, True] Translation: X:152.26, Y:46.82, Z:-2.45 [[ 8.39896075e-01 -5.42743073e-01 2.13046217e-03 1.52257454e+02] [ 5.42741237e-01 8.39898777e-01 1.41208270e-03 4.68194883e+01] [-2.55577067e-03 -2.97130425e-05 9.99996734e-01 -2.44521422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34 meters 0.015364075682789606 Centerline is valid? [True, True] Translation: X:152.30, Y:46.86, Z:-2.45 [[ 8.41932985e-01 -5.39576201e-01 2.52421974e-03 1.52303353e+02] [ 5.39573597e-01 8.41936767e-01 1.67711360e-03 4.68559820e+01] [-3.03016399e-03 -5.00149349e-05 9.99995408e-01 -2.44588274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.4 meters 0.01609694190129363 Centerline is valid? [True, True] Translation: X:152.35, Y:46.89, Z:-2.45 [[ 8.42649167e-01 -5.38458768e-01 2.12984617e-03 1.52349813e+02] [ 5.38456910e-01 8.42651858e-01 1.41513049e-03 4.68910668e+01] [-2.55670825e-03 -4.56281447e-05 9.99996731e-01 -2.44810569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46 meters 0.016120187350615617 Centerline is valid? [True, True] Translation: X:152.40, Y:46.92, Z:-2.45 [[ 8.42674323e-01 -5.38421245e-01 1.59643841e-03 1.52398102e+02] [ 5.38420206e-01 8.42675834e-01 1.05812114e-03 4.69248699e+01] [-1.91499497e-03 -3.20968213e-05 9.99998166e-01 -2.44921568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51999999999998 meters 0.016290505047349677 Centerline is valid? [True, True] Translation: X:152.44, Y:46.96, Z:-2.45 [[ 8.42213424e-01 -5.39144202e-01 2.77702100e-04 1.52444232e+02] [ 5.39144171e-01 8.42213470e-01 1.83330786e-04 4.69591921e+01] [-3.32726180e-04 -4.68218049e-06 9.99999945e-01 -2.45307557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57999999999998 meters 0.0146814237761508 Centerline is valid? [True, True] Translation: X:152.50, Y:46.99, Z:-2.45 [[ 8.40459952e-01 -5.41873653e-01 -1.18098654e-04 1.52495773e+02] [ 5.41873646e-01 8.40459960e-01 -8.28241118e-05 4.69890809e+01] [ 1.44137394e-04 5.61580070e-06 9.99999990e-01 -2.45236719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64 meters 0.013493005581178346 Centerline is valid? [True, True] Translation: X:152.55, Y:47.02, Z:-2.45 [[ 8.36182675e-01 -5.48450785e-01 5.19699665e-04 1.52548532e+02] [ 5.48450679e-01 8.36182836e-01 3.42056940e-04 4.70173340e+01] [-6.22165337e-04 -9.92453430e-07 9.99999806e-01 -2.45063747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.7 meters 0.013204150894211229 Centerline is valid? [True, True] Translation: X:152.60, Y:47.05, Z:-2.45 [[ 8.32525856e-01 -5.53985910e-01 5.56973075e-04 1.52599925e+02] [ 5.53985789e-01 8.32526043e-01 3.66839196e-04 4.70470340e+01] [-6.66918336e-04 3.15205243e-06 9.99999778e-01 -2.45139245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76 meters 0.013757742463391209 Centerline is valid? [True, True] Translation: X:152.65, Y:47.07, Z:-2.45 [[ 8.26295860e-01 -5.63234250e-01 1.52711149e-03 1.52652548e+02] [ 5.63233337e-01 8.26297271e-01 1.01404248e-03 4.70749015e+01] [-1.83299151e-03 2.22209963e-05 9.99998320e-01 -2.45045668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82 meters 0.015321189452427093 Centerline is valid? [True, True] Translation: X:152.70, Y:47.10, Z:-2.45 [[ 8.21724599e-01 -5.69877634e-01 2.85763307e-03 1.52703853e+02] [ 5.69874454e-01 8.21729565e-01 1.90472811e-03 4.71019788e+01] [-3.43366353e-03 6.33301445e-05 9.99994103e-01 -2.45012912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88 meters 0.01863346252996762 Centerline is valid? [True, True] Translation: X:152.76, Y:47.13, Z:-2.45 [[ 8.16417119e-01 -5.77455708e-01 2.82716931e-03 1.52756509e+02] [ 5.77452646e-01 8.16422009e-01 1.88282403e-03 4.71285055e+01] [-3.39541073e-03 9.53866320e-05 9.99994231e-01 -2.45167901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94 meters 0.020675194132174883 Centerline is valid? [True, True] Translation: X:152.81, Y:47.16, Z:-2.45 [[ 8.08892586e-01 -5.87941256e-01 4.22665885e-03 1.52807933e+02] [ 5.87934536e-01 8.08903602e-01 2.81850680e-03 4.71581780e+01] [-5.07607599e-03 2.05129452e-04 9.99987096e-01 -2.45146183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.0 meters 0.021703552777063335 Centerline is valid? [True, True] Translation: X:152.86, Y:47.19, Z:-2.45 [[ 8.06707501e-01 -5.90934589e-01 4.39543283e-03 1.52858465e+02] [ 5.90927356e-01 8.06719442e-01 2.93277023e-03 4.71897748e+01] [-5.27895649e-03 2.31493758e-04 9.99986039e-01 -2.45176546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06 meters 0.0237090581552882 Centerline is valid? [True, True] Translation: X:152.91, Y:47.22, Z:-2.45 [[ 8.02258517e-01 -5.96963098e-01 4.04122650e-03 1.52908466e+02] [ 5.96957056e-01 8.02268657e-01 2.69729470e-03 4.72209856e+01] [-4.85233476e-03 2.48511028e-04 9.99988196e-01 -2.45251212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12 meters 0.024200403019421658 Centerline is valid? [True, True] Translation: X:152.96, Y:47.26, Z:-2.45 [[ 8.00805132e-01 -5.98913447e-01 3.71803517e-03 1.52956806e+02] [ 5.98908349e-01 8.00813728e-01 2.48257097e-03 4.72553874e+01] [-4.46429874e-03 2.38706730e-04 9.99990006e-01 -2.45419005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18 meters 0.02419490370181197 Centerline is valid? [True, True] Translation: X:153.00, Y:47.29, Z:-2.46 [[ 8.00826852e-01 -5.98881532e-01 4.15502022e-03 1.53003258e+02] [ 5.98875156e-01 8.00837587e-01 2.77622934e-03 4.72928330e+01] [-4.99012885e-03 2.65059385e-04 9.99987514e-01 -2.45578654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23999999999998 meters 0.022676537441162527 Centerline is valid? [True, True] Translation: X:153.05, Y:47.33, Z:-2.46 [[ 8.02626319e-01 -5.96467802e-01 4.14163710e-03 1.53048831e+02] [ 5.96461426e-01 8.02636966e-01 2.76917634e-03 4.73303253e+01] [-4.97595556e-03 2.47712955e-04 9.99987589e-01 -2.45696116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29999999999998 meters 0.020651140488759618 Centerline is valid? [True, True] Translation: X:153.09, Y:47.37, Z:-2.46 [[ 8.07823228e-01 -5.89416166e-01 3.19635953e-03 1.53092624e+02] [ 5.89412308e-01 8.07829536e-01 2.13817529e-03 4.73714132e+01] [-3.84238872e-03 1.56705983e-04 9.99992606e-01 -2.45876283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35999999999999 meters 0.018165302239294266 Centerline is valid? [True, True] Translation: X:153.14, Y:47.41, Z:-2.46 [[ 8.12595543e-01 -5.82822236e-01 2.59322154e-03 1.53136605e+02] [ 5.82819663e-01 8.12599675e-01 1.73463490e-03 4.74128789e+01] [-3.11823477e-03 1.01823913e-04 9.99995133e-01 -2.46024582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42 meters 0.016366889031638174 Centerline is valid? [True, True] Translation: X:153.18, Y:47.45, Z:-2.46 [[ 8.17594380e-01 -5.75791461e-01 1.90369133e-03 1.53181145e+02] [ 5.75790055e-01 8.17596594e-01 1.27347203e-03 4.74534085e+01] [-2.28970587e-03 5.49429640e-05 9.99997377e-01 -2.46143315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48 meters 0.014856095078836732 Centerline is valid? [True, True] Translation: X:153.22, Y:47.50, Z:-2.46 [[ 8.23584779e-01 -5.67190909e-01 1.60763022e-03 1.53224286e+02] [ 5.67189894e-01 8.23586348e-01 1.07336048e-03 4.74956652e+01] [-1.93282260e-03 2.78282588e-05 9.99998132e-01 -2.45985578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54 meters 0.014689151098949136 Centerline is valid? [True, True] Translation: X:153.27, Y:47.54, Z:-2.46 [[ 8.26132115e-01 -5.63469184e-01 2.86500661e-03 1.53268842e+02] [ 5.63465924e-01 8.26137082e-01 1.91684603e-03 4.75356093e+01] [-3.44697187e-03 3.07655330e-05 9.99994059e-01 -2.45785719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.6 meters 0.014443380555629324 Centerline is valid? [True, True] Translation: X:153.32, Y:47.57, Z:-2.46 [[ 8.26558029e-01 -5.62837893e-01 3.91539413e-03 1.53315364e+02] [ 5.62831784e-01 8.26567302e-01 2.62264569e-03 4.75713506e+01] [-4.71246113e-03 3.59394120e-05 9.99988896e-01 -2.45719036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66 meters 0.014566758202045116 Centerline is valid? [True, True] Translation: X:153.36, Y:47.61, Z:-2.46 [[ 8.26534816e-01 -5.62871206e-01 4.02533740e-03 1.53362288e+02] [ 5.62864744e-01 8.26544617e-01 2.69743774e-03 4.76061845e+01] [-4.84543099e-03 3.61942949e-05 9.99988260e-01 -2.45753130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72 meters 0.014583591517299804 Centerline is valid? [True, True] Translation: X:153.41, Y:47.64, Z:-2.46 [[ 8.26213728e-01 -5.63352236e-01 2.26557132e-03 1.53408601e+02] [ 5.63350193e-01 8.26216834e-01 1.51743215e-03 4.76423493e+01] [-2.72670196e-03 2.25867676e-05 9.99996282e-01 -2.46057989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78 meters 0.014549713819654518 Centerline is valid? [True, True] Translation: X:153.46, Y:47.68, Z:-2.46 [[ 8.25759726e-01 -5.64019679e-01 1.63610520e-03 1.53455976e+02] [ 5.64018616e-01 8.25761346e-01 1.09507498e-03 4.76776200e+01] [-1.96867627e-03 1.85249787e-05 9.99998062e-01 -2.46140796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84 meters 0.014887359271014027 Centerline is valid? [True, True] Translation: X:153.50, Y:47.71, Z:-2.46 [[ 8.24676197e-01 -5.65604910e-01 -5.05758564e-04 1.53504009e+02] [ 5.65604805e-01 8.24676352e-01 -3.44664602e-04 4.77120021e+01] [ 6.12031119e-04 -1.82278103e-06 9.99999813e-01 -2.46315373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.9 meters 0.015439235485583912 Centerline is valid? [True, True] Translation: X:153.55, Y:47.74, Z:-2.46 [[ 8.23248068e-01 -5.67680583e-01 -1.17179679e-03 1.53552910e+02] [ 5.67680030e-01 8.23248902e-01 -7.92934122e-04 4.77442845e+01] [ 1.41481373e-03 -1.24241521e-05 9.99998999e-01 -2.46428038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95999999999998 meters 0.017105823502596908 Centerline is valid? [True, True] Translation: X:153.60, Y:47.77, Z:-2.46 [[ 8.20409772e-01 -5.71775840e-01 -4.41611345e-04 1.53603092e+02] [ 5.71775762e-01 8.20409891e-01 -2.98770156e-04 4.77727381e+01] [ 5.33131872e-04 -7.38870737e-06 9.99999858e-01 -2.46447170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01999999999998 meters 0.017156743262526423 Centerline is valid? [True, True] Translation: X:153.65, Y:47.80, Z:-2.46 [[ 8.17538804e-01 -5.75870432e-01 1.88402572e-03 1.53653075e+02] [ 5.75869047e-01 8.17540973e-01 1.26407228e-03 4.78048516e+01] [-2.26821007e-03 5.15239605e-05 9.99997426e-01 -2.46040475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07999999999998 meters 0.0172075548476451 Centerline is valid? [True, True] Translation: X:153.70, Y:47.84, Z:-2.46 [[ 8.16668640e-01 -5.77101376e-01 2.51697296e-03 1.53702096e+02] [ 5.77098903e-01 8.16672515e-01 1.69111387e-03 4.78383384e+01] [-3.03148677e-03 7.14626721e-05 9.99995402e-01 -2.46009317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14 meters 0.017583923545441305 Centerline is valid? [True, True] Translation: X:153.75, Y:47.87, Z:-2.46 [[ 8.16605350e-01 -5.77190821e-01 2.54131622e-03 1.53748664e+02] [ 5.77188291e-01 8.16609302e-01 1.71026442e-03 4.78704195e+01] [-3.06241139e-03 7.02068926e-05 9.99995308e-01 -2.46081859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.2 meters 0.016758045263457356 Centerline is valid? [True, True] Translation: X:153.80, Y:47.91, Z:-2.46 [[ 8.17431307e-01 -5.76018929e-01 2.87266621e-03 1.53795782e+02] [ 5.76015693e-01 8.17436351e-01 1.93226981e-03 4.79059955e+01] [-3.46124577e-03 7.52029809e-05 9.99994007e-01 -2.46034204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26 meters 0.016449209837431863 Centerline is valid? [True, True] Translation: X:153.84, Y:47.94, Z:-2.46 [[ 8.18119243e-01 -5.75035083e-01 3.94428291e-03 1.53843824e+02] [ 5.75028956e-01 8.18128746e-01 2.65622315e-03 4.79405621e+01] [-4.75435273e-03 9.49696170e-05 9.99988693e-01 -2.46070483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32 meters 0.01618460662356892 Centerline is valid? [True, True] Translation: X:153.89, Y:47.97, Z:-2.46 [[ 8.18139245e-01 -5.75004131e-01 4.29242070e-03 1.53891746e+02] [ 5.74996866e-01 8.18150499e-01 2.89215435e-03 4.79738957e+01] [-5.17484683e-03 1.01943469e-04 9.99986605e-01 -2.46094321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38 meters 0.016962592710177707 Centerline is valid? [True, True] Translation: X:153.94, Y:48.00, Z:-2.46 [[ 8.16954129e-01 -5.76678094e-01 5.32238036e-03 1.53941128e+02] [ 5.76666924e-01 8.16971455e-01 3.59169465e-03 4.80043473e+01] [-6.41948445e-03 1.34990936e-04 9.99979386e-01 -2.46227482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44 meters 0.01784487645540191 Centerline is valid? [True, True] Translation: X:153.99, Y:48.03, Z:-2.46 [[ 8.13207867e-01 -5.81933153e-01 6.83890188e-03 1.53992645e+02] [ 5.81914895e-01 8.13236591e-01 4.61539539e-03 4.80348384e+01] [-8.24749684e-03 2.26383026e-04 9.99965963e-01 -2.46221964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.5 meters 0.019424208496224605 Centerline is valid? [True, True] Translation: X:154.04, Y:48.07, Z:-2.46 [[ 8.09403833e-01 -5.87183942e-01 8.96959860e-03 1.54044105e+02] [ 5.87152810e-01 8.09453449e-01 6.05734972e-03 4.80657610e+01] [-1.08172510e-02 3.63682942e-04 9.99941426e-01 -2.46291482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56 meters 0.021061567744190688 Centerline is valid? [True, True] Translation: X:154.09, Y:48.10, Z:-2.46 [[ 8.05566654e-01 -5.92428676e-01 9.51993179e-03 1.54094414e+02] [ 5.92393935e-01 8.05622774e-01 6.43210602e-03 4.80967243e+01] [-1.14800379e-02 4.58059730e-04 9.99933997e-01 -2.46445560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62 meters 0.022624984666455506 Centerline is valid? [True, True] Translation: X:154.14, Y:48.13, Z:-2.47 [[ 7.99552430e-01 -6.00485104e-01 1.15564391e-02 1.54143724e+02] [ 6.00434675e-01 7.99635642e-01 7.81287495e-03 4.81302590e+01] [-1.39324556e-02 6.92083604e-04 9.99902699e-01 -2.46534498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68 meters 0.027130377196631292 Centerline is valid? [True, True] Translation: X:154.19, Y:48.16, Z:-2.47 [[ 7.93891071e-01 -6.07889936e-01 1.43802958e-02 1.54192620e+02] [ 6.07812957e-01 7.94020648e-01 9.72729297e-03 4.81612498e+01] [-1.73313753e-02 1.01811909e-03 9.99849282e-01 -2.46526162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73999999999998 meters 0.025544174361890295 Centerline is valid? [True, True] Translation: X:154.24, Y:48.20, Z:-2.47 [[ 7.90585409e-01 -6.12143745e-01 1.59607913e-02 1.54237762e+02] [ 6.12049719e-01 7.90745547e-01 1.07991699e-02 4.82002610e+01] [-1.92315689e-02 1.23113165e-03 9.99814298e-01 -2.46624186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79999999999998 meters 0.029691310075292503 Centerline is valid? [True, True] Translation: X:154.29, Y:48.23, Z:-2.47 [[ 7.88263405e-01 -6.15096140e-01 1.72494589e-02 1.54286063e+02] [ 6.14986903e-01 7.88450866e-01 1.16765276e-02 4.82325842e+01] [-2.07825379e-02 1.40401193e-03 9.99783034e-01 -2.46693310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85999999999999 meters 0.03162794681768789 Centerline is valid? [True, True] Translation: X:154.33, Y:48.27, Z:-2.47 [[ 7.86517640e-01 -6.17293334e-01 1.84103969e-02 1.54332247e+02] [ 6.17169400e-01 7.86731540e-01 1.24666191e-02 4.82692916e+01] [-2.21796008e-02 1.55711780e-03 9.99752790e-01 -2.46750207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92 meters 0.030608521556742523 Centerline is valid? [True, True] Translation: X:154.38, Y:48.31, Z:-2.47 [[ 7.85303643e-01 -6.18829151e-01 1.86727031e-02 1.54375409e+02] [ 6.18701973e-01 7.85523940e-01 1.26494565e-02 4.83103276e+01] [-2.24957077e-02 1.61917402e-03 9.99745628e-01 -2.46945125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98 meters 0.029883215936888013 Centerline is valid? [True, True] Translation: X:154.42, Y:48.35, Z:-2.47 [[ 7.83461224e-01 -6.21172796e-01 1.82446711e-02 1.54418879e+02] [ 6.21051958e-01 7.83671901e-01 1.23618901e-02 4.83516632e+01] [-2.19767059e-02 1.64582719e-03 9.99757128e-01 -2.47177507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04 meters 0.03419849183145697 Centerline is valid? [True, True] Translation: X:154.46, Y:48.39, Z:-2.47 [[ 7.78580014e-01 -6.27328820e-01 1.64837373e-02 1.54462110e+02] [ 6.27231501e-01 7.78752757e-01 1.11708433e-02 4.83912072e+01] [-1.98445478e-02 1.64172400e-03 9.99801730e-01 -2.47494598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.1 meters 0.036059985064543915 Centerline is valid? [True, True] Translation: X:154.50, Y:48.44, Z:-2.48 [[ 7.72968207e-01 -6.34265861e-01 1.50654673e-02 1.54502475e+02] [ 6.34185823e-01 7.73113226e-01 1.02118919e-02 4.84370565e+01] [-1.81243664e-02 1.66083799e-03 9.99834361e-01 -2.47782514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16 meters 0.039388853775096835 Centerline is valid? [True, True] Translation: X:154.55, Y:48.48, Z:-2.48 [[ 7.70147995e-01 -6.37680645e-01 1.53447149e-02 1.54546823e+02] [ 6.37598229e-01 7.70298811e-01 1.04038692e-02 4.84771351e+01] [-1.84543617e-02 1.77124407e-03 9.99828135e-01 -2.47852386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22 meters 0.03416311746546293 Centerline is valid? [True, True] Translation: X:154.58, Y:48.53, Z:-2.48 [[ 7.68259903e-01 -6.39943001e-01 1.58011588e-02 1.54581104e+02] [ 6.39855992e-01 7.68420090e-01 1.07179636e-02 4.85330478e+01] [-1.90008137e-02 1.87628449e-03 9.99817708e-01 -2.47891644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28 meters 0.03634920202981392 Centerline is valid? [True, True] Translation: X:154.62, Y:48.58, Z:-2.48 [[ 7.68686234e-01 -6.39442863e-01 1.53068064e-02 1.54622525e+02] [ 6.39361080e-01 7.68836504e-01 1.03845617e-02 4.85755660e+01] [-1.84087654e-02 1.80410666e-03 9.99828917e-01 -2.47967592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34 meters 0.03378267563526364 Centerline is valid? [True, True] Translation: X:154.66, Y:48.63, Z:-2.48 [[ 7.70334458e-01 -6.37484503e-01 1.40830346e-02 1.54656144e+02] [ 6.37414917e-01 7.70461485e-01 9.55634683e-03 4.86322065e+01] [-1.69424588e-02 1.61515310e-03 9.99855162e-01 -2.48126224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.4 meters 0.03384308683970186 Centerline is valid? [True, True] Translation: X:154.70, Y:48.68, Z:-2.48 [[ 7.71653795e-01 -6.35890332e-01 1.39250661e-02 1.54696082e+02] [ 6.35821964e-01 7.71777854e-01 9.45377816e-03 4.86791060e+01] [-1.67586238e-02 1.55881911e-03 9.99858349e-01 -2.48163755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45999999999998 meters 0.037635668214115674 Centerline is valid? [True, True] Translation: X:154.74, Y:48.72, Z:-2.48 [[ 7.73215209e-01 -6.33980310e-01 1.43947062e-02 1.54739241e+02] [ 6.33906848e-01 7.73347604e-01 9.77706815e-03 4.87203267e+01] [-1.73305802e-02 1.56512502e-03 9.99848589e-01 -2.48127110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51999999999998 meters 0.034201794344167945 Centerline is valid? [True, True] Translation: X:154.77, Y:48.78, Z:-2.48 [[ 7.76833694e-01 -6.29552846e-01 1.38789760e-02 1.54772814e+02] [ 6.29483831e-01 7.76956381e-01 9.42804539e-03 4.87767091e+01] [-1.67188118e-02 1.41256764e-03 9.99859233e-01 -2.48231526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57999999999998 meters 0.032635962084287415 Centerline is valid? [True, True] Translation: X:154.81, Y:48.82, Z:-2.48 [[ 7.80036998e-01 -6.25582966e-01 1.37198249e-02 1.54812372e+02] [ 6.25514884e-01 7.80156545e-01 9.32173965e-03 4.88243256e+01] [-1.65351327e-02 1.31065285e-03 9.99862426e-01 -2.48308517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64 meters 0.030794778535922905 Centerline is valid? [True, True] Translation: X:154.85, Y:48.88, Z:-2.48 [[ 7.86054026e-01 -6.18029196e-01 1.26087740e-02 1.54848853e+02] [ 6.17970667e-01 7.86154438e-01 8.57053515e-03 4.88770852e+01] [-1.52092845e-02 1.05494880e-03 9.99883776e-01 -2.48425840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.7 meters 0.02925955756211076 Centerline is valid? [True, True] Translation: X:154.89, Y:48.92, Z:-2.49 [[ 7.91028257e-01 -6.11680074e-01 1.10356010e-02 1.54889844e+02] [ 6.11634578e-01 7.91104813e-01 7.50448170e-03 4.89230246e+01] [-1.33206590e-02 8.13498076e-04 9.99910945e-01 -2.48626160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76 meters 0.02606279567862518 Centerline is valid? [True, True] Translation: X:154.93, Y:48.97, Z:-2.49 [[ 7.97671189e-01 -6.03025658e-01 8.98498967e-03 1.54926578e+02] [ 6.02994940e-01 7.97721606e-01 6.11079841e-03 4.89742929e+01] [-1.08524886e-02 5.43495471e-04 9.99940962e-01 -2.48810126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82 meters 0.02488400574429533 Centerline is valid? [True, True] Translation: X:154.97, Y:49.02, Z:-2.49 [[ 8.02352020e-01 -5.96772221e-01 9.70320101e-03 1.54966200e+02] [ 5.96735929e-01 8.02410538e-01 6.59995087e-03 4.90204137e+01] [-1.17246181e-02 4.94764764e-04 9.99931142e-01 -2.48699684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88 meters 0.02325293499649261 Centerline is valid? [True, True] Translation: X:155.01, Y:49.06, Z:-2.49 [[ 8.04829839e-01 -5.93421068e-01 1.00182944e-02 1.55009387e+02] [ 5.93382113e-01 8.04892058e-01 6.81495707e-03 4.90619259e+01] [-1.21077847e-02 4.59795864e-04 9.99926592e-01 -2.48722660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94 meters 0.019162544449546653 Centerline is valid? [True, True] Translation: X:155.05, Y:49.11, Z:-2.49 [[ 8.09647182e-01 -5.86872033e-01 7.25650506e-03 1.55050033e+02] [ 5.86851339e-01 8.09679658e-01 4.93536685e-03 4.91080686e+01] [-8.77187331e-03 2.62583852e-04 9.99961492e-01 -2.49068919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.0 meters 0.017220955460239322 Centerline is valid? [True, True] Translation: X:155.10, Y:49.15, Z:-2.49 [[ 8.13995929e-01 -5.80842500e-01 5.71116799e-03 1.55095133e+02] [ 5.80829527e-01 8.14015949e-01 3.88523987e-03 4.91473425e+01] [-6.90569428e-03 1.54645563e-04 9.99976143e-01 -2.49301888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06 meters 0.014805998114722552 Centerline is valid? [True, True] Translation: X:155.14, Y:49.19, Z:-2.49 [[ 8.20447599e-01 -5.71682570e-01 6.69154305e-03 1.55139239e+02] [ 5.71664429e-01 8.20474882e-01 4.55504777e-03 4.91888434e+01] [-8.09428441e-03 8.81391350e-05 9.99967237e-01 -2.49261989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12 meters 0.014331449373000078 Centerline is valid? [True, True] Translation: X:155.19, Y:49.22, Z:-2.49 [[ 8.23164420e-01 -5.67744088e-01 8.18458808e-03 1.55186744e+02] [ 5.67716725e-01 8.23205106e-01 5.57433442e-03 4.92234260e+01] [-9.90239011e-03 5.79337834e-05 9.99950968e-01 -2.49242623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18 meters 0.014226926842440948 Centerline is valid? [True, True] Translation: X:155.24, Y:49.25, Z:-2.49 [[ 8.23584691e-01 -5.67127201e-01 8.65993968e-03 1.55238458e+02] [ 5.67096499e-01 8.23630218e-01 5.90130999e-03 4.92511837e+01] [-1.04793814e-02 5.07929066e-05 9.99945088e-01 -2.49353896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23999999999998 meters 0.01451209689268682 Centerline is valid? [True, True] Translation: X:155.29, Y:49.28, Z:-2.49 [[ 8.21333802e-01 -5.70386450e-01 8.37165141e-03 1.55291961e+02] [ 5.70357891e-01 8.21376461e-01 5.70840490e-03 4.92773721e+01] [-1.01322742e-02 8.63315443e-05 9.99948663e-01 -2.49479878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29999999999998 meters 0.015678840368671287 Centerline is valid? [True, True] Translation: X:155.35, Y:49.30, Z:-2.50 [[ 8.17271463e-01 -5.76212565e-01 6.81436827e-03 1.55349258e+02] [ 5.76193817e-01 8.17299862e-01 4.64982301e-03 4.92986224e+01] [-8.24866869e-03 1.26229215e-04 9.99965971e-01 -2.49701644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35999999999999 meters 0.01628048950085887 Centerline is valid? [True, True] Translation: X:155.40, Y:49.32, Z:-2.50 [[ 8.15172930e-01 -5.79188388e-01 5.82284545e-03 1.55402675e+02] [ 5.79174786e-01 8.15193715e-01 3.97165912e-03 4.93247519e+01] [-7.04708585e-03 1.34856262e-04 9.99975160e-01 -2.49869534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42 meters 0.016966373942107506 Centerline is valid? [True, True] Translation: X:155.46, Y:49.35, Z:-2.50 [[ 8.14126563e-01 -5.80659405e-01 5.70911869e-03 1.55457298e+02] [ 5.80646341e-01 8.14146569e-01 3.89767743e-03 4.93469765e+01] [-6.91128245e-03 1.41776141e-04 9.99976107e-01 -2.49924619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48 meters 0.016689942958634258 Centerline is valid? [True, True] Translation: X:155.51, Y:49.37, Z:-2.50 [[ 8.13973720e-01 -5.80870458e-01 6.02445192e-03 1.55509197e+02] [ 5.80855923e-01 8.13996000e-01 4.11196863e-03 4.93743613e+01] [-7.29240086e-03 1.52304180e-04 9.99973398e-01 -2.49899988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54 meters 0.01712797805117618 Centerline is valid? [True, True] Translation: X:155.56, Y:49.40, Z:-2.50 [[ 8.13158142e-01 -5.82004212e-01 6.70327813e-03 1.55562620e+02] [ 5.81986226e-01 8.13185751e-01 4.57900225e-03 4.94004586e+01] [-8.11600886e-03 1.77762575e-04 9.99967049e-01 -2.49934373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.6 meters 0.019318166856859352 Centerline is valid? [True, True] Translation: X:155.62, Y:49.42, Z:-2.50 [[ 8.10811158e-01 -5.85269550e-01 6.69478978e-03 1.55620142e+02] [ 5.85251688e-01 8.10838770e-01 4.57721963e-03 4.94197373e+01] [-8.10730238e-03 2.06876277e-04 9.99967114e-01 -2.50184689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66 meters 0.020417970876174796 Centerline is valid? [True, True] Translation: X:155.68, Y:49.44, Z:-2.50 [[ 8.07731993e-01 -5.89501153e-01 7.57746699e-03 1.55676393e+02] [ 5.89478449e-01 8.07767486e-01 5.18140345e-03 4.94426104e+01] [-9.17527477e-03 2.81568155e-04 9.99957867e-01 -2.50128642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72 meters 0.020266907023995376 Centerline is valid? [True, True] Translation: X:155.73, Y:49.47, Z:-2.50 [[ 8.05614057e-01 -5.92374908e-01 8.82942933e-03 1.55728435e+02] [ 5.92344245e-01 8.05662358e-01 6.03828773e-03 4.94711880e+01] [-1.06904690e-02 3.65532172e-04 9.99942788e-01 -2.49995740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78 meters 0.020943721227731922 Centerline is valid? [True, True] Translation: X:155.78, Y:49.50, Z:-2.50 [[ 8.04305906e-01 -5.94145719e-01 9.10352348e-03 1.55779018e+02] [ 5.94113238e-01 8.04357323e-01 6.22553155e-03 4.95011605e+01] [-1.10213587e-02 4.01292013e-04 9.99939182e-01 -2.50084237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84 meters 0.02363769226285254 Centerline is valid? [True, True] Translation: X:155.83, Y:49.53, Z:-2.50 [[ 8.00858513e-01 -5.98793233e-01 8.50327331e-03 1.55832289e+02] [ 5.98765115e-01 8.00903538e-01 5.81883407e-03 4.95265236e+01] [-1.02945802e-02 4.31400617e-04 9.99946916e-01 -2.50185476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.9 meters 0.02484952117530039 Centerline is valid? [True, True] Translation: X:155.88, Y:49.56, Z:-2.50 [[ 7.99622922e-01 -6.00447213e-01 8.14407920e-03 1.55882761e+02] [ 6.00421510e-01 7.99664277e-01 5.57262842e-03 4.95565963e+01] [-9.85859841e-03 4.33878906e-04 9.99951309e-01 -2.50298318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95999999999998 meters 0.023080844689807707 Centerline is valid? [True, True] Translation: X:155.93, Y:49.59, Z:-2.50 [[ 7.99474140e-01 -6.00648559e-01 7.89995916e-03 1.55930759e+02] [ 6.00624361e-01 7.99513059e-01 5.40791462e-03 4.95899515e+01] [-9.56437664e-03 4.21420035e-04 9.99954172e-01 -2.50385291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01999999999998 meters 0.023191267478497396 Centerline is valid? [True, True] Translation: X:155.98, Y:49.62, Z:-2.51 [[ 7.99486590e-01 -6.00651521e-01 6.24040832e-03 1.55979443e+02] [ 6.00636411e-01 7.99510876e-01 4.27336081e-03 4.96218990e+01] [-7.55607499e-03 3.31721790e-04 9.99971397e-01 -2.50672162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07999999999998 meters 0.028353685707539263 Centerline is valid? [True, True] Translation: X:156.03, Y:49.65, Z:-2.51 [[ 7.98335137e-01 -6.02174274e-01 6.86669893e-03 1.56031670e+02] [ 6.02155998e-01 7.98364579e-01 4.70677573e-03 4.96478831e+01] [-8.31642846e-03 3.77239491e-04 9.99965347e-01 -2.50734621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14 meters 0.030086261873944954 Centerline is valid? [True, True] Translation: X:156.08, Y:49.68, Z:-2.51 [[ 7.96623587e-01 -6.04425745e-01 7.77042865e-03 1.56082720e+02] [ 6.04402434e-01 7.96661355e-01 5.32759018e-03 4.96791510e+01] [-9.41053287e-03 4.52381990e-04 9.99955618e-01 -2.50693741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.2 meters 0.03408307989170551 Centerline is valid? [True, True] Translation: X:156.13, Y:49.71, Z:-2.51 [[ 7.93551144e-01 -6.08444522e-01 8.47611977e-03 1.56133391e+02] [ 6.08416978e-01 7.93596225e-01 5.81487644e-03 4.97077838e+01] [-1.02646464e-02 5.42613316e-04 9.99947170e-01 -2.50771793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26 meters 0.028900739919921602 Centerline is valid? [True, True] Translation: X:156.18, Y:49.75, Z:-2.51 [[ 7.90307856e-01 -6.12640056e-01 9.25500315e-03 1.56178247e+02] [ 6.12607498e-01 7.90361776e-01 6.34951286e-03 4.97475294e+01] [-1.12047666e-02 6.51614429e-04 9.99937012e-01 -2.50840232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32 meters 0.034267538878401345 Centerline is valid? [True, True] Translation: X:156.23, Y:49.78, Z:-2.51 [[ 7.88121391e-01 -6.15457921e-01 8.73043726e-03 1.56229444e+02] [ 6.15429087e-01 7.88169477e-01 5.99285136e-03 4.97750958e+01] [-1.05694120e-02 6.49870681e-04 9.99943931e-01 -2.51070989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38 meters 0.029350499399944063 Centerline is valid? [True, True] Translation: X:156.27, Y:49.82, Z:-2.51 [[ 7.84976176e-01 -6.19488750e-01 6.78904069e-03 1.56272161e+02] [ 6.19471467e-01 7.85005343e-01 4.65978329e-03 4.98183933e+01] [-8.21611654e-03 5.47798127e-04 9.99966097e-01 -2.51380266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44 meters 0.03388215744096365 Centerline is valid? [True, True] Translation: X:156.32, Y:49.85, Z:-2.51 [[ 7.83200382e-01 -6.21729775e-01 7.01771867e-03 1.56321895e+02] [ 6.21711368e-01 7.83231602e-01 4.82014117e-03 4.98492191e+01] [-8.49332432e-03 5.87859065e-04 9.99963758e-01 -2.51446338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.5 meters 0.03380130537003544 Centerline is valid? [True, True] Translation: X:156.37, Y:49.89, Z:-2.51 [[ 7.81661867e-01 -6.23642670e-01 8.63399835e-03 1.56366803e+02] [ 6.23614907e-01 7.81709192e-01 5.93188436e-03 4.98881387e+01] [-1.04486521e-02 7.47562276e-04 9.99945132e-01 -2.51295649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56 meters 0.031096529383309604 Centerline is valid? [True, True] Translation: X:156.41, Y:49.93, Z:-2.51 [[ 7.82013442e-01 -6.23196045e-01 9.03690917e-03 1.56408821e+02] [ 6.23165603e-01 7.82065270e-01 6.20843726e-03 4.99305376e+01] [-1.09365264e-02 7.76409564e-04 9.99939893e-01 -2.51318866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62 meters 0.029859479322221123 Centerline is valid? [True, True] Translation: X:156.45, Y:49.98, Z:-2.51 [[ 7.85887446e-01 -6.18299519e-01 9.30732941e-03 1.56450121e+02] [ 6.18266844e-01 7.85942222e-01 6.39785810e-03 4.99761464e+01] [-1.12708157e-02 7.26416822e-04 9.99936218e-01 -2.51362590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68 meters 0.025774285322123103 Centerline is valid? [True, True] Translation: X:156.49, Y:50.02, Z:-2.51 [[ 7.89862438e-01 -6.13221840e-01 8.73528335e-03 1.56491159e+02] [ 6.13192711e-01 7.89910503e-01 6.00805059e-03 5.00210233e+01] [-1.05843599e-02 6.10878592e-04 9.99943797e-01 -2.51441947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73999999999998 meters 0.025153697533052 Centerline is valid? [True, True] Translation: X:156.53, Y:50.07, Z:-2.51 [[ 7.93415196e-01 -6.08599144e-01 9.97040458e-03 1.56531656e+02] [ 6.08560821e-01 7.93477593e-01 6.85838169e-03 5.00655210e+01] [-1.20852979e-02 6.26053347e-04 9.99926774e-01 -2.51369020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79999999999998 meters 0.02537908535134102 Centerline is valid? [True, True] Translation: X:156.58, Y:50.11, Z:-2.51 [[ 7.94543231e-01 -6.07101531e-01 1.13483322e-02 1.56576039e+02] [ 6.07051719e-01 7.94623974e-01 7.80708950e-03 5.01060306e+01] [-1.37573528e-02 6.85954445e-04 9.99905128e-01 -2.51303046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85999999999999 meters 0.025081043844633406 Centerline is valid? [True, True] Translation: X:156.62, Y:50.15, Z:-2.51 [[ 7.97053528e-01 -6.03807622e-01 1.10466807e-02 1.56617300e+02] [ 6.03760054e-01 7.97129841e-01 7.60347874e-03 5.01489132e+01] [-1.33966773e-02 6.09164993e-04 9.99910075e-01 -2.51498813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92 meters 0.023804248661400268 Centerline is valid? [True, True] Translation: X:156.66, Y:50.19, Z:-2.52 [[ 7.98815580e-01 -6.01489417e-01 1.02054353e-02 1.56660984e+02] [ 6.01448626e-01 7.98880595e-01 7.02467904e-03 5.01903113e+01] [-1.23781943e-02 5.26621980e-04 9.99923249e-01 -2.51721666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98 meters 0.02361134407280452 Centerline is valid? [True, True] Translation: X:156.70, Y:50.23, Z:-2.52 [[ 8.02193954e-01 -5.97001926e-01 8.57679021e-03 1.56702811e+02] [ 5.96972829e-01 8.02239712e-01 5.90648899e-03 5.02319914e+01] [-1.04068270e-02 3.81960965e-04 9.99945775e-01 -2.52048563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04 meters 0.021502862221031944 Centerline is valid? [True, True] Translation: X:156.75, Y:50.27, Z:-2.52 [[ 8.05445163e-01 -5.92622539e-01 7.52436197e-03 1.56746277e+02] [ 5.92599947e-01 8.05480258e-01 5.18241716e-03 5.02728152e+01] [-9.13194223e-03 2.84783666e-04 9.99958262e-01 -2.52255354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.1 meters 0.017352003387988035 Centerline is valid? [True, True] Translation: X:156.79, Y:50.32, Z:-2.52 [[ 8.10355867e-01 -5.85886971e-01 7.73471006e-03 1.56786979e+02] [ 5.85862783e-01 8.10392751e-01 5.32802846e-03 5.03197835e+01] [-9.38977542e-03 2.13879636e-04 9.99955892e-01 -2.52207418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16 meters 0.015991270973697676 Centerline is valid? [True, True] Translation: X:156.83, Y:50.36, Z:-2.52 [[ 8.12640224e-01 -5.82713268e-01 7.81749004e-03 1.56832547e+02] [ 5.82688407e-01 8.12677805e-01 5.38561403e-03 5.03578372e+01] [-9.49136940e-03 1.78594226e-04 9.99954940e-01 -2.52258305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22 meters 0.016105490899624455 Centerline is valid? [True, True] Translation: X:156.88, Y:50.39, Z:-2.52 [[ 8.13738167e-01 -5.81169510e-01 8.49682425e-03 1.56880583e+02] [ 5.81140056e-01 8.13782508e-01 5.85361050e-03 5.03909457e+01] [-1.03165069e-02 1.74538641e-04 9.99946768e-01 -2.52332048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28 meters 0.01535524204043291 Centerline is valid? [True, True] Translation: X:156.93, Y:50.42, Z:-2.52 [[ 8.14056226e-01 -5.80726207e-01 8.33859908e-03 1.56928720e+02] [ 5.80697787e-01 8.14098916e-01 5.74757356e-03 5.04240814e+01] [-1.01262111e-02 1.63357993e-04 9.99948715e-01 -2.52388465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34 meters 0.015401548111048909 Centerline is valid? [True, True] Translation: X:156.98, Y:50.46, Z:-2.52 [[ 8.13617368e-01 -5.81341591e-01 8.29052919e-03 1.56978058e+02] [ 5.81313500e-01 8.13659589e-01 5.71730052e-03 5.04551092e+01] [-1.00693732e-02 1.67701544e-04 9.99949289e-01 -2.52458526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.4 meters 0.015465428824922692 Centerline is valid? [True, True] Translation: X:157.03, Y:50.49, Z:-2.53 [[ 8.13357236e-01 -5.81705969e-01 8.25663638e-03 1.57027190e+02] [ 5.81678092e-01 8.13399125e-01 5.69741893e-03 5.04856870e+01] [-1.00301634e-02 1.68667576e-04 9.99949682e-01 -2.52539871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.45999999999998 meters 0.015483669127619485 Centerline is valid? [True, True] Translation: X:157.08, Y:50.51, Z:-2.53 [[ 8.14109800e-01 -5.80650367e-01 8.38957353e-03 1.57078219e+02] [ 5.80621479e-01 8.14153012e-01 5.79399891e-03 5.05143487e+01] [-1.01946842e-02 1.54215300e-04 9.99948021e-01 -2.52568994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51999999999998 meters 0.014940464436442667 Centerline is valid? [True, True] Translation: X:157.13, Y:50.54, Z:-2.53 [[ 8.15546652e-01 -5.78638482e-01 7.82086297e-03 1.57128609e+02] [ 5.78613287e-01 8.15584142e-01 5.40105269e-03 5.05442803e+01] [-9.50382874e-03 1.20444786e-04 9.99954830e-01 -2.52714140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57999999999998 meters 0.01472862350770517 Centerline is valid? [True, True] Translation: X:157.18, Y:50.57, Z:-2.53 [[ 8.15925430e-01 -5.78100183e-01 8.11614888e-03 1.57179554e+02] [ 5.78072991e-01 8.15965787e-01 5.60814581e-03 5.05740871e+01] [-9.86456992e-03 1.15897682e-04 9.99951337e-01 -2.52858308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64 meters 0.014745749593532203 Centerline is valid? [True, True] Translation: X:157.23, Y:50.60, Z:-2.53 [[ 8.15642388e-01 -5.78489448e-01 8.80078630e-03 1.57232562e+02] [ 5.78457461e-01 8.15689857e-01 6.08469408e-03 5.05996885e+01] [-1.06986434e-02 1.27946095e-04 9.99942760e-01 -2.52984211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.7 meters 0.014707149060851299 Centerline is valid? [True, True] Translation: X:157.28, Y:50.63, Z:-2.53 [[ 8.15261896e-01 -5.79013619e-01 9.55350610e-03 1.57282216e+02] [ 5.78975909e-01 8.15317858e-01 6.60965690e-03 5.06301556e+01] [-1.16162255e-02 1.42648464e-04 9.99932519e-01 -2.53046404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76 meters 0.014980067585104326 Centerline is valid? [True, True] Translation: X:157.33, Y:50.66, Z:-2.53 [[ 8.13932482e-01 -5.80871186e-01 1.01282008e-02 1.57334977e+02] [ 5.80828888e-01 8.13995476e-01 7.01202744e-03 5.06575331e+01] [-1.23173944e-02 1.75434731e-04 9.99924123e-01 -2.53116313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82 meters 0.016139341397595545 Centerline is valid? [True, True] Translation: X:157.39, Y:50.68, Z:-2.53 [[ 8.09870858e-01 -5.86508029e-01 1.08409069e-02 1.57392445e+02] [ 5.86460007e-01 8.09943366e-01 7.51028902e-03 5.06788862e+01] [-1.31853654e-02 2.75394106e-04 9.99913031e-01 -2.53188186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88 meters 0.01785890751793661 Centerline is valid? [True, True] Translation: X:157.45, Y:50.70, Z:-2.53 [[ 8.07363319e-01 -5.89936002e-01 1.18314850e-02 1.57446940e+02] [ 5.89879154e-01 8.07449926e-01 8.19757350e-03 5.07030930e+01] [-1.43893754e-02 3.60726187e-04 9.99896403e-01 -2.53160139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94 meters 0.018092932268824427 Centerline is valid? [True, True] Translation: X:157.50, Y:50.73, Z:-2.53 [[ 8.05497232e-01 -5.92466837e-01 1.25402097e-02 1.57500714e+02] [ 5.92403263e-01 8.05594726e-01 8.68971060e-03 5.07291233e+01] [-1.52506922e-02 4.29323311e-04 9.99883609e-01 -2.53153258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.0 meters 0.018519689400140222 Centerline is valid? [True, True] Translation: X:157.55, Y:50.76, Z:-2.53 [[ 8.05433944e-01 -5.92549838e-01 1.26827082e-02 1.57551327e+02] [ 5.92484749e-01 8.05533676e-01 8.79314403e-03 5.07566303e+01] [-1.54267246e-02 4.32014502e-04 9.99880908e-01 -2.53240205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06 meters 0.01894826547429384 Centerline is valid? [True, True] Translation: X:157.60, Y:50.78, Z:-2.53 [[ 8.06390884e-01 -5.91249665e-01 1.25529190e-02 1.57603278e+02] [ 5.91185691e-01 8.06488483e-01 8.70665397e-03 5.07834342e+01] [-1.52715909e-02 4.00139701e-04 9.99883302e-01 -2.53392530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12 meters 0.01664712911322418 Centerline is valid? [True, True] Translation: X:157.65, Y:50.82, Z:-2.54 [[ 8.08111487e-01 -5.88934191e-01 1.05992285e-02 1.57651028e+02] [ 5.88888365e-01 8.08180938e-01 7.35286849e-03 5.08173626e+01] [-1.28964501e-02 2.99824831e-04 9.99916792e-01 -2.53656835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18 meters 0.015832480271340706 Centerline is valid? [True, True] Translation: X:157.70, Y:50.85, Z:-2.54 [[ 8.11546641e-01 -5.84195382e-01 1.03829341e-02 1.57700414e+02] [ 5.84150964e-01 8.11613029e-01 7.20713445e-03 5.08487192e+01] [-1.26372992e-02 2.16275205e-04 9.99920123e-01 -2.53806977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23999999999998 meters 0.015315706935801678 Centerline is valid? [True, True] Translation: X:157.75, Y:50.88, Z:-2.54 [[ 8.13633607e-01 -5.81270039e-01 1.12025152e-02 1.57749757e+02] [ 5.81218041e-01 8.13710703e-01 7.77691900e-03 5.08809320e+01] [-1.36360966e-02 1.83541304e-04 9.99907007e-01 -2.53797034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29999999999998 meters 0.014466841259191943 Centerline is valid? [True, True] Translation: X:157.80, Y:50.91, Z:-2.54 [[ 8.16560283e-01 -5.77141956e-01 1.16819238e-02 1.57800180e+02] [ 5.77084926e-01 8.16643833e-01 8.11412121e-03 5.09117529e+01] [-1.42229708e-02 1.15793043e-04 9.99898842e-01 -2.53889596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35999999999999 meters 0.013997881244482714 Centerline is valid? [True, True] Translation: X:157.85, Y:50.94, Z:-2.54 [[ 8.18627851e-01 -5.74210717e-01 1.14233933e-02 1.57850021e+02] [ 5.74155841e-01 8.18707548e-01 7.93859313e-03 5.09439073e+01] [-1.39108436e-02 6.00545592e-05 9.99903238e-01 -2.54111048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42 meters 0.013719840925500975 Centerline is valid? [True, True] Translation: X:157.90, Y:50.97, Z:-2.54 [[ 8.21480671e-01 -5.70120855e-01 1.14768685e-02 1.57900236e+02] [ 5.70064998e-01 8.21560838e-01 7.98040841e-03 5.09721785e+01] [-1.39787429e-02 -1.31902596e-05 9.99902293e-01 -2.54304544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48 meters 0.013744670791126437 Centerline is valid? [True, True] Translation: X:157.95, Y:51.00, Z:-2.54 [[ 8.22287378e-01 -5.68943539e-01 1.21127460e-02 1.57950702e+02] [ 5.68881169e-01 8.22376586e-01 8.42421412e-03 5.10014590e+01] [-1.47541409e-02 -3.64118443e-05 9.99891151e-01 -2.54342917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54 meters 0.013621078445807755 Centerline is valid? [True, True] Translation: X:158.00, Y:51.03, Z:-2.54 [[ 8.22138815e-01 -5.69151124e-01 1.24405372e-02 1.58003954e+02] [ 5.69085272e-01 8.22232933e-01 8.65775846e-03 5.10265880e+01] [-1.51565924e-02 -3.81527775e-05 9.99885132e-01 -2.54454976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.6 meters 0.016968380326118297 Centerline is valid? [True, True] Translation: X:158.06, Y:51.05, Z:-2.55 [[ 8.21020840e-01 -5.70807961e-01 1.01514779e-02 1.58055688e+02] [ 5.70764198e-01 8.21083596e-01 7.06818768e-03 5.10536191e+01] [-1.23697898e-02 -9.02925576e-06 9.99923491e-01 -2.54946264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66 meters 0.013453952510147943 Centerline is valid? [True, True] Translation: X:158.11, Y:51.08, Z:-2.55 [[ 8.20164311e-01 -5.72001295e-01 1.20425259e-02 1.58108060e+02] [ 5.71939744e-01 8.20252716e-01 8.39112146e-03 5.10801858e+01] [-1.46776469e-02 5.50085039e-06 9.99892278e-01 -2.54744337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72 meters 0.013551556096925127 Centerline is valid? [True, True] Translation: X:158.16, Y:51.10, Z:-2.55 [[ 8.17831135e-01 -5.75343482e-01 1.14940143e-02 1.58162203e+02] [ 5.75287673e-01 8.17911899e-01 8.01368026e-03 5.11035857e+01] [-1.40117097e-02 5.85274935e-05 9.99901829e-01 -2.54988253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78 meters 0.013798878511186892 Centerline is valid? [True, True] Translation: X:158.22, Y:51.13, Z:-2.55 [[ 8.15394133e-01 -5.78812634e-01 1.04087558e-02 1.58215460e+02] [ 5.78767089e-01 8.15460559e-01 7.26171582e-03 5.11289588e+01] [-1.26911027e-02 1.03084844e-04 9.99919459e-01 -2.55189666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84 meters 0.01511396543962038 Centerline is valid? [True, True] Translation: X:158.27, Y:51.15, Z:-2.55 [[ 8.09263317e-01 -5.87378796e-01 8.89007531e-03 1.58272989e+02] [ 5.87346072e-01 8.09312121e-01 6.20334820e-03 5.11500238e+01] [-1.08385609e-02 2.01408672e-04 9.99941241e-01 -2.55334377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.9 meters 0.016954697595085323 Centerline is valid? [True, True] Translation: X:158.33, Y:51.18, Z:-2.55 [[ 8.03549629e-01 -5.95154648e-01 9.94683988e-03 1.58327962e+02] [ 5.95114268e-01 8.03611118e-01 6.94118337e-03 5.11757849e+01] [-1.21244687e-02 3.41921008e-04 9.99926437e-01 -2.55246751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95999999999998 meters 0.020902444008768995 Centerline is valid? [True, True] Translation: X:158.39, Y:51.20, Z:-2.55 [[ 7.93050160e-01 -6.09037821e-01 1.20156336e-02 1.58385826e+02] [ 6.08980405e-01 7.93140902e-01 8.38903991e-03 5.11964255e+01] [-1.46393330e-02 6.64355947e-04 9.99892619e-01 -2.55062627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01999999999998 meters 0.024429666457947658 Centerline is valid? [True, True] Translation: X:158.44, Y:51.22, Z:-2.55 [[ 7.85651091e-01 -6.18529863e-01 1.31594762e-02 1.58440447e+02] [ 6.18462274e-01 7.85760756e-01 9.18967111e-03 5.12225279e+01] [-1.60242860e-02 9.18764439e-04 9.99871181e-01 -2.55064424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07999999999998 meters 0.028093254196957337 Centerline is valid? [True, True] Translation: X:158.49, Y:51.25, Z:-2.55 [[ 7.77855185e-01 -6.28308607e-01 1.30233023e-02 1.58493239e+02] [ 6.28243692e-01 7.77963415e-01 9.09879186e-03 5.12503101e+01] [-1.58485020e-02 1.10426513e-03 9.99873795e-01 -2.55200351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14 meters 0.028676669448264105 Centerline is valid? [True, True] Translation: X:158.54, Y:51.29, Z:-2.55 [[ 7.75457375e-01 -6.31275332e-01 1.25425103e-02 1.58540778e+02] [ 6.31215481e-01 7.75557992e-01 8.76449469e-03 5.12857169e+01] [-1.52602534e-02 1.12053461e-03 9.99882928e-01 -2.55352618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.2 meters 0.02723379169875005 Centerline is valid? [True, True] Translation: X:158.59, Y:51.33, Z:-2.55 [[ 7.75047922e-01 -6.31768093e-01 1.30305818e-02 1.58585482e+02] [ 6.31703487e-01 7.75156569e-01 9.11027227e-03 5.13250992e+01] [-1.58563204e-02 1.17056639e-03 9.99873595e-01 -2.55391755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26 meters 0.02781587583148027 Centerline is valid? [True, True] Translation: X:158.63, Y:51.37, Z:-2.56 [[ 7.76147654e-01 -6.30410898e-01 1.33010810e-02 1.58627565e+02] [ 6.30343305e-01 7.76260747e-01 9.30428702e-03 5.13677779e+01] [-1.61906310e-02 1.16274681e-03 9.99868247e-01 -2.55523993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32 meters 0.02893697643637094 Centerline is valid? [True, True] Translation: X:158.67, Y:51.41, Z:-2.56 [[ 7.77393988e-01 -6.28902386e-01 1.18480087e-02 1.58668851e+02] [ 6.28848566e-01 7.77483617e-01 8.28891001e-03 5.14104805e+01] [-1.44245479e-02 1.00685447e-03 9.99895454e-01 -2.55796635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38 meters 0.03003052556767522 Centerline is valid? [True, True] Translation: X:158.71, Y:51.45, Z:-2.56 [[ 7.77259995e-01 -6.29086858e-01 1.07992824e-02 1.58711850e+02] [ 6.29042157e-01 7.77334469e-01 7.55564112e-03 5.14503712e+01] [-1.31478090e-02 9.20506329e-04 9.99913140e-01 -2.56085337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44 meters 0.03151370002319464 Centerline is valid? [True, True] Translation: X:158.75, Y:51.49, Z:-2.56 [[ 7.76540415e-01 -6.30003280e-01 8.99173679e-03 1.58753574e+02] [ 6.29972309e-01 7.76592084e-01 6.29491522e-03 5.14927390e+01] [-1.09487288e-02 7.76289111e-04 9.99939760e-01 -2.56356176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.5 meters 0.032938368852694175 Centerline is valid? [True, True] Translation: X:158.80, Y:51.53, Z:-2.57 [[ 7.76195612e-01 -6.30441214e-01 8.01547920e-03 1.58797807e+02] [ 6.30416629e-01 7.76236683e-01 5.61120341e-03 5.15326345e+01] [-9.75944288e-03 6.97699910e-04 9.99952132e-01 -2.56519439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56 meters 0.026621096557150038 Centerline is valid? [True, True] Translation: X:158.84, Y:51.58, Z:-2.56 [[ 7.77233280e-01 -6.29161874e-01 7.98526603e-03 1.58835827e+02] [ 6.29137368e-01 7.77274005e-01 5.59398496e-03 5.15813742e+01] [-9.72626177e-03 6.75997977e-04 9.99952470e-01 -2.56483959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62 meters 0.029093533217077746 Centerline is valid? [True, True] Translation: X:158.88, Y:51.62, Z:-2.56 [[ 7.79727698e-01 -6.26058025e-01 8.72161909e-03 1.58880490e+02] [ 6.26028586e-01 7.79776164e-01 6.11092808e-03 5.16197825e+01] [-1.06267062e-02 6.95122984e-04 9.99943293e-01 -2.56487210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68 meters 0.03255600411833078 Centerline is valid? [True, True] Translation: X:158.92, Y:51.66, Z:-2.57 [[ 7.83577218e-01 -6.21223036e-01 9.41714791e-03 1.58924726e+02] [ 6.21188355e-01 7.83633510e-01 6.59918125e-03 5.16575679e+01] [-1.14791561e-02 6.78854540e-04 9.99933882e-01 -2.56517353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73999999999998 meters 0.021698996520783536 Centerline is valid? [True, True] Translation: X:158.96, Y:51.72, Z:-2.56 [[ 7.92647321e-01 -6.09598056e-01 1.00216952e-02 1.58955658e+02] [ 6.09557834e-01 7.92710487e-01 7.02351543e-03 5.17171401e+01] [-1.22258243e-02 5.41632146e-04 9.99925115e-01 -2.56446240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79999999999998 meters 0.018481986401126117 Centerline is valid? [True, True] Translation: X:159.00, Y:51.76, Z:-2.57 [[ 8.00113664e-01 -5.99765582e-01 9.96855231e-03 1.58995868e+02] [ 5.99724971e-01 8.00175667e-01 6.99001448e-03 5.17636585e+01] [-1.21689631e-02 3.85583651e-04 9.99925881e-01 -2.56578539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85999999999999 meters 0.015211940241312677 Centerline is valid? [True, True] Translation: X:159.03, Y:51.81, Z:-2.57 [[ 8.09062349e-01 -5.87631953e-01 1.03346035e-02 1.59032957e+02] [ 5.87587290e-01 8.09128324e-01 7.24791738e-03 5.18130586e+01] [-1.26211283e-02 2.08464612e-04 9.99920329e-01 -2.56640113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92 meters 0.0161865399850951 Centerline is valid? [True, True] Translation: X:159.08, Y:51.86, Z:-2.57 [[ 8.12961952e-01 -5.82213332e-01 1.09772891e-02 1.59075353e+02] [ 5.82162435e-01 8.13036050e-01 7.69939273e-03 5.18554297e+01] [-1.34076209e-02 1.31252006e-04 9.99910105e-01 -2.56890620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98 meters 0.013223680291750431 Centerline is valid? [True, True] Translation: X:159.12, Y:51.89, Z:-2.57 [[ 8.16983437e-01 -5.76535058e-01 1.20577751e-02 1.59118140e+02] [ 5.76473005e-01 8.17072411e-01 8.45867161e-03 5.18944357e+01] [-1.47287961e-02 4.03872434e-05 9.99891525e-01 -2.56788659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04 meters 0.013261522077915385 Centerline is valid? [True, True] Translation: X:159.16, Y:51.93, Z:-2.57 [[ 8.20406888e-01 -5.71672854e-01 1.10763988e-02 1.59163133e+02] [ 5.71620033e-01 8.20481655e-01 7.77120021e-03 5.19314033e+01] [-1.35305662e-02 -4.40547488e-05 9.99908457e-01 -2.57160004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.1 meters 0.013411949862046612 Centerline is valid? [True, True] Translation: X:159.21, Y:51.96, Z:-2.57 [[ 8.21874191e-01 -5.69576810e-01 1.02504641e-02 1.59211337e+02] [ 5.69531359e-01 8.21938107e-01 7.19583967e-03 5.19645903e+01] [-1.25238304e-02 -7.61141892e-05 9.99921571e-01 -2.57377880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16 meters 0.01355732143498354 Centerline is valid? [True, True] Translation: X:159.26, Y:52.00, Z:-2.57 [[ 8.22710625e-01 -5.68379483e-01 9.59114128e-03 1.59260629e+02] [ 5.68339564e-01 8.22766525e-01 6.73686585e-03 5.19954755e+01] [-1.17203663e-02 -9.14660665e-05 9.99931310e-01 -2.57490385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22 meters 0.013730788078237416 Centerline is valid? [True, True] Translation: X:159.31, Y:52.02, Z:-2.57 [[ 8.22991632e-01 -5.67961307e-01 1.02336868e-02 1.59312591e+02] [ 5.67915805e-01 8.23055249e-01 7.18992989e-03 5.20230459e+01] [-1.25064916e-02 -1.05379650e-04 9.99921785e-01 -2.57470609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28 meters 0.01374005986320526 Centerline is valid? [True, True] Translation: X:159.36, Y:52.05, Z:-2.58 [[ 8.22753972e-01 -5.68307517e-01 1.01226461e-02 1.59362579e+02] [ 5.68262963e-01 8.22816234e-01 7.11684450e-03 5.20512487e+01] [-1.23736338e-02 -1.03087191e-04 9.99923438e-01 -2.57532429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34 meters 0.013733915600080233 Centerline is valid? [True, True] Translation: X:159.42, Y:52.08, Z:-2.58 [[ 8.22009934e-01 -5.69403880e-01 8.88194749e-03 1.59416987e+02] [ 5.69369637e-01 8.22057915e-01 6.24512656e-03 5.20754259e+01] [-1.08574745e-02 -7.64448621e-05 9.99941053e-01 -2.57714473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.4 meters 0.013642249157958333 Centerline is valid? [True, True] Translation: X:159.47, Y:52.10, Z:-2.58 [[ 8.21370728e-01 -5.70348910e-01 7.22825857e-03 1.59468898e+02] [ 5.70326249e-01 8.21402531e-01 5.08446076e-03 5.21029721e+01] [-8.83722654e-03 -5.37616419e-05 9.99960950e-01 -2.57920215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.45999999999998 meters 0.013521234438899852 Centerline is valid? [True, True] Translation: X:159.52, Y:52.13, Z:-2.58 [[ 8.20611658e-01 -5.71438773e-01 7.36441837e-03 1.59520411e+02] [ 5.71415265e-01 8.20644702e-01 5.18350710e-03 5.21297671e+01] [-9.00562785e-03 -4.55052877e-05 9.99959447e-01 -2.57964982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51999999999998 meters 0.013323862640951067 Centerline is valid? [True, True] Translation: X:159.58, Y:52.15, Z:-2.58 [[ 8.17440500e-01 -5.75965353e-01 7.41230234e-03 1.59577422e+02] [ 5.75941691e-01 8.17474105e-01 5.22077539e-03 5.21519201e+01] [-9.06635096e-03 1.38069870e-06 9.99958900e-01 -2.57894680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57999999999998 meters 0.01372407359782069 Centerline is valid? [True, True] Translation: X:159.63, Y:52.18, Z:-2.58 [[ 8.12785014e-01 -5.82513304e-01 7.66621022e-03 1.59632916e+02] [ 5.82488257e-01 8.12821164e-01 5.40236365e-03 5.21759574e+01] [-9.37820662e-03 7.45172094e-05 9.99956021e-01 -2.57883415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64 meters 0.01683876474297241 Centerline is valid? [True, True] Translation: X:159.69, Y:52.19, Z:-2.58 [[ 8.02678756e-01 -5.96349622e-01 8.59895897e-03 1.59693978e+02] [ 5.96318842e-01 8.02724773e-01 6.06450855e-03 5.21918089e+01] [-1.05191648e-02 2.59869075e-04 9.99944638e-01 -2.57847629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.7 meters 0.020749980456641587 Centerline is valid? [True, True] Translation: X:159.75, Y:52.21, Z:-2.58 [[ 7.95087180e-01 -6.06432380e-01 8.72606294e-03 1.59750598e+02] [ 6.06401274e-01 7.95134964e-01 6.15501280e-03 5.22127827e+01] [-1.06709968e-02 3.97723913e-04 9.99942984e-01 -2.57866824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76 meters 0.023842786504646208 Centerline is valid? [True, True] Translation: X:159.81, Y:52.24, Z:-2.58 [[ 7.86294454e-01 -6.17797153e-01 8.22861991e-03 1.59806882e+02] [ 6.17770104e-01 7.86337338e-01 5.80436490e-03 5.22363761e+01] [-1.00563912e-02 5.19455449e-04 9.99949298e-01 -2.57876315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82 meters 0.02555356501555974 Centerline is valid? [True, True] Translation: X:159.86, Y:52.27, Z:-2.58 [[ 7.83680579e-01 -6.21098040e-01 9.05397230e-03 1.59859050e+02] [ 6.21065473e-01 7.83732637e-01 6.39007595e-03 5.22664337e+01] [-1.10647572e-02 6.15331166e-04 9.99938594e-01 -2.57853945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88 meters 0.024457994313027108 Centerline is valid? [True, True] Translation: X:159.91, Y:52.30, Z:-2.58 [[ 7.83399783e-01 -6.21430401e-01 1.04420194e-02 1.59905648e+02] [ 6.21387071e-01 7.83469048e-01 7.37290213e-03 5.23003988e+01] [-1.27627445e-02 7.12605938e-04 9.99918299e-01 -2.57737906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94 meters 0.024220241648188177 Centerline is valid? [True, True] Translation: X:159.95, Y:52.34, Z:-2.58 [[ 7.84995300e-01 -6.19407105e-01 1.08267089e-02 1.59952650e+02] [ 6.19360261e-01 7.85069645e-01 7.64986308e-03 5.23362843e+01] [-1.32381000e-02 7.00526660e-04 9.99912127e-01 -2.57785642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.0 meters 0.02163479604699516 Centerline is valid? [True, True] Translation: X:160.00, Y:52.38, Z:-2.58 [[ 7.88186108e-01 -6.15343994e-01 1.06970762e-02 1.59996076e+02] [ 6.15297877e-01 7.88258447e-01 7.55925003e-03 5.23776246e+01] [-1.30835998e-02 6.23792409e-04 9.99914211e-01 -2.57909886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06 meters 0.02226858355937632 Centerline is valid? [True, True] Translation: X:160.04, Y:52.41, Z:-2.58 [[ 7.90453752e-01 -6.12433114e-01 1.04185592e-02 1.60041737e+02] [ 6.12389100e-01 7.90522212e-01 7.36359791e-03 5.24135903e+01] [-1.27458137e-02 5.59628500e-04 9.99918612e-01 -2.58076579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12 meters 0.02085700773593465 Centerline is valid? [True, True] Translation: X:160.08, Y:52.45, Z:-2.58 [[ 7.93383892e-01 -6.08657697e-01 8.82090641e-03 1.60084913e+02] [ 6.08625912e-01 7.93432814e-01 6.23450890e-03 5.24548787e+01] [-1.07934784e-02 4.22273281e-04 9.99941660e-01 -2.58355657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18 meters 0.020069281036862285 Centerline is valid? [True, True] Translation: X:160.13, Y:52.49, Z:-2.58 [[ 7.94807806e-01 -6.06789453e-01 9.33336358e-03 1.60130885e+02] [ 6.06753701e-01 7.94862495e-01 6.60004832e-03 5.24927282e+01] [-1.14235804e-02 4.17282974e-04 9.99934662e-01 -2.58413793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23999999999998 meters 0.020086132326568668 Centerline is valid? [True, True] Translation: X:160.18, Y:52.53, Z:-2.58 [[ 7.95861819e-01 -6.05403080e-01 9.54334906e-03 1.60177070e+02] [ 6.05365562e-01 7.95918933e-01 6.75187377e-03 5.25287117e+01] [-1.16833374e-02 4.03656323e-04 9.99931666e-01 -2.58490110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29999999999998 meters 0.019307635192919594 Centerline is valid? [True, True] Translation: X:160.22, Y:52.57, Z:-2.59 [[ 7.98154782e-01 -6.02391916e-01 8.53955124e-03 1.60221871e+02] [ 6.02361665e-01 7.98200399e-01 6.04536981e-03 5.25673596e+01] [-1.04579551e-02 3.18757486e-04 9.99945263e-01 -2.58802819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35999999999999 meters 0.01861767726028577 Centerline is valid? [True, True] Translation: X:160.27, Y:52.60, Z:-2.59 [[ 8.00360501e-01 -5.99475565e-01 7.21915666e-03 1.60267901e+02] [ 5.99453823e-01 8.00393023e-01 5.11111360e-03 5.26038110e+01] [-8.84215034e-03 2.36817615e-04 9.99960879e-01 -2.59082184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42 meters 0.016555526260387435 Centerline is valid? [True, True] Translation: X:160.31, Y:52.64, Z:-2.59 [[ 8.03879349e-01 -5.94751798e-01 6.94911571e-03 1.60313088e+02] [ 5.94731480e-01 8.03909365e-01 4.91937255e-03 5.26431094e+01] [-8.51226487e-03 1.78275867e-04 9.99963754e-01 -2.59167425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48 meters 0.015706951813872095 Centerline is valid? [True, True] Translation: X:160.36, Y:52.68, Z:-2.59 [[ 8.05005448e-01 -5.93221826e-01 7.35478671e-03 1.60359825e+02] [ 5.93198980e-01 8.05039028e-01 5.20899785e-03 5.26793263e+01] [-9.01098156e-03 1.69580329e-04 9.99959386e-01 -2.59218778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54 meters 0.01509881647755316 Centerline is valid? [True, True] Translation: X:160.41, Y:52.72, Z:-2.59 [[ 8.07855540e-01 -5.89331439e-01 7.60797541e-03 1.60405658e+02] [ 5.89306780e-01 8.07891353e-01 5.39260884e-03 5.27153518e+01] [-9.32445147e-03 1.26982566e-04 9.99956518e-01 -2.59296440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.6 meters 0.014626424329928693 Centerline is valid? [True, True] Translation: X:160.45, Y:52.75, Z:-2.59 [[ 8.11164121e-01 -5.84763125e-01 8.05340224e-03 1.60452297e+02] [ 5.84735259e-01 8.11204094e-01 5.70915572e-03 5.27499157e+01] [-9.87145660e-03 7.80459737e-05 9.99951273e-01 -2.59438850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66 meters 0.014151449719483145 Centerline is valid? [True, True] Translation: X:160.50, Y:52.79, Z:-2.59 [[ 8.12053641e-01 -5.83518705e-01 8.64901161e-03 1.60499699e+02] [ 5.83486490e-01 8.12099696e-01 6.13181917e-03 5.27857428e+01] [-1.06018909e-02 6.72153507e-05 9.99943796e-01 -2.59347949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72 meters 0.01429221139313819 Centerline is valid? [True, True] Translation: X:160.55, Y:52.82, Z:-2.59 [[ 8.10909924e-01 -5.85101149e-01 9.04103690e-03 1.60549738e+02] [ 5.85066009e-01 8.10960318e-01 6.41307450e-03 5.28172648e+01] [-1.10842194e-02 8.91776271e-05 9.99938564e-01 -2.59449321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78 meters 0.014912707120706805 Centerline is valid? [True, True] Translation: X:160.60, Y:52.85, Z:-2.60 [[ 8.08538207e-01 -5.88368416e-01 9.41137484e-03 1.60600288e+02] [ 5.88330508e-01 8.08592968e-01 6.68021680e-03 5.28461523e+01] [-1.15404001e-02 1.35788425e-04 9.99933398e-01 -2.59518884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84 meters 0.015927709347252 Centerline is valid? [True, True] Translation: X:160.65, Y:52.87, Z:-2.59 [[ 8.03081145e-01 -5.95777856e-01 1.04604019e-02 1.60652966e+02] [ 5.95731629e-01 8.03149223e-01 7.42648102e-03 5.28744673e+01] [-1.28257966e-02 2.67525378e-04 9.99917710e-01 -2.59481512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.9 meters 0.017384466841561093 Centerline is valid? [True, True] Translation: X:160.70, Y:52.90, Z:-2.60 [[ 7.98383939e-01 -6.02051115e-01 1.08416041e-02 1.60704656e+02] [ 6.02002019e-01 7.98457456e-01 7.69804981e-03 5.29042726e+01] [-1.32911791e-02 3.80668196e-04 9.99911596e-01 -2.59557563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95999999999998 meters 0.019316727631005746 Centerline is valid? [True, True] Translation: X:160.76, Y:52.93, Z:-2.60 [[ 7.93624157e-01 -6.08305497e-01 1.11857162e-02 1.60756326e+02] [ 6.08253838e-01 7.93702824e-01 7.94324002e-03 5.29344464e+01] [-1.37100511e-02 4.99807641e-04 9.99905888e-01 -2.59624894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01999999999998 meters 0.02161449556230809 Centerline is valid? [True, True] Translation: X:160.81, Y:52.96, Z:-2.60 [[ 7.86794973e-01 -6.17112644e-01 1.12096092e-02 1.60807996e+02] [ 6.17061633e-01 7.86874551e-01 7.96128992e-03 5.29648665e+01] [-1.37335689e-02 6.53116890e-04 9.99905477e-01 -2.59694362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07999999999998 meters 0.02336090405422299 Centerline is valid? [True, True] Translation: X:160.86, Y:53.00, Z:-2.60 [[ 7.83503133e-01 -6.21294763e-01 1.07544816e-02 1.60857644e+02] [ 6.21248157e-01 7.83576631e-01 7.64144384e-03 5.29981422e+01] [-1.31745495e-02 6.94106707e-04 9.99912971e-01 -2.59906921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14 meters 0.02555650510994941 Centerline is valid? [True, True] Translation: X:160.90, Y:53.03, Z:-2.60 [[ 7.81975775e-01 -6.23234327e-01 9.63644196e-03 1.60903789e+02] [ 6.23197043e-01 7.82034878e-01 6.84801983e-03 5.30333926e+01] [-1.18039547e-02 6.50416515e-04 9.99930119e-01 -2.60030106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.2 meters 0.026234513893437336 Centerline is valid? [True, True] Translation: X:160.95, Y:53.07, Z:-2.60 [[ 7.82723242e-01 -6.22289065e-01 1.00321927e-02 1.60948375e+02] [ 6.22248567e-01 7.82787252e-01 7.13018597e-03 5.30703985e+01] [-1.22901093e-02 6.61555256e-04 9.99924255e-01 -2.60055560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26 meters 0.02387797858816229 Centerline is valid? [True, True] Translation: X:160.99, Y:53.11, Z:-2.60 [[ 7.83990508e-01 -6.20690481e-01 1.01099234e-02 1.60990764e+02] [ 6.20649195e-01 7.84055430e-01 7.18743825e-03 5.31128239e+01] [-1.23879149e-02 6.39832470e-04 9.99923062e-01 -2.60103981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32 meters 0.0222225819986368 Centerline is valid? [True, True] Translation: X:161.03, Y:53.16, Z:-2.60 [[ 7.86067994e-01 -6.18058370e-01 1.00479189e-02 1.61031670e+02] [ 6.18017352e-01 7.86131986e-01 7.14517458e-03 5.31584488e+01] [-1.23151254e-02 5.93195203e-04 9.99923990e-01 -2.60188151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38 meters 0.022771631160450577 Centerline is valid? [True, True] Translation: X:161.07, Y:53.20, Z:-2.60 [[ 7.86996339e-01 -6.16856058e-01 1.11967081e-02 1.61074605e+02] [ 6.16804978e-01 7.87075724e-01 7.96385287e-03 5.31983163e+01] [-1.37252080e-02 6.38662253e-04 9.99905601e-01 -2.60212395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44 meters 0.022469636827234983 Centerline is valid? [True, True] Translation: X:161.12, Y:53.24, Z:-2.60 [[ 7.87355934e-01 -6.16392989e-01 1.14155996e-02 1.61117644e+02] [ 6.16339825e-01 7.87438424e-01 8.12089757e-03 5.32393870e+01] [-1.39947461e-02 6.41851793e-04 9.99901863e-01 -2.60280215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.5 meters 0.023570764952747354 Centerline is valid? [True, True] Translation: X:161.16, Y:53.28, Z:-2.60 [[ 7.87081302e-01 -6.16755434e-01 1.07591195e-02 1.61158076e+02] [ 6.16708188e-01 7.87154601e-01 7.65803017e-03 5.32815741e+01] [-1.31922221e-02 6.07744710e-04 9.99912794e-01 -2.60470095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56 meters 0.025074520422351983 Centerline is valid? [True, True] Translation: X:161.20, Y:53.32, Z:-2.61 [[ 7.86823558e-01 -6.17083073e-01 1.08245194e-02 1.61198505e+02] [ 6.17035262e-01 7.86897771e-01 7.70602007e-03 5.33238816e+01] [-1.32730447e-02 6.15832046e-04 9.99911720e-01 -2.60594985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62 meters 0.024603639180794036 Centerline is valid? [True, True] Translation: X:161.24, Y:53.37, Z:-2.61 [[ 7.86766545e-01 -6.17161985e-01 1.04637101e-02 1.61240200e+02] [ 6.17117305e-01 7.86835898e-01 7.44994596e-03 5.33653298e+01] [-1.28310462e-02 5.95968340e-04 9.99917501e-01 -2.60709385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68 meters 0.025544660372607872 Centerline is valid? [True, True] Translation: X:161.28, Y:53.41, Z:-2.61 [[ 7.87400813e-01 -6.16367778e-01 9.52482864e-03 1.61280758e+02] [ 6.16330651e-01 7.87458243e-01 6.78560791e-03 5.34086143e+01] [-1.16828349e-02 5.27450648e-04 9.99931614e-01 -2.60884539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73999999999998 meters 0.0221727343850541 Centerline is valid? [True, True] Translation: X:161.32, Y:53.45, Z:-2.61 [[ 7.87987372e-01 -6.15626784e-01 8.91988044e-03 1.61320179e+02] [ 6.15594166e-01 7.88037708e-01 6.35553253e-03 5.34540758e+01] [-1.09418382e-02 4.82946980e-04 9.99940020e-01 -2.61029499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79999999999998 meters 0.026519992363970256 Centerline is valid? [True, True] Translation: X:161.37, Y:53.49, Z:-2.61 [[ 7.88585300e-01 -6.14859039e-01 9.03259460e-03 1.61366855e+02] [ 6.14825494e-01 7.88636886e-01 6.44008335e-03 5.34885847e+01] [-1.10831807e-02 4.74914374e-04 9.99938467e-01 -2.61185150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85999999999999 meters 0.021112541677158946 Centerline is valid? [True, True] Translation: X:161.40, Y:53.54, Z:-2.61 [[ 7.89862326e-01 -6.13199551e-01 1.01890583e-02 1.61404110e+02] [ 6.13156709e-01 7.89927878e-01 7.26623196e-03 5.35376137e+01] [-1.25042714e-02 5.08166565e-04 9.99921689e-01 -2.61130551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92 meters 0.020284215225177715 Centerline is valid? [True, True] Translation: X:161.45, Y:53.58, Z:-2.61 [[ 7.91335080e-01 -6.11294959e-01 1.03568429e-02 1.61447283e+02] [ 6.11250517e-01 7.91402703e-01 7.38702456e-03 5.35785472e+01] [-1.27120843e-02 4.85013905e-04 9.99919081e-01 -2.61211749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98 meters 0.01920969362851313 Centerline is valid? [True, True] Translation: X:161.49, Y:53.62, Z:-2.61 [[ 7.93791139e-01 -6.08107491e-01 1.00452371e-02 1.61489391e+02] [ 6.08065420e-01 7.93854585e-01 7.16537619e-03 5.36222674e+01] [-1.23317764e-02 4.20349161e-04 9.99923872e-01 -2.61368550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04 meters 0.01907187768984453 Centerline is valid? [True, True] Translation: X:161.53, Y:53.66, Z:-2.61 [[ 7.94173761e-01 -6.07590478e-01 1.10384974e-02 1.61534186e+02] [ 6.07539576e-01 7.94250344e-01 7.87748254e-03 5.36609139e+01] [-1.35536138e-02 4.50234123e-04 9.99908044e-01 -2.61361523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.1 meters 0.019325619143339464 Centerline is valid? [True, True] Translation: X:161.58, Y:53.70, Z:-2.61 [[ 7.93658795e-01 -6.08230630e-01 1.26971348e-02 1.61579637e+02] [ 6.08163278e-01 7.93760180e-01 9.06663946e-03 5.36979498e+01] [-1.55930879e-02 5.26112981e-04 9.99878282e-01 -2.61285702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16 meters 0.019094736109444916 Centerline is valid? [True, True] Translation: X:161.62, Y:53.74, Z:-2.61 [[ 7.92397395e-01 -6.09863713e-01 1.31384977e-02 1.61623064e+02] [ 6.09791740e-01 7.92506103e-01 9.38675640e-03 5.37375903e+01] [-1.61369817e-02 5.73706064e-04 9.99869626e-01 -2.61398616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22 meters 0.01936329168780328 Centerline is valid? [True, True] Translation: X:161.67, Y:53.77, Z:-2.62 [[ 7.93612058e-01 -6.08323868e-01 1.10441295e-02 1.61668081e+02] [ 6.08272842e-01 7.93688771e-01 7.89210911e-03 5.37747682e+01] [-1.35665599e-02 4.54571063e-04 9.99907867e-01 -2.61807769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28 meters 0.018343765944535417 Centerline is valid? [True, True] Translation: X:161.71, Y:53.81, Z:-2.62 [[ 7.95277492e-01 -6.06156195e-01 1.04104679e-02 1.61713464e+02] [ 6.06110617e-01 7.95345532e-01 7.44341224e-03 5.38118087e+01] [-1.27917896e-02 3.90316931e-04 9.99918106e-01 -2.61967546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34 meters 0.018376608146024785 Centerline is valid? [True, True] Translation: X:161.76, Y:53.85, Z:-2.62 [[ 7.97480566e-01 -6.03255367e-01 1.03782805e-02 1.61759429e+02] [ 6.03209811e-01 7.97548021e-01 7.42146121e-03 5.38465015e+01] [-1.27542134e-02 3.41809555e-04 9.99918603e-01 -2.62077395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.4 meters 0.016474701998814362 Centerline is valid? [True, True] Translation: X:161.80, Y:53.88, Z:-2.62 [[ 8.00348031e-01 -5.99447107e-01 1.03051310e-02 1.61804677e+02] [ 5.99401857e-01 8.00414323e-01 7.37058567e-03 5.38845866e+01] [-1.26666507e-02 2.77880948e-04 9.99919736e-01 -2.62154283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45999999999998 meters 0.014949869700456262 Centerline is valid? [True, True] Translation: X:161.85, Y:53.92, Z:-2.62 [[ 8.03756084e-01 -5.94864249e-01 1.06151740e-02 1.61850371e+02] [ 5.94815821e-01 8.03826151e-01 7.59330745e-03 5.39219333e+01] [-1.30497416e-02 2.10906362e-04 9.99914826e-01 -2.62214271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51999999999998 meters 0.0138642383267674 Centerline is valid? [True, True] Translation: X:161.90, Y:53.96, Z:-2.62 [[ 8.08387006e-01 -5.88548965e-01 1.09801581e-02 1.61895219e+02] [ 5.88496548e-01 8.08461566e-01 7.85558887e-03 5.39584527e+01] [-1.35004345e-02 1.11429151e-04 9.99908859e-01 -2.62323204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57999999999998 meters 0.013421860412192286 Centerline is valid? [True, True] Translation: X:161.94, Y:54.00, Z:-2.63 [[ 8.16022054e-01 -5.77929874e-01 1.02502816e-02 1.61939939e+02] [ 5.77883332e-01 8.16086427e-01 7.33467027e-03 5.39952455e+01] [-1.26040407e-02 -6.17858222e-05 9.99920564e-01 -2.62562279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64 meters 0.01430111268773821 Centerline is valid? [True, True] Translation: X:161.99, Y:54.03, Z:-2.63 [[ 8.20391783e-01 -5.71699260e-01 1.08294950e-02 1.61987562e+02] [ 5.71646749e-01 8.20463240e-01 7.75027547e-03 5.40294827e+01] [-1.33160293e-02 -1.67616716e-04 9.99911324e-01 -2.62573180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.7 meters 0.015284650254787284 Centerline is valid? [True, True] Translation: X:162.04, Y:54.06, Z:-2.63 [[ 8.23479973e-01 -5.67211791e-01 1.23092579e-02 1.62036625e+02] [ 5.67143365e-01 8.23571920e-01 8.81457072e-03 5.40620639e+01] [-1.51372876e-02 -2.77508548e-04 9.99885386e-01 -2.62504031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76 meters 0.016179673473874157 Centerline is valid? [True, True] Translation: X:162.09, Y:54.09, Z:-2.62 [[ 8.24386575e-01 -5.65832843e-01 1.48313253e-02 1.62088846e+02] [ 5.65733170e-01 8.24519895e-01 1.06265669e-02 5.40890413e+01] [-1.82415833e-02 -3.69826429e-04 9.99833540e-01 -2.62363223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82 meters 0.015495311208139472 Centerline is valid? [True, True] Translation: X:162.14, Y:54.11, Z:-2.63 [[ 8.22962794e-01 -5.67910115e-01 1.45031332e-02 1.62143323e+02] [ 5.67815083e-01 8.23090517e-01 1.03938557e-02 5.41144205e+01] [-1.78401672e-02 -3.18658748e-04 9.99840801e-01 -2.62500108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88 meters 0.01453619139644371 Centerline is valid? [True, True] Translation: X:162.20, Y:54.14, Z:-2.63 [[ 8.21228956e-01 -5.70446318e-01 1.31909282e-02 1.62198476e+02] [ 5.70367959e-01 8.21334852e-01 9.45791793e-03 5.41383409e+01] [-1.62294035e-02 -2.43433283e-04 9.99868265e-01 -2.62782928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94 meters 0.013587683184373187 Centerline is valid? [True, True] Translation: X:162.26, Y:54.16, Z:-2.63 [[ 8.18288730e-01 -5.74713890e-01 1.03681215e-02 1.62255954e+02] [ 5.74665780e-01 8.18354402e-01 7.43731911e-03 5.41566794e+01] [-1.27591285e-02 -1.27669754e-04 9.99918591e-01 -2.63283428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.0 meters 0.013162340779299524 Centerline is valid? [True, True] Translation: X:162.31, Y:54.18, Z:-2.63 [[ 8.16087070e-01 -5.77860051e-01 8.92496899e-03 1.62311224e+02] [ 5.77824587e-01 8.16135869e-01 6.40230035e-03 5.41796387e+01] [-1.09836209e-02 -6.77680105e-05 9.99939676e-01 -2.63498040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06 meters 0.012684889788552908 Centerline is valid? [True, True] Translation: X:162.37, Y:54.20, Z:-2.63 [[ 8.13672645e-01 -5.81251889e-01 9.11416210e-03 1.62370577e+02] [ 5.81215081e-01 8.13723688e-01 6.54130817e-03 5.41976192e+01] [-1.12185573e-02 -2.51950593e-05 9.99937070e-01 -2.63379589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12 meters 0.012720569038494264 Centerline is valid? [True, True] Translation: X:162.42, Y:54.22, Z:-2.63 [[ 8.12451906e-01 -5.82946652e-01 9.75203535e-03 1.62423978e+02] [ 5.82904585e-01 8.12510432e-01 7.00306395e-03 5.42228934e+01] [-1.20060431e-02 -5.14652568e-06 9.99927925e-01 -2.63402686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18 meters 0.012646290803841446 Centerline is valid? [True, True] Translation: X:162.48, Y:54.25, Z:-2.63 [[ 8.11612469e-01 -5.84097325e-01 1.07478255e-02 1.62478113e+02] [ 5.84046259e-01 8.11683630e-01 7.72350109e-03 5.42461319e+01] [-1.32351103e-02 8.73748487e-06 9.99912412e-01 -2.63410253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23999999999998 meters 0.01269562968196448 Centerline is valid? [True, True] Translation: X:162.53, Y:54.27, Z:-2.64 [[ 8.11565273e-01 -5.84167855e-01 1.04749301e-02 1.62529256e+02] [ 5.84119292e-01 8.11632871e-01 7.53228321e-03 5.42726456e+01] [-1.29019153e-02 5.66925730e-06 9.99916767e-01 -2.63584756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29999999999998 meters 0.012711268832056909 Centerline is valid? [True, True] Translation: X:162.58, Y:54.30, Z:-2.64 [[ 8.11661447e-01 -5.84042335e-01 1.00123491e-02 1.62581119e+02] [ 5.83997941e-01 8.11723199e-01 7.20097946e-03 5.43004258e+01] [-1.23329329e-02 2.43383866e-06 9.99923946e-01 -2.63639999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35999999999999 meters 0.012728112826224863 Centerline is valid? [True, True] Translation: X:162.63, Y:54.33, Z:-2.63 [[ 8.11880947e-01 -5.83704197e-01 1.17787056e-02 1.62633310e+02] [ 5.83642644e-01 8.11966385e-01 8.47666080e-03 5.43275807e+01] [-1.45117755e-02 -7.48452421e-06 9.99894699e-01 -2.63404423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42 meters 0.012806868778404354 Centerline is valid? [True, True] Translation: X:162.68, Y:54.36, Z:-2.63 [[ 8.11324011e-01 -5.84461025e-01 1.25960179e-02 1.62683220e+02] [ 5.84390632e-01 8.11421783e-01 9.07082954e-03 5.43571374e+01] [-1.55222296e-02 1.61306763e-06 9.99879523e-01 -2.63401410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48 meters 0.012806708534601467 Centerline is valid? [True, True] Translation: X:162.73, Y:54.39, Z:-2.63 [[ 8.09936966e-01 -5.86391351e-01 1.21365325e-02 1.62734533e+02] [ 5.86326138e-01 8.10027890e-01 8.74511507e-03 5.43856710e+01] [-1.49589896e-02 3.29742611e-05 9.99888108e-01 -2.63489361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54 meters 0.013115589251667416 Centerline is valid? [True, True] Translation: X:162.79, Y:54.41, Z:-2.64 [[ 8.06665380e-01 -5.90908422e-01 1.08720449e-02 1.62788749e+02] [ 5.90856441e-01 8.06738636e-01 7.83835863e-03 5.44105596e+01] [-1.34026508e-02 1.00885212e-04 9.99910175e-01 -2.63716283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.6 meters 0.013691163229153602 Centerline is valid? [True, True] Translation: X:162.84, Y:54.44, Z:-2.64 [[ 8.04198860e-01 -5.94282862e-01 9.59547017e-03 1.62839565e+02] [ 5.94242566e-01 8.04256092e-01 6.92181198e-03 5.44391105e+01] [-1.18307296e-02 1.35523511e-04 9.99930005e-01 -2.63888357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66 meters 0.014755260231802729 Centerline is valid? [True, True] Translation: X:162.89, Y:54.47, Z:-2.64 [[ 8.00602928e-01 -5.99120552e-01 9.46133099e-03 1.62892709e+02] [ 5.99081703e-01 8.00658806e-01 6.82564552e-03 5.44663953e+01] [-1.16646825e-02 2.03478501e-04 9.99931945e-01 -2.63891990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72 meters 0.015256138680042339 Centerline is valid? [True, True] Translation: X:162.94, Y:54.50, Z:-2.64 [[ 7.98461201e-01 -6.01953703e-01 1.05569535e-02 1.62943129e+02] [ 6.01905525e-01 7.98530943e-01 7.62055709e-03 5.44975734e+01] [-1.30172766e-02 2.69569441e-04 9.99915235e-01 -2.63815430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78 meters 0.017502153532085705 Centerline is valid? [True, True] Translation: X:162.99, Y:54.53, Z:-2.64 [[ 7.94066875e-01 -6.07743349e-01 1.02869025e-02 1.62994914e+02] [ 6.07698030e-01 7.94133426e-01 7.43003092e-03 5.45263214e+01] [-1.26847250e-02 3.51388928e-04 9.99919484e-01 -2.63945402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84 meters 0.019335431845333706 Centerline is valid? [True, True] Translation: X:163.05, Y:54.56, Z:-2.64 [[ 7.90297932e-01 -6.12646601e-01 9.66026799e-03 1.63045054e+02] [ 6.12606992e-01 7.90356869e-01 6.97812541e-03 5.45578884e+01] [-1.19101840e-02 4.03149631e-04 9.99928990e-01 -2.64177189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.9 meters 0.020719388213875783 Centerline is valid? [True, True] Translation: X:163.10, Y:54.59, Z:-2.64 [[ 7.86308313e-01 -6.17775485e-01 8.52565588e-03 1.63095329e+02] [ 6.17744929e-01 7.86354418e-01 6.15890358e-03 5.45903341e+01] [-1.05090068e-02 4.23883595e-04 9.99944689e-01 -2.64379854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95999999999998 meters 0.02334182664805335 Centerline is valid? [True, True] Translation: X:163.15, Y:54.62, Z:-2.65 [[ 7.81563076e-01 -6.23790941e-01 6.63485397e-03 1.63145214e+02] [ 6.23772656e-01 7.81591139e-01 4.79224777e-03 5.46231493e+01] [-8.17510381e-03 3.93196576e-04 9.99966506e-01 -2.64531493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01999999999998 meters 0.023091447615173108 Centerline is valid? [True, True] Translation: X:163.19, Y:54.66, Z:-2.65 [[ 7.79538752e-01 -6.26320371e-01 6.49047711e-03 1.63191559e+02] [ 6.26302942e-01 7.79565665e-01 4.69031200e-03 5.46606666e+01] [-7.99739106e-03 4.08724948e-04 9.99967937e-01 -2.64549751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07999999999998 meters 0.02565603473630164 Centerline is valid? [True, True] Translation: X:163.24, Y:54.69, Z:-2.65 [[ 7.78288442e-01 -6.27867043e-01 7.07655582e-03 1.63238834e+02] [ 6.27846359e-01 7.78320476e-01 5.11715519e-03 5.46946870e+01] [-8.72072140e-03 4.60367067e-04 9.99961868e-01 -2.64577953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14 meters 0.023127787305129675 Centerline is valid? [True, True] Translation: X:163.28, Y:54.74, Z:-2.65 [[ 7.77277038e-01 -6.29119821e-01 6.97542304e-03 1.63280060e+02] [ 6.29099769e-01 7.77308197e-01 5.04459101e-03 5.47370344e+01] [-8.59570570e-03 4.67192264e-04 9.99962947e-01 -2.64617959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.2 meters 0.024314948695620724 Centerline is valid? [True, True] Translation: X:163.33, Y:54.77, Z:-2.65 [[ 7.76304953e-01 -6.30305964e-01 8.06299347e-03 1.63325537e+02] [ 6.30279232e-01 7.76346626e-01 5.83148217e-03 5.47748143e+01] [-9.93529577e-03 5.54928840e-04 9.99950490e-01 -2.64700291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26 meters 0.023129534420217382 Centerline is valid? [True, True] Translation: X:163.37, Y:54.82, Z:-2.65 [[ 7.75314658e-01 -6.31516804e-01 8.58527706e-03 1.63368291e+02] [ 6.31486532e-01 7.75361955e-01 6.21279449e-03 5.48168038e+01] [-1.05801813e-02 6.04616205e-04 9.99943846e-01 -2.64728578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32 meters 0.02495886666901212 Centerline is valid? [True, True] Translation: X:163.41, Y:54.86, Z:-2.65 [[ 7.74836665e-01 -6.32111090e-01 7.98202796e-03 1.63411452e+02] [ 6.32084919e-01 7.74877570e-01 5.77982250e-03 5.48554403e+01] [-9.83858434e-03 5.66901105e-04 9.99951439e-01 -2.64843880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38 meters 0.027431246766698475 Centerline is valid? [True, True] Translation: X:163.46, Y:54.89, Z:-2.65 [[ 7.74932870e-01 -6.31992449e-01 8.03683001e-03 1.63455253e+02] [ 6.31965892e-01 7.74974336e-01 5.82147043e-03 5.48937403e+01] [-9.90746236e-03 5.67753657e-04 9.99950759e-01 -2.64929821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44 meters 0.02588277985355161 Centerline is valid? [True, True] Translation: X:163.50, Y:54.94, Z:-2.65 [[ 7.75117067e-01 -6.31754095e-01 8.96082665e-03 1.63495757e+02] [ 6.31721057e-01 7.75168606e-01 6.49136813e-03 5.49382198e+01] [-1.10470999e-02 6.29172666e-04 9.99938781e-01 -2.64866042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.5 meters 0.026122114047736497 Centerline is valid? [True, True] Translation: X:163.53, Y:54.98, Z:-2.65 [[ 7.75986137e-01 -6.30674059e-01 9.78503661e-03 1.63534525e+02] [ 6.30634521e-01 7.76047542e-01 7.09321118e-03 5.49844572e+01] [-1.20671579e-02 6.66548332e-04 9.99926967e-01 -2.64951924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56 meters 0.02567074157743304 Centerline is valid? [True, True] Translation: X:163.58, Y:55.03, Z:-2.65 [[ 7.76032758e-01 -6.30612890e-01 1.00269916e-02 1.63576217e+02] [ 6.30571362e-01 7.76097235e-01 7.26912175e-03 5.50276625e+01] [-1.23659224e-02 6.81657160e-04 9.99923307e-01 -2.65063832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62 meters 0.027519046299734132 Centerline is valid? [True, True] Translation: X:163.62, Y:55.07, Z:-2.65 [[ 7.75689223e-01 -6.31056925e-01 8.56662170e-03 1.63615597e+02] [ 6.31026603e-01 7.75736305e-01 6.21385708e-03 5.50713336e+01] [-1.05667370e-02 5.85744213e-04 9.99943999e-01 -2.65431864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68 meters 0.028575431298519312 Centerline is valid? [True, True] Translation: X:163.66, Y:55.11, Z:-2.66 [[ 7.75218296e-01 -6.31650207e-01 7.38985646e-03 1.63658004e+02] [ 6.31627673e-01 7.75253348e-01 5.35991523e-03 5.51123912e+01] [-9.11460253e-03 5.12533489e-04 9.99958330e-01 -2.65648844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73999999999998 meters 0.02541623498644314 Centerline is valid? [True, True] Translation: X:163.70, Y:55.16, Z:-2.66 [[ 7.74628783e-01 -6.32370882e-01 7.57073248e-03 1.63697227e+02] [ 6.32347240e-01 7.74665595e-01 5.49390997e-03 5.51586127e+01] [-9.33897468e-03 5.31590995e-04 9.99956250e-01 -2.65656315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79999999999998 meters 0.024183715913174912 Centerline is valid? [True, True] Translation: X:163.74, Y:55.21, Z:-2.66 [[ 7.74703834e-01 -6.32257772e-01 9.16945884e-03 1.63735157e+02] [ 6.32223032e-01 7.74757834e-01 6.65853981e-03 5.52059180e+01] [-1.13140236e-02 6.38746749e-04 9.99935790e-01 -2.65556626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85999999999999 meters 0.02560741101187805 Centerline is valid? [True, True] Translation: X:163.78, Y:55.25, Z:-2.66 [[ 7.76261342e-01 -6.30343219e-01 9.26044246e-03 1.63777829e+02] [ 6.30307598e-01 7.76316334e-01 6.72917921e-03 5.52473193e+01] [-1.14307252e-02 6.13325558e-04 9.99934479e-01 -2.65648992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92 meters 0.02454205784653552 Centerline is valid? [True, True] Translation: X:163.82, Y:55.29, Z:-2.66 [[ 7.80645584e-01 -6.24909327e-01 8.98912841e-03 1.63816991e+02] [ 6.24875395e-01 7.80697166e-01 6.53265921e-03 5.52949612e+01] [-1.11001067e-02 5.17393605e-04 9.99938258e-01 -2.65899081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98 meters 0.022620520909310472 Centerline is valid? [True, True] Translation: X:163.86, Y:55.34, Z:-2.66 [[ 7.83793534e-01 -6.20962801e-01 8.53790797e-03 1.63858298e+02] [ 6.20931952e-01 7.83839912e-01 6.20511195e-03 5.53392531e+01] [-1.05454967e-02 4.37933231e-04 9.99944299e-01 -2.66056587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04 meters 0.02239967662615382 Centerline is valid? [True, True] Translation: X:163.90, Y:55.38, Z:-2.66 [[ 7.86041894e-01 -6.18113229e-01 8.61265024e-03 1.63901217e+02] [ 6.18081655e-01 7.86088974e-01 6.26040360e-03 5.53799311e+01] [-1.06399477e-02 4.02381615e-04 9.99943313e-01 -2.66227542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.1 meters 0.020533897054816074 Centerline is valid? [True, True] Translation: X:163.94, Y:55.42, Z:-2.66 [[ 7.85768910e-01 -6.18463583e-01 8.36754101e-03 1.63940940e+02] [ 6.18433806e-01 7.85813362e-01 6.08180182e-03 5.54247895e+01] [-1.03366985e-02 3.95879443e-04 9.99946497e-01 -2.66333108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16 meters 0.02205505362512977 Centerline is valid? [True, True] Translation: X:163.99, Y:55.46, Z:-2.66 [[ 7.83497514e-01 -6.21340967e-01 8.18827219e-03 1.63987607e+02] [ 6.21312565e-01 7.83540187e-01 5.95581469e-03 5.54620325e+01] [-1.01164320e-02 4.21110389e-04 9.99948739e-01 -2.66445265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22 meters 0.023201095457693378 Centerline is valid? [True, True] Translation: X:164.03, Y:55.50, Z:-2.66 [[ 7.80390404e-01 -6.25236750e-01 8.35606724e-03 1.64034038e+02] [ 6.25207389e-01 7.80434991e-01 6.07831848e-03 5.55000821e+01] [-1.03217553e-02 4.80813569e-04 9.99946614e-01 -2.66483211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28 meters 0.02812391010270268 Centerline is valid? [True, True] Translation: X:164.08, Y:55.54, Z:-2.67 [[ 7.77285256e-01 -6.29083663e-01 9.02088116e-03 1.64080822e+02] [ 6.29049695e-01 7.77337389e-01 6.56239657e-03 5.55358144e+01] [-1.11405647e-02 5.73728451e-04 9.99937777e-01 -2.66549577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34 meters 0.025689617851161462 Centerline is valid? [True, True] Translation: X:164.12, Y:55.58, Z:-2.67 [[ 7.76591002e-01 -6.29925147e-01 1.00361729e-02 1.64122783e+02] [ 6.29883167e-01 7.76655577e-01 7.30140125e-03 5.55775147e+01] [-1.23939859e-02 6.51413864e-04 9.99922979e-01 -2.66572586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.4 meters 0.0263587260848259 Centerline is valid? [True, True] Translation: X:164.16, Y:55.62, Z:-2.67 [[ 7.78144872e-01 -6.28008573e-01 9.78721790e-03 1.64164519e+02] [ 6.27968445e-01 7.78206187e-01 7.12477170e-03 5.56195243e+01] [-1.20908912e-02 6.01959445e-04 9.99926721e-01 -2.66645277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.45999999999998 meters 0.027134190363433026 Centerline is valid? [True, True] Translation: X:164.21, Y:55.66, Z:-2.67 [[ 7.79868064e-01 -6.25862585e-01 1.00909715e-02 1.64207639e+02] [ 6.25819737e-01 7.79933127e-01 7.34678515e-03 5.56604342e+01] [-1.24683609e-02 5.85605991e-04 9.99922095e-01 -2.66724680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51999999999998 meters 0.0235306510479525 Centerline is valid? [True, True] Translation: X:164.25, Y:55.70, Z:-2.67 [[ 7.80470319e-01 -6.25105993e-01 1.04200600e-02 1.64248296e+02] [ 6.25060235e-01 7.80539651e-01 7.58659408e-03 5.57039317e+01] [-1.28756954e-02 5.92053653e-04 9.99916930e-01 -2.66785416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57999999999998 meters 0.02427477786513912 Centerline is valid? [True, True] Translation: X:164.29, Y:55.74, Z:-2.67 [[ 7.80464666e-01 -6.25122947e-01 9.80848293e-03 1.64292526e+02] [ 6.25082362e-01 7.80526100e-01 7.14476776e-03 5.57421779e+01] [-1.21221352e-02 5.54870886e-04 9.99926370e-01 -2.67012863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64 meters 0.025740790745456068 Centerline is valid? [True, True] Translation: X:164.34, Y:55.78, Z:-2.67 [[ 7.77850294e-01 -6.28387753e-01 8.81775068e-03 1.64338274e+02] [ 6.28355109e-01 7.77900083e-01 6.42783537e-03 5.57813457e+01] [-1.08985020e-02 5.40785061e-04 9.99940463e-01 -2.67273694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.7 meters 0.027176721645234696 Centerline is valid? [True, True] Translation: X:164.39, Y:55.82, Z:-2.67 [[ 7.74654150e-01 -6.32322042e-01 8.93214416e-03 1.64386360e+02] [ 6.32288802e-01 7.74705409e-01 6.51148298e-03 5.58176001e+01] [-1.10371346e-02 6.03547419e-04 9.99938907e-01 -2.67393386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76 meters 0.029127845180766176 Centerline is valid? [True, True] Translation: X:164.43, Y:55.85, Z:-2.67 [[ 7.70881776e-01 -6.36920711e-01 8.56122558e-03 1.64433786e+02] [ 6.36890453e-01 7.70929048e-01 6.24137806e-03 5.58538466e+01] [-1.05753604e-02 6.41198230e-04 9.99943874e-01 -2.67480854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82 meters 0.030809548952803283 Centerline is valid? [True, True] Translation: X:164.48, Y:55.89, Z:-2.68 [[ 7.66419541e-01 -6.42283100e-01 8.57363949e-03 1.64480196e+02] [ 6.42253076e-01 7.66467160e-01 6.25125028e-03 5.58917738e+01] [-1.05864855e-02 7.15365969e-04 9.99943706e-01 -2.67533255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88 meters 0.03355604326264181 Centerline is valid? [True, True] Translation: X:164.53, Y:55.93, Z:-2.68 [[ 7.65080454e-01 -6.43871139e-01 9.04740668e-03 1.64527185e+02] [ 6.43837813e-01 7.65133552e-01 6.59686158e-03 5.59266465e+01] [-1.11700032e-02 7.77932678e-04 9.99937311e-01 -2.67602098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94 meters 0.03407935059531845 Centerline is valid? [True, True] Translation: X:164.57, Y:55.97, Z:-2.68 [[ 7.65357122e-01 -6.43534626e-01 9.57394931e-03 1.64572085e+02] [ 6.43497282e-01 7.65416564e-01 6.98086061e-03 5.59653252e+01] [-1.18204849e-02 8.17958970e-04 9.99929801e-01 -2.67646436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.0 meters 0.031505655358428225 Centerline is valid? [True, True] Translation: X:164.61, Y:56.01, Z:-2.68 [[ 7.69265834e-01 -6.38862231e-01 9.22644245e-03 1.64614143e+02] [ 6.38827162e-01 7.69320829e-01 6.73196685e-03 5.60098245e+01] [-1.13988937e-02 7.15429958e-04 9.99934775e-01 -2.67797321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06 meters 0.02818298372053834 Centerline is valid? [True, True] Translation: X:164.66, Y:56.05, Z:-2.68 [[ 7.72726528e-01 -6.34682761e-01 8.45614436e-03 1.64656452e+02] [ 6.34653052e-01 7.72772563e-01 6.17006850e-03 5.60538807e+01] [-1.04507125e-02 5.98942221e-04 9.99945210e-01 -2.67977672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12 meters 0.024250989918788383 Centerline is valid? [True, True] Translation: X:164.70, Y:56.10, Z:-2.68 [[ 7.78835992e-01 -6.27176577e-01 8.00243405e-03 1.64695972e+02] [ 6.27149569e-01 7.78876961e-01 5.83944160e-03 5.61011629e+01] [-9.89527250e-03 4.70755766e-04 9.99950930e-01 -2.68113404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18 meters 0.023677571905993962 Centerline is valid? [True, True] Translation: X:164.74, Y:56.14, Z:-2.68 [[ 7.82137165e-01 -6.23046751e-01 8.61395791e-03 1.64739309e+02] [ 6.23015204e-01 7.82184469e-01 6.28586603e-03 5.61417930e+01] [-1.06540925e-02 4.50217308e-04 9.99943142e-01 -2.68196154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23999999999998 meters 0.022134901513106188 Centerline is valid? [True, True] Translation: X:164.78, Y:56.18, Z:-2.68 [[ 7.83162652e-01 -6.21754040e-01 8.84166503e-03 1.64783790e+02] [ 6.21720727e-01 7.83212434e-01 6.45144639e-03 5.61800933e+01] [-1.09361148e-02 4.44514551e-04 9.99940100e-01 -2.68245210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29999999999998 meters 0.022729884879226277 Centerline is valid? [True, True] Translation: X:164.83, Y:56.22, Z:-2.68 [[ 7.84894828e-01 -6.19569844e-01 8.56256033e-03 1.64827431e+02] [ 6.19538428e-01 7.84941431e-01 6.25192343e-03 5.62189110e+01] [-1.05946116e-02 3.97732793e-04 9.99943796e-01 -2.68437431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35999999999999 meters 0.0238003277033146 Centerline is valid? [True, True] Translation: X:164.87, Y:56.26, Z:-2.69 [[ 7.85866413e-01 -6.18329673e-01 9.07727397e-03 1.64871746e+02] [ 6.18294280e-01 7.85918732e-01 6.62806293e-03 5.62588299e+01] [-1.12323276e-02 4.03654528e-04 9.99936834e-01 -2.68619953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42 meters 0.020322046937131053 Centerline is valid? [True, True] Translation: X:164.91, Y:56.30, Z:-2.68 [[ 7.87804545e-01 -6.15835868e-01 1.04967487e-02 1.64914883e+02] [ 6.15788255e-01 7.87874359e-01 7.66940742e-03 5.62995122e+01] [-1.29932153e-02 4.21780544e-04 9.99915496e-01 -2.68485017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48 meters 0.019939546140923064 Centerline is valid? [True, True] Translation: X:164.96, Y:56.34, Z:-2.69 [[ 7.92546348e-01 -6.09724407e-01 1.03166615e-02 1.64958997e+02] [ 6.09677877e-01 7.92613429e-01 7.53907335e-03 5.63392597e+01] [-1.27738815e-02 3.14775214e-04 9.99918361e-01 -2.68694538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54 meters 0.018198130369266523 Centerline is valid? [True, True] Translation: X:165.00, Y:56.38, Z:-2.69 [[ 7.94223052e-01 -6.07539836e-01 1.02513968e-02 1.65003050e+02] [ 6.07493712e-01 7.94289160e-01 7.49130662e-03 5.63785929e+01] [-1.26938406e-02 2.77890714e-04 9.99919391e-01 -2.68770791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.6 meters 0.01804288767915403 Centerline is valid? [True, True] Translation: X:165.05, Y:56.42, Z:-2.69 [[ 7.95068280e-01 -6.06437666e-01 9.98931967e-03 1.65049264e+02] [ 6.06393737e-01 7.95130992e-01 7.30354302e-03 5.64155939e+01] [-1.23719612e-02 2.50645491e-04 9.99923433e-01 -2.68836193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66 meters 0.017938155840365066 Centerline is valid? [True, True] Translation: X:165.10, Y:56.45, Z:-2.69 [[ 7.95294440e-01 -6.06141692e-01 9.95003336e-03 1.65097219e+02] [ 6.06098036e-01 7.95356644e-01 7.27872725e-03 5.64499004e+01] [-1.23257652e-02 2.41964366e-04 9.99924006e-01 -2.68885574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72 meters 0.01785506193286541 Centerline is valid? [True, True] Translation: X:165.15, Y:56.48, Z:-2.69 [[ 7.96404930e-01 -6.04682933e-01 9.88623599e-03 1.65145426e+02] [ 6.04639676e-01 7.96466261e-01 7.23585899e-03 5.64834128e+01] [-1.22494539e-02 2.14936747e-04 9.99924950e-01 -2.69042378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78 meters 0.02026814894370796 Centerline is valid? [True, True] Translation: X:165.19, Y:56.52, Z:-2.69 [[ 7.98438528e-01 -6.02016316e-01 8.50136910e-03 1.65193157e+02] [ 6.01984149e-01 7.98483772e-01 6.22496538e-03 5.65176085e+01] [-1.05357360e-02 1.47437252e-04 9.99944487e-01 -2.69328626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84 meters 0.0158500468744071 Centerline is valid? [True, True] Translation: X:165.24, Y:56.55, Z:-2.69 [[ 8.01997267e-01 -5.97276485e-01 7.82198842e-03 1.65240624e+02] [ 5.97249002e-01 8.02035407e-01 5.73016426e-03 5.65525434e+01] [-9.69600404e-03 7.60986955e-05 9.99952990e-01 -2.69337029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.9 meters 0.01565898308313033 Centerline is valid? [True, True] Translation: X:165.29, Y:56.59, Z:-2.69 [[ 8.04589870e-01 -5.93783279e-01 7.52053353e-03 1.65288137e+02] [ 5.93757696e-01 8.04625016e-01 5.51205586e-03 5.65871676e+01] [-9.32417602e-03 3.04303460e-05 9.99956528e-01 -2.69351570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95999999999998 meters 0.016071171137858817 Centerline is valid? [True, True] Translation: X:165.34, Y:56.62, Z:-2.69 [[ 8.06520806e-01 -5.91131822e-01 9.34655523e-03 1.65338737e+02] [ 5.91092072e-01 8.06574962e-01 6.85520664e-03 5.66169580e+01] [-1.15910282e-02 -4.19208806e-06 9.99932822e-01 -2.69132454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01999999999998 meters 0.016939457257629235 Centerline is valid? [True, True] Translation: X:165.39, Y:56.64, Z:-2.69 [[ 8.05997702e-01 -5.91836312e-01 9.87334403e-03 1.65388346e+02] [ 5.91791950e-01 8.06058174e-01 7.24625410e-03 5.66448355e+01] [-1.22470860e-02 2.50136060e-06 9.99925002e-01 -2.69182618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07999999999998 meters 0.014775258718085552 Centerline is valid? [True, True] Translation: X:165.44, Y:56.67, Z:-2.69 [[ 8.04119556e-01 -5.94373911e-01 1.05543183e-02 1.65438886e+02] [ 5.94323407e-01 8.04188816e-01 7.74827166e-03 5.66720550e+01] [-1.30930353e-02 4.21416268e-05 9.99914282e-01 -2.69130139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14 meters 0.019106812837204733 Centerline is valid? [True, True] Translation: X:165.49, Y:56.70, Z:-2.70 [[ 7.99134593e-01 -6.01106520e-01 7.40635097e-03 1.65494298e+02] [ 6.01081929e-01 7.99168906e-01 5.43820966e-03 5.66950657e+01] [-9.18786868e-03 1.05962266e-04 9.99957785e-01 -2.69658182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.2 meters 0.016153680399453207 Centerline is valid? [True, True] Translation: X:165.55, Y:56.72, Z:-2.70 [[ 7.93817339e-01 -6.08118837e-01 6.74629703e-03 1.65549108e+02] [ 6.08098675e-01 7.93845987e-01 4.95479235e-03 5.67211460e+01] [-8.36862339e-03 1.69214209e-04 9.99964968e-01 -2.69548801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26 meters 0.01955346543299396 Centerline is valid? [True, True] Translation: X:165.61, Y:56.74, Z:-2.70 [[ 7.85520125e-01 -6.18803650e-01 6.33837580e-03 1.65607159e+02] [ 6.18786194e-01 7.85545652e-01 4.65548734e-03 5.67429466e+01] [-7.85991611e-03 2.65120447e-04 9.99969075e-01 -2.69522380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32 meters 0.02110663921591271 Centerline is valid? [True, True] Translation: X:165.66, Y:56.77, Z:-2.69 [[ 7.81015541e-01 -6.24476756e-01 6.59599262e-03 1.65659936e+02] [ 6.24458048e-01 7.81043321e-01 4.84526280e-03 5.67727548e+01] [-8.17750998e-03 3.34695127e-04 9.99966508e-01 -2.69400844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38 meters 0.024800938194039866 Centerline is valid? [True, True] Translation: X:165.71, Y:56.80, Z:-2.70 [[ 7.77427473e-01 -6.28932295e-01 7.11984224e-03 1.65713247e+02] [ 6.28910680e-01 7.77459966e-01 5.23049319e-03 5.68021160e+01] [-8.82501840e-03 4.11415719e-04 9.99960974e-01 -2.69556251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44 meters 0.026465283234779046 Centerline is valid? [True, True] Translation: X:165.76, Y:56.83, Z:-2.70 [[ 7.77131297e-01 -6.29291246e-01 7.71196113e-03 1.65763468e+02] [ 6.29265908e-01 7.77169431e-01 5.66509148e-03 5.68321458e+01] [-9.55849292e-03 4.50354333e-04 9.99954215e-01 -2.69530723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.5 meters 0.024108374649668446 Centerline is valid? [True, True] Translation: X:165.81, Y:56.87, Z:-2.70 [[ 7.79173438e-01 -6.26762907e-01 7.55059597e-03 1.65808923e+02] [ 6.26738495e-01 7.79209914e-01 5.54691807e-03 5.68714034e+01] [-9.36010173e-03 4.10237933e-04 9.99956109e-01 -2.69609019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56 meters 0.02168552566492085 Centerline is valid? [True, True] Translation: X:165.85, Y:56.91, Z:-2.70 [[ 7.81404766e-01 -6.23979082e-01 7.52976061e-03 1.65853658e+02] [ 6.23954651e-01 7.81440955e-01 5.53426323e-03 5.69120943e+01] [-9.33732781e-03 3.73729482e-04 9.99956336e-01 -2.69623212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62 meters 0.02012567800747889 Centerline is valid? [True, True] Translation: X:165.90, Y:56.95, Z:-2.70 [[ 7.84111563e-01 -6.20570570e-01 7.82453102e-03 1.65897936e+02] [ 6.20544000e-01 7.84150527e-01 5.75289691e-03 5.69537092e+01] [-9.70568864e-03 3.44552784e-04 9.99952839e-01 -2.69680835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68 meters 0.019982894280556964 Centerline is valid? [True, True] Translation: X:165.94, Y:56.99, Z:-2.70 [[ 7.86289756e-01 -6.17794694e-01 8.83940022e-03 1.65944132e+02] [ 6.17760606e-01 7.86339363e-01 6.49927539e-03 5.69906418e+01] [-1.09659862e-02 3.50319572e-04 9.99939810e-01 -2.69660307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73999999999998 meters 0.021341407663350857 Centerline is valid? [True, True] Translation: X:165.99, Y:57.03, Z:-2.70 [[ 7.90141775e-01 -6.12884551e-01 6.96438764e-03 1.65987983e+02] [ 6.12863204e-01 7.90172435e-01 5.12014542e-03 5.70318529e+01] [-8.64112517e-03 2.22576137e-04 9.99962640e-01 -2.70218037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79999999999998 meters 0.015392164744963487 Centerline is valid? [True, True] Translation: X:166.03, Y:57.08, Z:-2.70 [[ 7.96618906e-01 -6.04445827e-01 6.60006631e-03 1.66029111e+02] [ 6.04426346e-01 7.96646237e-01 4.85430683e-03 5.70763546e+01] [-8.19208350e-03 1.22221370e-04 9.99966437e-01 -2.70213180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85999999999999 meters 0.014671044102394322 Centerline is valid? [True, True] Translation: X:166.07, Y:57.11, Z:-2.70 [[ 8.00261897e-01 -5.99625067e-01 5.53847192e-03 1.66073792e+02] [ 5.99611248e-01 8.00281060e-01 4.07147234e-03 5.71149804e+01] [-6.87369105e-03 6.26858828e-05 9.99976374e-01 -2.70392423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92 meters 0.014582110740903445 Centerline is valid? [True, True] Translation: X:166.12, Y:57.15, Z:-2.71 [[ 8.03088835e-01 -5.95841377e-01 4.62342455e-03 1.66119398e+02] [ 5.95831678e-01 8.03102143e-01 3.39987131e-03 5.71525932e+01] [-5.73886617e-03 2.43841174e-05 9.99983532e-01 -2.70599947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98 meters 0.014661135513083252 Centerline is valid? [True, True] Translation: X:166.16, Y:57.19, Z:-2.71 [[ 8.06074005e-01 -5.91793781e-01 4.98193681e-03 1.66164960e+02] [ 5.91782416e-01 8.06089400e-01 3.66765022e-03 5.71883912e+01] [-6.18637905e-03 -8.17490258e-06 9.99980864e-01 -2.70704973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04 meters 0.014316328828192096 Centerline is valid? [True, True] Translation: X:166.21, Y:57.22, Z:-2.71 [[ 8.07074998e-01 -5.90418649e-01 5.98047326e-03 1.66212835e+02] [ 5.90402239e-01 8.07097155e-01 4.40209715e-03 5.72219524e+01] [-7.42590321e-03 -2.19377512e-05 9.99972427e-01 -2.70630413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.1 meters 0.01453983229538033 Centerline is valid? [True, True] Translation: X:166.26, Y:57.26, Z:-2.71 [[ 8.07231543e-01 -5.90194318e-01 6.92123413e-03 1.66260585e+02] [ 5.90172297e-01 8.07261213e-01 5.09842041e-03 5.72553710e+01] [-8.59630261e-03 -3.08851344e-05 9.99963051e-01 -2.70696679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16 meters 0.01861117311474402 Centerline is valid? [True, True] Translation: X:166.31, Y:57.28, Z:-2.71 [[ 8.06370412e-01 -5.91367314e-01 7.17340371e-03 1.66311642e+02] [ 5.91343676e-01 8.06402318e-01 5.28747293e-03 5.72833605e+01] [-8.91148805e-03 -2.17148035e-05 9.99960292e-01 -2.70981731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22 meters 0.014051052996436173 Centerline is valid? [True, True] Translation: X:166.36, Y:57.31, Z:-2.71 [[ 8.03671360e-01 -5.95016411e-01 8.23503496e-03 1.66362237e+02] [ 5.94985394e-01 8.03713550e-01 6.07544722e-03 5.73114729e+01] [-1.02336000e-02 1.70625923e-05 9.99947635e-01 -2.70752446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28 meters 0.014574290962912576 Centerline is valid? [True, True] Translation: X:166.42, Y:57.33, Z:-2.71 [[ 7.99218154e-01 -6.00995077e-01 7.43371389e-03 1.66417890e+02] [ 6.00970062e-01 7.99252720e-01 5.48400851e-03 5.73349573e+01] [-9.23727816e-03 8.45203396e-05 9.99957332e-01 -2.70890180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34 meters 0.014781750599087467 Centerline is valid? [True, True] Translation: X:166.47, Y:57.36, Z:-2.71 [[ 7.96204675e-01 -6.04997134e-01 6.04843686e-03 1.66469128e+02] [ 6.04980680e-01 7.96227641e-01 4.46323041e-03 5.73647082e+01] [-7.51617422e-03 1.05542521e-04 9.99971748e-01 -2.71006677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.4 meters 0.01593925312681134 Centerline is valid? [True, True] Translation: X:166.52, Y:57.39, Z:-2.71 [[ 7.92401440e-01 -6.09973177e-01 5.71668309e-03 1.66523738e+02] [ 6.09958578e-01 7.92422049e-01 4.22259760e-03 5.73908703e+01] [-7.10569700e-03 1.40947471e-04 9.99974744e-01 -2.71056561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45999999999998 meters 0.017762728796132953 Centerline is valid? [True, True] Translation: X:166.58, Y:57.42, Z:-2.71 [[ 7.90574621e-01 -6.12337480e-01 5.88051383e-03 1.66575371e+02] [ 6.12322109e-01 7.90596473e-01 4.34186546e-03 5.74195428e+01] [-7.30780044e-03 1.68199989e-04 9.99973284e-01 -2.71138342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51999999999998 meters 0.016585865867304796 Centerline is valid? [True, True] Translation: X:166.63, Y:57.45, Z:-2.71 [[ 7.89651682e-01 -6.13522410e-01 6.36192016e-03 1.66627190e+02] [ 6.13504435e-01 7.89677286e-01 4.70018967e-03 5.74489715e+01] [-7.90753554e-03 1.91553551e-04 9.99968717e-01 -2.71036491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57999999999998 meters 0.01636329998376104 Centerline is valid? [True, True] Translation: X:166.68, Y:57.48, Z:-2.71 [[ 7.90352448e-01 -6.12620121e-01 6.29250174e-03 1.66676752e+02] [ 6.12602489e-01 7.90377477e-01 4.65134513e-03 5.74805412e+01] [-7.82295926e-03 1.78600221e-04 9.99969384e-01 -2.71155625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64 meters 0.015872449882891437 Centerline is valid? [True, True] Translation: X:166.73, Y:57.51, Z:-2.71 [[ 7.91960625e-01 -6.10535853e-01 6.65885856e-03 1.66725973e+02] [ 6.10516009e-01 7.91988602e-01 4.92518588e-03 5.75136348e+01] [-8.28074264e-03 1.64786465e-04 9.99965700e-01 -2.71178960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.7 meters 0.014277791163096775 Centerline is valid? [True, True] Translation: X:166.77, Y:57.55, Z:-2.71 [[ 7.97023844e-01 -6.03900266e-01 7.58022894e-03 1.66774034e+02] [ 6.03874205e-01 7.97059883e-01 5.61139828e-03 5.75487953e+01] [-9.43062131e-03 1.05086493e-04 9.99955525e-01 -2.71117205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76 meters 0.013711222122691056 Centerline is valid? [True, True] Translation: X:166.82, Y:57.58, Z:-2.71 [[ 8.00532339e-01 -5.99234236e-01 8.14271169e-03 1.66821633e+02] [ 5.99203929e-01 8.00573749e-01 6.02697623e-03 5.75839247e+01] [-1.01304117e-02 5.43554623e-05 9.99948685e-01 -2.71170090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82 meters 0.013677451213522285 Centerline is valid? [True, True] Translation: X:166.87, Y:57.62, Z:-2.71 [[ 8.05470604e-01 -5.92555785e-01 9.73382560e-03 1.66869532e+02] [ 5.92511928e-01 8.05529416e-01 7.20939000e-03 5.76175736e+01] [-1.21128486e-02 -3.95439468e-05 9.99926636e-01 -2.71214544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88 meters 0.014083378334896045 Centerline is valid? [True, True] Translation: X:166.92, Y:57.65, Z:-2.71 [[ 8.08535896e-01 -5.88367453e-01 9.66671806e-03 1.66917493e+02] [ 5.88323853e-01 8.08593674e-01 7.16339379e-03 5.76511036e+01] [-1.20311548e-02 -1.04700204e-04 9.99927618e-01 -2.71424784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94 meters 0.014738144587929559 Centerline is valid? [True, True] Translation: X:166.97, Y:57.68, Z:-2.72 [[ 8.11404300e-01 -5.84435198e-01 7.65257558e-03 1.66968949e+02] [ 5.84407681e-01 8.11440375e-01 5.67278061e-03 5.76809537e+01] [-9.52498146e-03 -1.30694625e-04 9.99954628e-01 -2.71865339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.0 meters 0.014760765478376514 Centerline is valid? [True, True] Translation: X:167.02, Y:57.71, Z:-2.72 [[ 8.11676050e-01 -5.84072024e-01 6.47004098e-03 1.67020824e+02] [ 5.84052317e-01 8.11701828e-01 4.79939012e-03 5.77088938e+01] [-8.05493359e-03 -1.16707592e-04 9.99967552e-01 -2.72139847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06 meters 0.014421393161586806 Centerline is valid? [True, True] Translation: X:167.08, Y:57.73, Z:-2.72 [[ 8.09887276e-01 -5.86550260e-01 6.43370693e-03 1.67077014e+02] [ 5.86530847e-01 8.09912825e-01 4.77296844e-03 5.77296357e+01] [-8.01032763e-03 -9.19988325e-05 9.99967913e-01 -2.72184949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12 meters 0.014009271932596365 Centerline is valid? [True, True] Translation: X:167.13, Y:57.75, Z:-2.72 [[ 8.07971863e-01 -5.89177565e-01 7.15992787e-03 1.67131422e+02] [ 5.89153618e-01 8.08003584e-01 5.31253978e-03 5.77545208e+01] [-8.91527663e-03 -7.40852604e-05 9.99960255e-01 -2.72132600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18 meters 0.01364282642431269 Centerline is valid? [True, True] Translation: X:167.19, Y:57.78, Z:-2.72 [[ 8.05291906e-01 -5.92833443e-01 7.31127499e-03 1.67188953e+02] [ 5.92808596e-01 8.05325094e-01 5.42783851e-03 5.77753110e+01] [-9.10575741e-03 -3.68077612e-05 9.99958541e-01 -2.72128083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23999999999998 meters 0.013600834147893388 Centerline is valid? [True, True] Translation: X:167.24, Y:57.80, Z:-2.72 [[ 8.03936422e-01 -5.94665168e-01 7.71799250e-03 1.67242406e+02] [ 5.94637534e-01 8.03973468e-01 5.73280276e-03 5.78000453e+01] [-9.61415932e-03 -1.94009015e-05 9.99953783e-01 -2.72199880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29999999999998 meters 0.013599692954038801 Centerline is valid? [True, True] Translation: X:167.30, Y:57.82, Z:-2.72 [[ 8.02146329e-01 -5.97074614e-01 7.94808901e-03 1.67299271e+02] [ 5.97045389e-01 8.02185705e-01 5.90740900e-03 5.78202981e+01] [-9.90300733e-03 6.76345454e-06 9.99950964e-01 -2.72152628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35999999999999 meters 0.013619021356279131 Centerline is valid? [True, True] Translation: X:167.35, Y:57.85, Z:-2.72 [[ 8.00884875e-01 -5.98749612e-01 9.07297754e-03 1.67351989e+02] [ 5.98711584e-01 8.00936266e-01 6.74816886e-03 5.78465492e+01] [-1.13073402e-02 2.75903756e-05 9.99936070e-01 -2.72036439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42 meters 0.013654738678126674 Centerline is valid? [True, True] Translation: X:167.41, Y:57.87, Z:-2.72 [[ 7.99405187e-01 -6.00709877e-01 9.94940319e-03 1.67406988e+02] [ 6.00664237e-01 7.99467098e-01 7.40501824e-03 5.78699194e+01] [-1.24024881e-02 5.66406781e-05 9.99923085e-01 -2.72036434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48 meters 0.01384618405602367 Centerline is valid? [True, True] Translation: X:167.46, Y:57.90, Z:-2.72 [[ 7.98430951e-01 -6.02008630e-01 9.67606003e-03 1.67458818e+02] [ 6.01965508e-01 7.98489577e-01 7.20575578e-03 5.78970737e+01] [-1.20641602e-02 7.13559551e-05 9.99927223e-01 -2.72132061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54 meters 0.013912049568920802 Centerline is valid? [True, True] Translation: X:167.51, Y:57.92, Z:-2.72 [[ 7.97642371e-01 -6.03057381e-01 9.40443000e-03 1.67511271e+02] [ 6.03016663e-01 7.97697805e-01 7.00828463e-03 5.79243026e+01] [-1.17282909e-02 8.09232208e-05 9.99931218e-01 -2.72261633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.6 meters 0.014096793230992716 Centerline is valid? [True, True] Translation: X:167.57, Y:57.95, Z:-2.72 [[ 7.95695286e-01 -6.05639703e-01 8.34038702e-03 1.67565115e+02] [ 6.05607819e-01 7.95738989e-01 6.21532699e-03 5.79499954e+01] [-1.04010199e-02 1.05497209e-04 9.99945902e-01 -2.72482457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66 meters 0.01571360623738779 Centerline is valid? [True, True] Translation: X:167.62, Y:57.98, Z:-2.73 [[ 7.93696309e-01 -6.08273586e-01 7.02950461e-03 1.67616650e+02] [ 6.08251023e-01 7.93727428e-01 5.24047350e-03 5.79790578e+01] [-8.76715223e-03 1.16358898e-04 9.99961561e-01 -2.72799331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72 meters 0.015348354492514699 Centerline is valid? [True, True] Translation: X:167.67, Y:58.00, Z:-2.73 [[ 7.90951257e-01 -6.11841858e-01 6.75646903e-03 1.67671535e+02] [ 6.11821122e-01 7.90980100e-01 5.03941664e-03 5.80042187e+01] [-8.42755859e-03 1.47817539e-04 9.99964477e-01 -2.72726348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78 meters 0.015969607261997223 Centerline is valid? [True, True] Translation: X:167.72, Y:58.03, Z:-2.73 [[ 7.88676574e-01 -6.14760254e-01 7.68719052e-03 1.67722689e+02] [ 6.14733514e-01 7.88714010e-01 5.73724993e-03 5.80340132e+01] [-9.59002809e-03 2.00739026e-04 9.99953994e-01 -2.72727566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84 meters 0.016282032731050763 Centerline is valid? [True, True] Translation: X:167.77, Y:58.06, Z:-2.73 [[ 7.86159831e-01 -6.17955409e-01 9.15594380e-03 1.67774002e+02] [ 6.17917641e-01 7.86213096e-01 6.83787978e-03 5.80633573e+01] [-1.14240277e-02 2.81952777e-04 9.99934704e-01 -2.72729781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.9 meters 0.01705589811797876 Centerline is valid? [True, True] Translation: X:167.82, Y:58.09, Z:-2.73 [[ 7.85768850e-01 -6.18460824e-01 8.57454519e-03 1.67823271e+02] [ 6.18427690e-01 7.85815587e-01 6.40743904e-03 5.80939276e+01] [-1.07007613e-02 2.67970159e-04 9.99942709e-01 -2.72951453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95999999999998 meters 0.01689323951789337 Centerline is valid? [True, True] Translation: X:167.87, Y:58.13, Z:-2.73 [[ 7.86284115e-01 -6.17809349e-01 8.30057819e-03 1.67872234e+02] [ 6.17778252e-01 7.86327887e-01 6.20371140e-03 5.81274134e+01] [-1.03596870e-02 2.50036961e-04 9.99946306e-01 -2.73148281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01999999999998 meters 0.01685318695115415 Centerline is valid? [True, True] Translation: X:167.92, Y:58.16, Z:-2.73 [[ 7.86794498e-01 -6.17156334e-01 8.51332528e-03 1.67919550e+02] [ 6.17123548e-01 7.86840517e-01 6.36610190e-03 5.81622544e+01] [-1.06275094e-02 2.44959559e-04 9.99943496e-01 -2.73270853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07999999999998 meters 0.015323103905044579 Centerline is valid? [True, True] Translation: X:167.97, Y:58.20, Z:-2.73 [[ 7.89611450e-01 -6.13552383e-01 8.19945953e-03 1.67965720e+02] [ 6.13521738e-01 7.89653999e-01 6.13508472e-03 5.81992769e+01] [-1.02389319e-02 1.86213519e-04 9.99947563e-01 -2.73350248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14 meters 0.01448544947980017 Centerline is valid? [True, True] Translation: X:168.01, Y:58.24, Z:-2.73 [[ 7.91762746e-01 -6.10767261e-01 8.66643231e-03 1.68011724e+02] [ 6.10732847e-01 7.91810159e-01 6.48550043e-03 5.82364122e+01] [-1.08233005e-02 1.57897244e-04 9.99941414e-01 -2.73377254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.2 meters 0.01382007161685361 Centerline is valid? [True, True] Translation: X:168.06, Y:58.27, Z:-2.73 [[ 7.94276799e-01 -6.07497126e-01 8.46212717e-03 1.68057441e+02] [ 6.07464095e-01 7.94321868e-01 6.33584284e-03 5.82736048e+01] [-1.05706590e-02 1.08025457e-04 9.99944123e-01 -2.73481086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26 meters 0.013547467803391266 Centerline is valid? [True, True] Translation: X:168.10, Y:58.31, Z:-2.74 [[ 7.96751611e-01 -6.04243070e-01 8.78536760e-03 1.68104116e+02] [ 6.04207229e-01 7.96800042e-01 6.58156834e-03 5.83099250e+01] [-1.09770483e-02 6.43074389e-05 9.99939748e-01 -2.73569476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32 meters 0.013553573472682191 Centerline is valid? [True, True] Translation: X:168.15, Y:58.34, Z:-2.74 [[ 7.97116029e-01 -6.03765792e-01 8.53843595e-03 1.68149902e+02] [ 6.03731867e-01 7.97161756e-01 6.40052059e-03 5.83432102e+01] [-1.06709300e-02 5.29683239e-05 9.99943063e-01 -2.73647873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38 meters 0.013644235956300509 Centerline is valid? [True, True] Translation: X:168.20, Y:58.38, Z:-2.74 [[ 7.95057418e-01 -6.06488032e-01 7.48125104e-03 1.68198445e+02] [ 6.06462095e-01 7.95092612e-01 5.60943698e-03 5.83757475e+01] [-9.35034382e-03 7.72707035e-05 9.99956282e-01 -2.73784674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44 meters 0.01436442153691863 Centerline is valid? [True, True] Translation: X:168.25, Y:58.41, Z:-2.74 [[ 7.92180446e-01 -6.10241056e-01 7.48289336e-03 1.68247025e+02] [ 6.10215268e-01 7.92215778e-01 5.61142841e-03 5.84068667e+01] [-9.35239019e-03 1.20911914e-04 9.99956258e-01 -2.73864973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.5 meters 0.015742986144351535 Centerline is valid? [True, True] Translation: X:168.30, Y:58.44, Z:-2.74 [[ 7.86899999e-01 -6.17019475e-01 8.68097991e-03 1.68298140e+02] [ 6.16985156e-01 7.86947847e-01 6.51182796e-03 5.84381218e+01] [-1.08494031e-02 2.31878323e-04 9.99941117e-01 -2.73680061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56 meters 0.018277325691961974 Centerline is valid? [True, True] Translation: X:168.35, Y:58.47, Z:-2.74 [[ 7.80570435e-01 -6.25030985e-01 6.78699168e-03 1.68349186e+02] [ 6.25010300e-01 7.80599895e-01 5.09204014e-03 5.84688950e+01] [-8.48060786e-03 2.67243718e-04 9.99964003e-01 -2.73883711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62 meters 0.021042500044271037 Centerline is valid? [True, True] Translation: X:168.40, Y:58.50, Z:-2.74 [[ 7.76753586e-01 -6.29777265e-01 5.87059621e-03 1.68398194e+02] [ 6.29761901e-01 7.76775722e-01 4.40751665e-03 5.85005824e+01] [-7.33589039e-03 2.73523460e-04 9.99973055e-01 -2.74100736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68 meters 0.01989078832433851 Centerline is valid? [True, True] Translation: X:168.44, Y:58.54, Z:-2.74 [[ 7.73994300e-01 -6.33167657e-01 5.61618043e-03 1.68444167e+02] [ 6.33153689e-01 7.74014621e-01 4.21581825e-03 5.85389712e+01] [-7.01632552e-03 2.92886064e-04 9.99975342e-01 -2.74095160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73999999999998 meters 0.021276433113650236 Centerline is valid? [True, True] Translation: X:168.49, Y:58.57, Z:-2.74 [[ 7.73980102e-01 -6.33173550e-01 6.78657566e-03 1.68489253e+02] [ 6.33153123e-01 7.74009775e-01 5.09807112e-03 5.85746195e+01] [-8.48083969e-03 3.51135973e-04 9.99963975e-01 -2.74091658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79999999999998 meters 0.019545739318505076 Centerline is valid? [True, True] Translation: X:168.53, Y:58.62, Z:-2.74 [[ 7.76204220e-01 -6.30438167e-01 7.39765439e-03 1.68532548e+02] [ 6.30413770e-01 7.76239393e-01 5.55729807e-03 5.86157033e+01] [-9.24588356e-03 3.49984978e-04 9.99957195e-01 -2.74126987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85999999999999 meters 0.017837767311664296 Centerline is valid? [True, True] Translation: X:168.57, Y:58.66, Z:-2.74 [[ 7.80069764e-01 -6.25627811e-01 9.00032953e-03 1.68573921e+02] [ 6.25591330e-01 7.80121604e-01 6.76540249e-03 5.86592755e+01] [-1.12539755e-02 3.53042193e-04 9.99936610e-01 -2.74173527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92 meters 0.016857887852640883 Centerline is valid? [True, True] Translation: X:168.62, Y:58.70, Z:-2.74 [[ 7.81703812e-01 -6.23578755e-01 9.41734895e-03 1.68616369e+02] [ 6.23538617e-01 7.81760465e-01 7.08305257e-03 5.87001418e+01] [-1.17789522e-02 3.35231539e-04 9.99930570e-01 -2.74253564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98 meters 0.017056411586192522 Centerline is valid? [True, True] Translation: X:168.66, Y:58.74, Z:-2.74 [[ 7.82682254e-01 -6.22347647e-01 9.58624061e-03 1.68659103e+02] [ 6.22305951e-01 7.82740891e-01 7.21114144e-03 5.87394251e+01] [-1.19913794e-02 3.21542145e-04 9.99928049e-01 -2.74459956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04 meters 0.016884596345684743 Centerline is valid? [True, True] Translation: X:168.70, Y:58.78, Z:-2.75 [[ 7.83490752e-01 -6.21340322e-01 8.85696604e-03 1.68703371e+02] [ 6.21304660e-01 7.83540761e-01 6.66288174e-03 5.87783098e+01] [-1.10797110e-02 2.82568053e-04 9.99938578e-01 -2.74652762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.1 meters 0.015772766712078844 Centerline is valid? [True, True] Translation: X:168.75, Y:58.82, Z:-2.75 [[ 7.87229010e-01 -6.16614818e-01 7.52675452e-03 1.68745613e+02] [ 6.16588816e-01 7.87264970e-01 5.66554885e-03 5.88214275e+01] [-9.41901155e-03 1.80828247e-04 9.99955624e-01 -2.74927078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16 meters 0.01424283715077373 Centerline is valid? [True, True] Translation: X:168.79, Y:58.86, Z:-2.75 [[ 7.92249136e-01 -6.10157125e-01 7.04204129e-03 1.68786897e+02] [ 6.10134098e-01 7.92280426e-01 5.30177270e-03 5.88646655e+01] [-8.81418586e-03 9.62646728e-05 9.99961150e-01 -2.75054626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22 meters 0.013650238278130873 Centerline is valid? [True, True] Translation: X:168.83, Y:58.90, Z:-2.75 [[ 7.95466301e-01 -6.05953174e-01 7.35633172e-03 1.68831240e+02] [ 6.05927868e-01 7.95500313e-01 5.53807536e-03 5.89045430e+01] [-9.20777853e-03 5.20540755e-05 9.99957606e-01 -2.75138617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28 meters 0.013440829973482133 Centerline is valid? [True, True] Translation: X:168.88, Y:58.94, Z:-2.75 [[ 7.98749469e-01 -6.01613823e-01 7.75204350e-03 1.68875598e+02] [ 6.01585488e-01 7.98787085e-01 5.83887222e-03 5.89433096e+01] [-9.70497847e-03 -2.79210060e-07 9.99952906e-01 -2.75188679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34 meters 0.013984654365836334 Centerline is valid? [True, True] Translation: X:168.92, Y:58.98, Z:-2.75 [[ 8.03785418e-01 -5.94867408e-01 7.85928669e-03 1.68920639e+02] [ 5.94837928e-01 8.03823836e-01 5.92277417e-03 5.89807022e+01] [-9.84074730e-03 -8.56377002e-05 9.99951575e-01 -2.75278606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.4 meters 0.01757100722334097 Centerline is valid? [True, True] Translation: X:168.97, Y:59.02, Z:-2.76 [[ 8.07003675e-01 -5.90502375e-01 7.21212061e-03 1.68966996e+02] [ 5.90477342e-01 8.07035891e-01 5.43876449e-03 5.90162458e+01] [-9.03204353e-03 -1.30509121e-04 9.99959202e-01 -2.75705613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45999999999998 meters 0.015669919382026463 Centerline is valid? [True, True] Translation: X:169.01, Y:59.05, Z:-2.75 [[ 8.09746511e-01 -5.86709255e-01 9.10154557e-03 1.69014692e+02] [ 5.86669127e-01 8.09797630e-01 6.86537652e-03 5.90502183e+01] [-1.13983900e-02 -2.19618891e-04 9.99935012e-01 -2.75341184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51999999999998 meters 0.020158015711195573 Centerline is valid? [True, True] Translation: X:169.07, Y:59.08, Z:-2.76 [[ 8.10318272e-01 -5.85898429e-01 1.03599671e-02 1.69066549e+02] [ 5.85846354e-01 8.10384453e-01 7.81590325e-03 5.90787451e+01] [-1.29748817e-02 -2.64020285e-04 9.99915788e-01 -2.75696008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57999999999998 meters 0.01655769879285143 Centerline is valid? [True, True] Translation: X:169.12, Y:59.11, Z:-2.75 [[ 8.10826917e-01 -5.85180838e-01 1.10949574e-02 1.69117240e+02] [ 5.85120978e-01 8.10902767e-01 8.37515419e-03 5.91088320e+01] [-1.38979114e-02 -2.98908104e-04 9.99903375e-01 -2.75275702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64 meters 0.016815361945777596 Centerline is valid? [True, True] Translation: X:169.17, Y:59.13, Z:-2.75 [[ 8.10646065e-01 -5.85431465e-01 1.10886280e-02 1.69170979e+02] [ 5.85371637e-01 8.10721846e-01 8.37470951e-03 5.91341745e+01] [-1.38926114e-02 -2.97956980e-04 9.99903449e-01 -2.75493651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.7 meters 0.01699249754182167 Centerline is valid? [True, True] Translation: X:169.22, Y:59.16, Z:-2.76 [[ 8.11046780e-01 -5.84880012e-01 1.08853725e-02 1.69222014e+02] [ 5.84822236e-01 8.11119768e-01 8.22648789e-03 5.91633101e+01] [-1.36408492e-02 -3.06058622e-04 9.99906912e-01 -2.75510104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76 meters 0.01711894731978127 Centerline is valid? [True, True] Translation: X:169.28, Y:59.19, Z:-2.76 [[ 8.11893243e-01 -5.83713753e-01 1.03737972e-02 1.69277389e+02] [ 5.83661172e-01 8.11959455e-01 7.84083980e-03 5.91878244e+01] [-1.29999087e-02 -3.11142247e-04 9.99915449e-01 -2.75560008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82 meters 0.01747216828966675 Centerline is valid? [True, True] Translation: X:169.33, Y:59.22, Z:-2.76 [[ 8.12312650e-01 -5.83141243e-01 9.71847100e-03 1.69329727e+02] [ 5.83095011e-01 8.12370728e-01 7.34909106e-03 5.92166286e+01] [-1.21805595e-02 -3.02967684e-04 9.99925768e-01 -2.75725854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88 meters 0.016860690401909958 Centerline is valid? [True, True] Translation: X:169.39, Y:59.24, Z:-2.76 [[ 8.11767834e-01 -5.83915004e-01 8.73216970e-03 1.69386238e+02] [ 5.83877693e-01 8.11814756e-01 6.60620286e-03 5.92396091e+01] [-1.09463652e-02 -2.64183897e-04 9.99940052e-01 -2.75896927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94 meters 0.01675753441729833 Centerline is valid? [True, True] Translation: X:169.44, Y:59.27, Z:-2.76 [[ 8.11202902e-01 -5.84707669e-01 8.17272774e-03 1.69437000e+02] [ 5.84674995e-01 8.11244035e-01 6.18595409e-03 5.92707314e+01] [-1.02470514e-02 -2.39674359e-04 9.99947469e-01 -2.76020571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.0 meters 0.016738050721365864 Centerline is valid? [True, True] Translation: X:169.49, Y:59.30, Z:-2.76 [[ 8.09854165e-01 -5.86577686e-01 7.92772710e-03 1.69490194e+02] [ 5.86546993e-01 8.09892939e-01 6.00435776e-03 5.92962957e+01] [-9.94263248e-03 -2.12669648e-04 9.99950548e-01 -2.76144468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06 meters 0.015678715430639666 Centerline is valid? [True, True] Translation: X:169.55, Y:59.32, Z:-2.76 [[ 8.07740245e-01 -5.89493911e-01 7.25437397e-03 1.69549385e+02] [ 5.89468325e-01 8.07772804e-01 5.49471790e-03 5.93160402e+01] [-9.09898874e-03 -1.62081112e-04 9.99958590e-01 -2.76225900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12 meters 0.01562949828916627 Centerline is valid? [True, True] Translation: X:169.60, Y:59.34, Z:-2.76 [[ 8.06851380e-01 -5.90706907e-01 7.49667211e-03 1.69603031e+02] [ 5.90679605e-01 8.06886191e-01 5.68148675e-03 5.93420259e+01] [-9.40505467e-03 -1.55984110e-04 9.99955759e-01 -2.76261968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18 meters 0.016199732025204108 Centerline is valid? [True, True] Translation: X:169.66, Y:59.37, Z:-2.76 [[ 8.06845644e-01 -5.90701672e-01 8.46407649e-03 1.69657126e+02] [ 5.90666817e-01 8.06890019e-01 6.41941275e-03 5.93650405e+01] [-1.06215367e-02 -1.80026101e-04 9.99943574e-01 -2.76170495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23999999999998 meters 0.018820639393565937 Centerline is valid? [True, True] Translation: X:169.71, Y:59.39, Z:-2.76 [[ 8.08450694e-01 -5.88495201e-01 8.99296732e-03 1.69712136e+02] [ 5.88455703e-01 8.08500679e-01 6.82182458e-03 5.93897746e+01] [-1.12854312e-02 -2.23145906e-04 9.99936293e-01 -2.76405286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29999999999998 meters 0.017018342883791095 Centerline is valid? [True, True] Translation: X:169.76, Y:59.42, Z:-2.76 [[ 8.10924392e-01 -5.85097655e-01 7.89712764e-03 1.69761820e+02] [ 5.85066996e-01 8.10962808e-01 5.99448303e-03 5.94206000e+01] [-9.91163477e-03 -2.40723759e-04 9.99950850e-01 -2.76386337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35999999999999 meters 0.017634991127697584 Centerline is valid? [True, True] Translation: X:169.82, Y:59.45, Z:-2.77 [[ 8.12911726e-01 -5.82360849e-01 5.51065033e-03 1.69816879e+02] [ 5.82345868e-01 8.12930381e-01 4.18156529e-03 5.94464874e+01] [-6.91495499e-03 -1.90139010e-04 9.99976073e-01 -2.76621120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42 meters 0.018229958349172563 Centerline is valid? [True, True] Translation: X:169.87, Y:59.47, Z:-2.77 [[ 8.13001037e-01 -5.82245824e-01 4.37198600e-03 1.69868196e+02] [ 5.82236383e-01 8.13012778e-01 3.31921051e-03 5.94746232e+01] [-5.48707694e-03 -1.52992275e-04 9.99984934e-01 -2.76731047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48 meters 0.01715942689083822 Centerline is valid? [True, True] Translation: X:169.93, Y:59.50, Z:-2.77 [[ 8.11422419e-01 -5.84453468e-01 2.79321724e-03 1.69925789e+02] [ 5.84449635e-01 8.11427222e-01 2.11853250e-03 5.94961592e+01] [-3.50467617e-03 -8.65299722e-05 9.99993855e-01 -2.76853091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54 meters 0.01700904971409333 Centerline is valid? [True, True] Translation: X:169.98, Y:59.52, Z:-2.77 [[ 8.09892427e-01 -5.86574522e-01 2.14157761e-03 1.69978410e+02] [ 5.86572272e-01 8.09895256e-01 1.62594850e-03 5.95218829e+01] [-2.68819351e-03 -6.06533351e-05 9.99996385e-01 -2.76945138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.6 meters 0.016492099106748776 Centerline is valid? [True, True] Translation: X:170.03, Y:59.55, Z:-2.77 [[ 8.08145811e-01 -5.88969954e-01 3.83950216e-03 1.70032374e+02] [ 5.88962740e-01 8.08154926e-01 2.91666214e-03 5.95483489e+01] [-4.82073895e-03 -9.57645770e-05 9.99988376e-01 -2.76830273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66 meters 0.015848556862454174 Centerline is valid? [True, True] Translation: X:170.09, Y:59.57, Z:-2.77 [[ 8.07063082e-01 -5.90428094e-01 6.62177723e-03 1.70087974e+02] [ 5.90406642e-01 8.07090232e-01 5.03538345e-03 5.95723516e+01] [-8.31740357e-03 -1.54330824e-04 9.99965398e-01 -2.76521972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72 meters 0.016037856587155435 Centerline is valid? [True, True] Translation: X:170.14, Y:59.60, Z:-2.77 [[ 8.07833749e-01 -5.89367523e-01 7.11034270e-03 1.70138812e+02] [ 5.89342720e-01 8.07865020e-01 5.41002382e-03 5.96023190e+01] [-8.93268948e-03 -1.79971114e-04 9.99960087e-01 -2.76509677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78 meters 0.017501730406685588 Centerline is valid? [True, True] Translation: X:170.19, Y:59.63, Z:-2.77 [[ 8.11339422e-01 -5.84548823e-01 5.56913770e-03 1.70189625e+02] [ 5.84533482e-01 8.11358515e-01 4.23891897e-03 5.96333647e+01] [-6.99642239e-03 -1.83854615e-04 9.99975508e-01 -2.76685444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84 meters 0.019197377684464587 Centerline is valid? [True, True] Translation: X:170.24, Y:59.67, Z:-2.77 [[ 8.13878034e-01 -5.81026139e-01 3.34226211e-03 1.70237705e+02] [ 5.81020580e-01 8.13884887e-01 2.54495250e-03 5.96672341e+01] [-4.19890054e-03 -1.29357863e-04 9.99991176e-01 -2.76974060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.9 meters 0.020495934031875964 Centerline is valid? [True, True] Translation: X:170.29, Y:59.70, Z:-2.77 [[ 8.15651363e-01 -5.78541538e-01 1.59496549e-03 1.70287056e+02] [ 5.78540273e-01 8.15652919e-01 1.21167561e-03 5.97002811e+01] [-2.00194293e-03 -6.55530874e-05 9.99997994e-01 -2.77234985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95999999999998 meters 0.021654836118824215 Centerline is valid? [True, True] Translation: X:170.34, Y:59.73, Z:-2.77 [[ 8.16516606e-01 -5.77321379e-01 8.11325553e-04 1.70337794e+02] [ 5.77321050e-01 8.16517008e-01 6.17005024e-04 5.97297874e+01] [-1.01867130e-03 -3.53995277e-05 9.99999481e-01 -2.77445980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01999999999998 meters 0.021317313085997863 Centerline is valid? [True, True] Translation: X:170.39, Y:59.76, Z:-2.78 [[ 8.14777990e-01 -5.79772807e-01 5.65333745e-04 1.70390527e+02] [ 5.79772650e-01 8.14778186e-01 4.27041515e-04 5.97581998e+01] [-7.08208662e-04 -2.01789841e-05 9.99999749e-01 -2.77745622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07999999999998 meters 0.017636688551301266 Centerline is valid? [True, True] Translation: X:170.45, Y:59.78, Z:-2.77 [[ 8.10459992e-01 -5.85789747e-01 2.23027478e-03 1.70447282e+02] [ 5.85787291e-01 8.10463057e-01 1.69772963e-03 5.97817800e+01] [-2.80206792e-03 -6.94753154e-05 9.99996072e-01 -2.77248551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14 meters 0.01608976126189641 Centerline is valid? [True, True] Translation: X:170.50, Y:59.81, Z:-2.77 [[ 8.06338599e-01 -5.91445132e-01 3.27419499e-03 1.70500068e+02] [ 5.91439866e-01 8.06345243e-01 2.49698157e-03 5.98093947e+01] [-4.11695915e-03 -7.69231798e-05 9.99991522e-01 -2.77170144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.2 meters 0.01429307133290586 Centerline is valid? [True, True] Translation: X:170.56, Y:59.83, Z:-2.77 [[ 7.99743497e-01 -6.00321935e-01 4.89012659e-03 1.70555495e+02] [ 6.00310341e-01 7.99758446e-01 3.73115483e-03 5.98341014e+01] [-6.15081412e-03 -4.83732484e-05 9.99981082e-01 -2.77120111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26 meters 0.013946233322284271 Centerline is valid? [True, True] Translation: X:170.61, Y:59.87, Z:-2.77 [[ 7.96280166e-01 -6.04901245e-01 5.69043143e-03 1.70606112e+02] [ 6.04885644e-01 7.96300498e-01 4.34444570e-03 5.98650805e+01] [-7.15925400e-03 -1.73356591e-05 9.99974372e-01 -2.77065377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32 meters 0.013992537186407446 Centerline is valid? [True, True] Translation: X:170.65, Y:59.90, Z:-2.77 [[ 7.93920955e-01 -6.07998237e-01 5.25934757e-03 1.70652130e+02] [ 6.07984969e-01 7.93938376e-01 4.01669931e-03 5.98999553e+01] [-6.61774396e-03 8.66251183e-06 9.99978102e-01 -2.77250465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38 meters 0.014094493616278 Centerline is valid? [True, True] Translation: X:170.70, Y:59.94, Z:-2.78 [[ 7.95063745e-01 -6.06513085e-01 3.93939794e-03 1.70696424e+02] [ 6.06505618e-01 7.95073505e-01 3.00950909e-03 5.99391078e+01] [-4.95741757e-03 -3.48458963e-06 9.99987712e-01 -2.77521093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44 meters 0.0144138856875513 Centerline is valid? [True, True] Translation: X:170.74, Y:59.98, Z:-2.78 [[ 7.98232272e-01 -6.02346477e-01 1.99054309e-03 1.70739393e+02] [ 6.02344561e-01 7.98234754e-01 1.51911022e-03 5.99805291e+01] [-2.50395136e-03 -1.36099977e-05 9.99996865e-01 -2.77782932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.5 meters 0.016052053392400036 Centerline is valid? [True, True] Translation: X:170.78, Y:60.02, Z:-2.78 [[ 7.98998092e-01 -6.01331071e-01 1.72961977e-03 1.70784416e+02] [ 6.01329623e-01 7.98999964e-01 1.32007202e-03 6.00181205e+01] [-2.17576646e-03 -1.46634156e-05 9.99997633e-01 -2.78094710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56 meters 0.015321216157704853 Centerline is valid? [True, True] Translation: X:170.83, Y:60.05, Z:-2.78 [[ 7.97981226e-01 -6.02677725e-01 2.35010309e-03 1.70831067e+02] [ 6.02675048e-01 7.97984686e-01 1.79626472e-03 6.00537900e+01] [-2.95791501e-03 -1.70370270e-05 9.99995625e-01 -2.78031330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62 meters 0.015533061968074744 Centerline is valid? [True, True] Translation: X:170.88, Y:60.09, Z:-2.78 [[ 7.93335278e-01 -6.08764359e-01 5.00917994e-03 1.70879794e+02] [ 6.08752264e-01 7.93351092e-01 3.83743411e-03 6.00850787e+01] [-6.31013150e-03 4.97777293e-06 9.99980091e-01 -2.77895401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68 meters 0.014718418412894127 Centerline is valid? [True, True] Translation: X:170.93, Y:60.12, Z:-2.78 [[ 7.89163951e-01 -6.14134570e-01 7.68036263e-03 1.70928417e+02] [ 6.14106371e-01 7.89201321e-01 5.88559321e-03 6.01178827e+01] [-9.67589859e-03 7.18616334e-05 9.99953185e-01 -2.77515927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73999999999998 meters 0.01583902242531594 Centerline is valid? [True, True] Translation: X:170.98, Y:60.15, Z:-2.78 [[ 7.84008778e-01 -6.20695162e-01 8.23115499e-03 1.70977145e+02] [ 6.20663088e-01 7.84051969e-01 6.31201185e-03 6.01509755e+01] [-1.03714885e-02 1.60101378e-04 9.99946202e-01 -2.77606123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79999999999998 meters 0.016400476362179353 Centerline is valid? [True, True] Translation: X:171.02, Y:60.19, Z:-2.78 [[ 7.82340683e-01 -6.22813736e-01 6.79016084e-03 1.71024224e+02] [ 6.22791973e-01 7.82370134e-01 5.20888054e-03 6.01863925e+01] [-8.55658140e-03 1.53738509e-04 9.99963380e-01 -2.77933837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85999999999999 meters 0.01672458803885308 Centerline is valid? [True, True] Translation: X:171.07, Y:60.22, Z:-2.78 [[ 7.82715946e-01 -6.22362720e-01 4.51572023e-03 1.71069390e+02] [ 6.22353078e-01 7.82728966e-01 3.46570538e-03 6.02220067e+01] [-5.69151085e-03 9.77095193e-05 9.99983798e-01 -2.78258862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92 meters 0.016265575642049387 Centerline is valid? [True, True] Translation: X:171.11, Y:60.26, Z:-2.78 [[ 7.84290143e-01 -6.20386690e-01 3.05387823e-03 1.71113706e+02] [ 6.20382272e-01 7.84296087e-01 2.34197069e-03 6.02605335e+01] [-3.84807219e-03 5.77873898e-05 9.99992594e-01 -2.78481563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98 meters 0.0154926236353161 Centerline is valid? [True, True] Translation: X:171.16, Y:60.30, Z:-2.79 [[ 7.88044321e-01 -6.15611932e-01 2.84566235e-03 1.71156670e+02] [ 6.15608062e-01 7.88049458e-01 2.18305406e-03 6.03018780e+01] [-3.58643680e-03 3.14693294e-05 9.99993568e-01 -2.78534477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04 meters 0.01668331726002571 Centerline is valid? [True, True] Translation: X:171.20, Y:60.34, Z:-2.79 [[ 7.90189091e-01 -6.12850825e-01 3.88161247e-03 1.71201814e+02] [ 6.12843575e-01 7.90198624e-01 2.98109568e-03 6.03403603e+01] [-4.89421178e-03 2.31919745e-05 9.99988023e-01 -2.78810815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.1 meters 0.015657483641555312 Centerline is valid? [True, True] Translation: X:171.25, Y:60.38, Z:-2.79 [[ 7.93747146e-01 -6.08225413e-01 5.22636809e-03 1.71245230e+02] [ 6.08212133e-01 7.93764352e-01 4.01924857e-03 6.03790143e+01] [-6.59311381e-03 -1.15265988e-05 9.99978265e-01 -2.78743071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16 meters 0.014885149987906311 Centerline is valid? [True, True] Translation: X:171.29, Y:60.42, Z:-2.79 [[ 7.95780987e-01 -6.05551722e-01 6.30332607e-03 1.71289543e+02] [ 6.05532326e-01 7.95805950e-01 4.84689491e-03 6.04161584e+01] [-7.95126995e-03 -4.01991143e-05 9.99968387e-01 -2.78501433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22 meters 0.015056243706667471 Centerline is valid? [True, True] Translation: X:171.33, Y:60.45, Z:-2.79 [[ 7.97887104e-01 -6.02764851e-01 7.12073282e-03 1.71334071e+02] [ 6.02739948e-01 7.97918873e-01 5.47963819e-03 6.04545937e+01] [-8.98470040e-03 -8.01825118e-05 9.99959634e-01 -2.78633215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28 meters 0.015390561367206755 Centerline is valid? [True, True] Translation: X:171.38, Y:60.49, Z:-2.79 [[ 7.99555868e-01 -6.00547794e-01 7.26363750e-03 1.71379116e+02] [ 6.00521753e-01 7.99588853e-01 5.59376361e-03 6.04917145e+01] [-9.16724598e-03 -1.10554190e-04 9.99957974e-01 -2.78751451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34 meters 0.015756440720774537 Centerline is valid? [True, True] Translation: X:171.42, Y:60.53, Z:-2.79 [[ 8.00659349e-01 -5.99076255e-01 7.22824629e-03 1.71424967e+02] [ 5.99050408e-01 8.00691966e-01 5.56634068e-03 6.05292151e+01] [-9.12226126e-03 -1.26658813e-04 9.99958383e-01 -2.78934441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.4 meters 0.016360399352003566 Centerline is valid? [True, True] Translation: X:171.47, Y:60.57, Z:-2.79 [[ 8.01604651e-01 -5.97815657e-01 6.81351770e-03 1.71470337e+02] [ 5.97792624e-01 8.01633596e-01 5.24941138e-03 6.05670830e+01] [-8.60012501e-03 -1.34881952e-04 9.99963009e-01 -2.79202914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45999999999998 meters 0.016624670187879616 Centerline is valid? [True, True] Translation: X:171.52, Y:60.60, Z:-2.79 [[ 8.01837999e-01 -5.97508276e-01 6.29942682e-03 1.71516344e+02] [ 5.97488551e-01 8.01862733e-01 4.85686094e-03 6.06029503e+01] [-7.95329022e-03 -1.30580253e-04 9.99968364e-01 -2.79427199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51999999999998 meters 0.016757574747704063 Centerline is valid? [True, True] Translation: X:171.56, Y:60.64, Z:-2.80 [[ 8.01497576e-01 -5.97977680e-01 4.93262297e-03 1.71562954e+02] [ 5.97965603e-01 8.01512748e-01 3.80167949e-03 6.06382312e+01] [-6.22687967e-03 -9.74980222e-05 9.99980608e-01 -2.79698612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57999999999998 meters 0.016634859645704703 Centerline is valid? [True, True] Translation: X:171.61, Y:60.67, Z:-2.80 [[ 8.00414305e-01 -5.99437599e-01 3.39200380e-03 1.71609976e+02] [ 5.99431895e-01 8.00421490e-01 2.61587406e-03 6.06708021e+01] [-4.28308600e-03 -6.05077482e-05 9.99990826e-01 -2.80053245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64 meters 0.016144817828116963 Centerline is valid? [True, True] Translation: X:171.66, Y:60.70, Z:-2.80 [[ 7.98812026e-01 -6.01570566e-01 3.49319101e-03 1.71659395e+02] [ 6.01564539e-01 7.98819662e-01 2.69321089e-03 6.07040891e+01] [-4.41058606e-03 -4.99894132e-05 9.99990272e-01 -2.80045596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.7 meters 0.015476368734133576 Centerline is valid? [True, True] Translation: X:171.71, Y:60.74, Z:-2.80 [[ 7.96150074e-01 -6.05084682e-01 4.19368958e-03 1.71709216e+02] [ 6.05076033e-01 7.96161118e-01 3.23540559e-03 6.07352234e+01] [-5.29654695e-03 -3.83673469e-05 9.99985972e-01 -2.79956318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76 meters 0.015062087134201364 Centerline is valid? [True, True] Translation: X:171.76, Y:60.77, Z:-2.80 [[ 7.94415497e-01 -6.07356212e-01 4.73816600e-03 1.71756962e+02] [ 6.07345188e-01 7.94429626e-01 3.65945897e-03 6.07676949e+01] [-5.98673458e-03 -2.94285887e-05 9.99982079e-01 -2.79997273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82 meters 0.014697907568326833 Centerline is valid? [True, True] Translation: X:171.81, Y:60.80, Z:-2.80 [[ 7.92741968e-01 -6.09536270e-01 5.07033065e-03 1.71805863e+02] [ 6.09523697e-01 7.92758182e-01 3.91502872e-03 6.08009197e+01] [-6.40589811e-03 -1.31208852e-05 9.99979482e-01 -2.79911017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88 meters 0.014549203884309872 Centerline is valid? [True, True] Translation: X:171.85, Y:60.84, Z:-2.80 [[ 7.91350535e-01 -6.11332944e-01 6.03007341e-03 1.71853578e+02] [ 6.11315189e-01 7.91373510e-01 4.65918875e-03 6.08351763e+01] [-7.62035594e-03 -7.76046325e-07 9.99970965e-01 -2.79876331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94 meters 0.014476239607196802 Centerline is valid? [True, True] Translation: X:171.90, Y:60.87, Z:-2.80 [[ 7.91077026e-01 -6.11682396e-01 6.46421914e-03 1.71898980e+02] [ 6.11661983e-01 7.91103436e-01 4.99720323e-03 6.08713903e+01] [-8.17056722e-03 7.44428123e-07 9.99966620e-01 -2.79954403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.0 meters 0.014452402709309989 Centerline is valid? [True, True] Translation: X:171.94, Y:60.91, Z:-2.80 [[ 7.92232592e-01 -6.10176652e-01 7.20927582e-03 1.71941354e+02] [ 6.10151155e-01 7.92265393e-01 5.57815721e-03 6.09097153e+01] [-9.11532104e-03 -2.04499800e-05 9.99958454e-01 -2.80059559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06 meters 0.014567980266836542 Centerline is valid? [True, True] Translation: X:171.99, Y:60.95, Z:-2.80 [[ 7.93565947e-01 -6.08449475e-01 6.50576632e-03 1.71985144e+02] [ 6.08428646e-01 7.93592613e-01 5.03467647e-03 6.09481623e+01] [-8.22627435e-03 -3.70532069e-05 9.99966163e-01 -2.80260394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12 meters 0.014755970240788625 Centerline is valid? [True, True] Translation: X:172.03, Y:60.99, Z:-2.80 [[ 7.94081024e-01 -6.07789399e-01 5.23202235e-03 1.72030886e+02] [ 6.07775916e-01 7.94098259e-01 4.04860478e-03 6.09858039e+01] [-6.61543891e-03 -3.50230570e-05 9.99978117e-01 -2.80495621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18 meters 0.0148355405470816 Centerline is valid? [True, True] Translation: X:172.08, Y:61.02, Z:-2.81 [[ 7.94091457e-01 -6.07780551e-01 4.64325375e-03 1.72075187e+02] [ 6.07769919e-01 7.94105031e-01 3.59515206e-03 6.10217163e+01] [-5.87229466e-03 -3.28495818e-05 9.99982757e-01 -2.80707457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23999999999998 meters 0.014751384049338474 Centerline is valid? [True, True] Translation: X:172.12, Y:61.06, Z:-2.81 [[ 7.93441581e-01 -6.08612539e-01 6.42140524e-03 1.72120555e+02] [ 6.08592206e-01 7.93467564e-01 4.97513858e-03 6.10577899e+01] [-8.12310850e-03 -3.94646422e-05 9.99967006e-01 -2.80579635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29999999999998 meters 0.014457990883842371 Centerline is valid? [True, True] Translation: X:172.17, Y:61.09, Z:-2.80 [[ 7.92190480e-01 -6.10219519e-01 8.14752116e-03 1.72167162e+02] [ 6.10186853e-01 7.92232376e-01 6.31393672e-03 6.10923810e+01] [-1.03076175e-02 -3.03302616e-05 9.99946875e-01 -2.80328139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35999999999999 meters 0.01441508983165986 Centerline is valid? [True, True] Translation: X:172.21, Y:61.13, Z:-2.80 [[ 7.91712309e-01 -6.10842762e-01 7.92089172e-03 1.72212330e+02] [ 6.10811921e-01 7.91751931e-01 6.13817813e-03 6.11282656e+01] [-1.00208430e-02 -2.14960913e-05 9.99949790e-01 -2.80415996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42 meters 0.014242298150280079 Centerline is valid? [True, True] Translation: X:172.26, Y:61.16, Z:-2.80 [[ 7.91707496e-01 -6.10860153e-01 7.00816826e-03 1.72257803e+02] [ 6.10835994e-01 7.91738513e-01 5.43286302e-03 6.11636984e+01] [-8.86735625e-03 -2.03969521e-05 9.99960684e-01 -2.80441740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48 meters 0.014264985777923615 Centerline is valid? [True, True] Translation: X:172.30, Y:61.20, Z:-2.81 [[ 7.92039030e-01 -6.10442061e-01 5.88764339e-03 1.72303165e+02] [ 6.10424983e-01 7.92060913e-01 4.56631633e-03 6.12010850e+01] [-7.45084375e-03 -2.27361364e-05 9.99972242e-01 -2.80668372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54 meters 0.014078237161370098 Centerline is valid? [True, True] Translation: X:172.35, Y:61.24, Z:-2.81 [[ 7.91723313e-01 -6.10858856e-01 5.06497245e-03 1.72348064e+02] [ 6.10846220e-01 7.91739514e-01 3.92913867e-03 6.12372001e+01] [-6.41028798e-03 -1.68714108e-05 9.99979454e-01 -2.80825519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.6 meters 0.014075827341732315 Centerline is valid? [True, True] Translation: X:172.39, Y:61.27, Z:-2.81 [[ 7.91043550e-01 -6.11747896e-01 3.82291843e-03 1.72394350e+02] [ 6.11740703e-01 7.91052787e-01 2.96645291e-03 6.12730129e+01] [-4.83885161e-03 -7.95862554e-06 9.99988293e-01 -2.81018173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66 meters 0.014064376358713836 Centerline is valid? [True, True] Translation: X:172.44, Y:61.31, Z:-2.81 [[ 7.89392513e-01 -6.13887592e-01 1.21882978e-03 1.72442144e+02] [ 6.13886868e-01 7.89393454e-01 9.42965435e-04 6.13070842e+01] [-1.54101103e-03 3.85373914e-06 9.99998813e-01 -2.81172844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72 meters 0.014070719107395319 Centerline is valid? [True, True] Translation: X:172.49, Y:61.34, Z:-2.81 [[ 7.88722000e-01 -6.14749502e-01 8.10186071e-04 1.72488790e+02] [ 6.14749185e-01 7.88722416e-01 6.24936900e-04 6.13423027e+01] [-1.02319156e-03 5.15974519e-06 9.99999477e-01 -2.81248730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78 meters 0.014206047086598766 Centerline is valid? [True, True] Translation: X:172.54, Y:61.38, Z:-2.81 [[ 7.87207168e-01 -6.16687819e-01 1.00402120e-03 1.72535492e+02] [ 6.16687331e-01 7.87207808e-01 7.76190104e-04 6.13771858e+01] [-1.26904031e-03 8.14473848e-06 9.99999195e-01 -2.81186079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84 meters 0.014112717576835356 Centerline is valid? [True, True] Translation: X:172.58, Y:61.41, Z:-2.81 [[ 7.86189872e-01 -6.17983547e-01 1.34952692e-03 1.72581088e+02] [ 6.17982662e-01 7.86191030e-01 1.04574908e-03 6.14125558e+01] [-1.70724168e-03 1.18269043e-05 9.99998543e-01 -2.81198698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.9 meters 0.014249301379868122 Centerline is valid? [True, True] Translation: X:172.63, Y:61.45, Z:-2.81 [[ 7.85809797e-01 -6.18464650e-01 2.10710230e-03 1.72627219e+02] [ 6.18462485e-01 7.85812621e-01 1.63687031e-03 6.14479178e+01] [-2.66813401e-03 1.68949916e-05 9.99996440e-01 -2.81146918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95999999999998 meters 0.014157377842563131 Centerline is valid? [True, True] Translation: X:172.67, Y:61.48, Z:-2.81 [[ 7.86480072e-01 -6.17607870e-01 3.10104764e-03 1.72673244e+02] [ 6.17603154e-01 7.86486185e-01 2.41347824e-03 6.14849973e+01] [-3.92951428e-03 1.70642604e-05 9.99992279e-01 -2.81050526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01999999999998 meters 0.01407820287083462 Centerline is valid? [True, True] Translation: X:172.72, Y:61.52, Z:-2.81 [[ 7.88235046e-01 -6.15369659e-01 2.38621817e-03 1.72716766e+02] [ 6.15366852e-01 7.88238658e-01 1.85890718e-03 6.15228571e+01] [-3.02482449e-03 3.14377090e-06 9.99995425e-01 -2.81210482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07999999999998 meters 0.014151334475988438 Centerline is valid? [True, True] Translation: X:172.76, Y:61.56, Z:-2.81 [[ 7.90534562e-01 -6.12412729e-01 2.39883176e-03 1.72759890e+02] [ 6.12409884e-01 7.90538202e-01 1.86676324e-03 6.15616878e+01] [-3.03959771e-03 -6.67258312e-06 9.99995380e-01 -2.81401850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14 meters 0.017392906019668763 Centerline is valid? [True, True] Translation: X:172.80, Y:61.60, Z:-2.82 [[ 7.94048263e-01 -6.07854031e-01 9.12432621e-04 1.72803090e+02] [ 6.07853619e-01 7.94048787e-01 7.07757104e-04 6.16014415e+01] [-1.15472903e-03 -7.36782817e-06 9.99999333e-01 -2.81878314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.2 meters 0.0153391380785614 Centerline is valid? [True, True] Translation: X:172.85, Y:61.64, Z:-2.82 [[ 7.96374015e-01 -6.04801462e-01 1.90282636e-03 1.72847544e+02] [ 6.04799647e-01 7.96376287e-01 1.48185658e-03 6.16407817e+01] [-2.41159482e-03 -2.92833671e-05 9.99997092e-01 -2.81718314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26 meters 0.01612722895981861 Centerline is valid? [True, True] Translation: X:172.89, Y:61.68, Z:-2.82 [[ 7.98081016e-01 -6.02541263e-01 3.27394790e-03 1.72890815e+02] [ 6.02535843e-01 7.98087728e-01 2.55653605e-03 6.16789644e+01] [-4.15331610e-03 -6.76519299e-05 9.99991373e-01 -2.81855050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32 meters 0.018801133338463227 Centerline is valid? [True, True] Translation: X:172.94, Y:61.71, Z:-2.82 [[ 7.97437787e-01 -6.03391996e-01 3.32786577e-03 1.72937405e+02] [ 6.03386411e-01 7.97444728e-01 2.59690130e-03 6.17141963e+01] [-4.22073847e-03 -6.28782432e-05 9.99991091e-01 -2.82187514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38 meters 0.017364812620185043 Centerline is valid? [True, True] Translation: X:172.98, Y:61.75, Z:-2.82 [[ 7.96632658e-01 -6.04446670e-01 4.54226113e-03 1.72984381e+02] [ 6.04436262e-01 7.96645603e-01 3.54811382e-03 6.17502231e+01] [-5.76321795e-03 -8.10360058e-05 9.99983389e-01 -2.82155445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44 meters 0.0168024405547337 Centerline is valid? [True, True] Translation: X:173.03, Y:61.79, Z:-2.82 [[ 7.94735175e-01 -6.06929897e-01 5.66578876e-03 1.73031015e+02] [ 6.06913729e-01 7.94755367e-01 4.43079577e-03 6.17851048e+01] [-7.19209844e-03 -8.26642658e-05 9.99974133e-01 -2.82317722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.5 meters 0.014957925976331339 Centerline is valid? [True, True] Translation: X:173.08, Y:61.82, Z:-2.82 [[ 7.93331786e-01 -6.08762481e-01 5.73745582e-03 1.73078512e+02] [ 6.08745956e-01 7.93352530e-01 4.48603976e-03 6.18199778e+01] [-7.28275779e-03 -6.62649104e-05 9.99973478e-01 -2.82245533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56 meters 0.0165576375912886 Centerline is valid? [True, True] Translation: X:173.13, Y:61.85, Z:-2.83 [[ 7.91256785e-01 -6.11460393e-01 5.37476953e-03 1.73126044e+02] [ 6.11445939e-01 7.91275038e-01 4.20437712e-03 6.18545480e+01] [-6.82373105e-03 -4.03609158e-05 9.99976717e-01 -2.82644868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62 meters 0.01828599055905248 Centerline is valid? [True, True] Translation: X:173.17, Y:61.89, Z:-2.83 [[ 7.88130531e-01 -6.15488060e-01 4.97136413e-03 1.73174688e+02] [ 6.15475764e-01 7.88146210e-01 3.89042060e-03 6.18881498e+01] [-6.31266922e-03 -6.40512315e-06 9.99980075e-01 -2.82918127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68 meters 0.014478877930369923 Centerline is valid? [True, True] Translation: X:173.22, Y:61.92, Z:-2.83 [[ 7.86560472e-01 -6.17484898e-01 5.91816281e-03 1.73221509e+02] [ 6.17467493e-01 7.86582736e-01 4.63622543e-03 6.19225529e+01] [-7.51792389e-03 7.60148810e-06 9.99971740e-01 -2.82635985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73999999999998 meters 0.016289376036601272 Centerline is valid? [True, True] Translation: X:173.27, Y:61.96, Z:-2.83 [[ 7.83911945e-01 -6.20841035e-01 6.20258582e-03 1.73269201e+02] [ 6.20822017e-01 7.83936482e-01 4.85961570e-03 6.19552880e+01] [-7.87948215e-03 4.11910450e-05 9.99968956e-01 -2.82896665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79999999999998 meters 0.017771705875243602 Centerline is valid? [True, True] Translation: X:173.32, Y:61.99, Z:-2.83 [[ 7.82696393e-01 -6.22375209e-01 5.95449540e-03 1.73315280e+02] [ 6.22357715e-01 7.82719040e-01 4.66675611e-03 6.19910825e+01] [-7.56517024e-03 5.31729771e-05 9.99971382e-01 -2.83082404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85999999999999 meters 0.016635503395469677 Centerline is valid? [True, True] Translation: X:173.36, Y:62.03, Z:-2.83 [[ 7.82077382e-01 -6.23156137e-01 5.60333926e-03 1.73360850e+02] [ 6.23140660e-01 7.82097453e-01 4.39228327e-03 6.20263259e+01] [-7.11943564e-03 5.65631213e-05 9.99974655e-01 -2.83254615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92 meters 0.01739836384147188 Centerline is valid? [True, True] Translation: X:173.41, Y:62.06, Z:-2.83 [[ 7.81868326e-01 -6.23419448e-01 5.48755838e-03 1.73406571e+02] [ 6.23404619e-01 7.81887581e-01 4.30026689e-03 6.20621558e+01] [-6.97152376e-03 5.87267691e-05 9.99975697e-01 -2.83440884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98 meters 0.014890681835233018 Centerline is valid? [True, True] Translation: X:173.45, Y:62.10, Z:-2.83 [[ 7.82461304e-01 -6.22655838e-01 7.34951944e-03 1.73452551e+02] [ 6.22629153e-01 7.82495817e-01 5.76490633e-03 6.20997987e+01] [-9.34052080e-03 6.52089430e-05 9.99956374e-01 -2.83083662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04 meters 0.014751341963034353 Centerline is valid? [True, True] Translation: X:173.50, Y:62.14, Z:-2.83 [[ 7.83965221e-01 -6.20744558e-01 8.64441705e-03 1.73497164e+02] [ 6.20707477e-01 7.84012877e-01 6.78497082e-03 6.21380904e+01] [-1.09890680e-02 4.64731471e-05 9.99939617e-01 -2.83127619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.1 meters 0.017955141314321164 Centerline is valid? [True, True] Translation: X:173.54, Y:62.18, Z:-2.84 [[ 7.85503111e-01 -6.18816904e-01 7.10647573e-03 1.73541505e+02] [ 6.18791749e-01 7.85535256e-01 5.57961331e-03 6.21753963e+01] [-9.03514627e-03 1.46249384e-05 9.99959182e-01 -2.83742771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16 meters 0.016311415297946066 Centerline is valid? [True, True] Translation: X:173.58, Y:62.22, Z:-2.84 [[ 7.89677139e-01 -6.13500720e-01 5.18486111e-03 1.73584038e+02] [ 6.13487207e-01 7.89694159e-01 4.07212203e-03 6.22162782e+01] [-6.59270434e-03 -3.48157161e-05 9.99978267e-01 -2.83920784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22 meters 0.015944697421067522 Centerline is valid? [True, True] Translation: X:173.63, Y:62.26, Z:-2.84 [[ 7.92183872e-01 -6.10268715e-01 4.09980265e-03 1.73628538e+02] [ 6.10260219e-01 7.92194479e-01 3.22053000e-03 6.22554149e+01] [-5.21322973e-03 -4.93054562e-05 9.99986410e-01 -2.84086516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28 meters 0.018520663129106718 Centerline is valid? [True, True] Translation: X:173.67, Y:62.29, Z:-2.84 [[ 7.93152610e-01 -6.09013602e-01 3.37184558e-03 1.73673834e+02] [ 6.09007832e-01 7.93159776e-01 2.65144375e-03 6.22922364e+01] [-4.28917759e-03 -4.95191612e-05 9.99990800e-01 -2.84414659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34 meters 0.018091367234722048 Centerline is valid? [True, True] Translation: X:173.72, Y:62.33, Z:-2.84 [[ 7.94370522e-01 -6.07418870e-01 4.21787641e-03 1.73719491e+02] [ 6.07409824e-01 7.94381717e-01 3.31576892e-03 6.23290577e+01] [-5.36466452e-03 -7.19695201e-05 9.99985607e-01 -2.84329044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.4 meters 0.01805725375848196 Centerline is valid? [True, True] Translation: X:173.76, Y:62.37, Z:-2.84 [[ 7.94640829e-01 -6.07067434e-01 3.88375050e-03 1.73764981e+02] [ 6.07059744e-01 7.94650316e-01 3.05640230e-03 6.23651016e+01] [-4.94166586e-03 -7.10734769e-05 9.99987787e-01 -2.84493953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45999999999998 meters 0.01815902383139223 Centerline is valid? [True, True] Translation: X:173.81, Y:62.40, Z:-2.85 [[ 7.93604328e-01 -6.08421867e-01 3.87327453e-03 1.73812910e+02] [ 6.08414242e-01 7.93613778e-01 3.04659366e-03 6.23988957e+01] [-4.92749824e-03 -6.12345330e-05 9.99987858e-01 -2.84525804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51999999999998 meters 0.016984605751439185 Centerline is valid? [True, True] Translation: X:173.86, Y:62.43, Z:-2.84 [[ 7.92055833e-01 -6.10435104e-01 4.06697282e-03 1.73861422e+02] [ 6.10426714e-01 7.92066273e-01 3.20088717e-03 6.24331921e+01] [-5.17524590e-03 -5.26924980e-05 9.99986607e-01 -2.84445697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57999999999998 meters 0.018138520460739938 Centerline is valid? [True, True] Translation: X:173.91, Y:62.46, Z:-2.85 [[ 7.88708522e-01 -6.14757933e-01 3.39854081e-03 1.73911405e+02] [ 6.14752112e-01 7.88715844e-01 2.67537825e-03 6.24649414e+01] [-4.32519299e-03 -2.08334883e-05 9.99990646e-01 -2.84648193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64 meters 0.01764498825222516 Centerline is valid? [True, True] Translation: X:173.96, Y:62.50, Z:-2.85 [[ 7.87606020e-01 -6.16170607e-01 3.24668789e-03 1.73957663e+02] [ 6.16165303e-01 7.87612712e-01 2.55643647e-03 6.24994161e+01] [-4.13233367e-03 -1.29683220e-05 9.99991462e-01 -2.84748136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.7 meters 0.018203430676140886 Centerline is valid? [True, True] Translation: X:174.01, Y:62.53, Z:-2.85 [[ 7.85206155e-01 -6.19230699e-01 2.15285723e-03 1.74005584e+02] [ 6.19228381e-01 7.85209107e-01 1.69434781e-03 6.25327395e+01] [-2.73963528e-03 2.69797393e-06 9.99996247e-01 -2.84947409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76 meters 0.014684226707385863 Centerline is valid? [True, True] Translation: X:174.05, Y:62.57, Z:-2.85 [[ 7.83959658e-01 -6.20809175e-01 1.79551457e-03 1.74052659e+02] [ 6.20807567e-01 7.83961714e-01 1.41298672e-03 6.25671459e+01] [-2.28480980e-03 6.94445129e-06 9.99997390e-01 -2.84603637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82 meters 0.018998367044621413 Centerline is valid? [True, True] Translation: X:174.10, Y:62.60, Z:-2.85 [[ 7.80154106e-01 -6.25586803e-01 8.49875477e-04 1.74101267e+02] [ 6.25586445e-01 7.80154569e-01 6.69854919e-04 6.25992162e+01] [-1.08208663e-03 9.08051319e-06 9.99999415e-01 -2.85160351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88 meters 0.0172101608227107 Centerline is valid? [True, True] Translation: X:174.15, Y:62.63, Z:-2.85 [[ 7.78342363e-01 -6.27836461e-01 2.13178280e-03 1.74147601e+02] [ 6.27834214e-01 7.78345282e-01 1.68000763e-03 6.26336333e+01] [-2.71403313e-03 3.07850676e-05 9.99996317e-01 -2.84952356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94 meters 0.018857968578910596 Centerline is valid? [True, True] Translation: X:174.19, Y:62.67, Z:-2.85 [[ 7.76607638e-01 -6.29975602e-01 3.36415752e-03 1.74194435e+02] [ 6.29969997e-01 7.76614922e-01 2.65802680e-03 6.26681199e+01] [-4.28714697e-03 5.50743877e-05 9.99990809e-01 -2.84976648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.0 meters 0.016762284435514675 Centerline is valid? [True, True] Translation: X:174.24, Y:62.71, Z:-2.85 [[ 7.76507191e-01 -6.30090636e-01 4.73007888e-03 1.74239397e+02] [ 6.30079553e-01 7.76521593e-01 3.73791919e-03 6.27058555e+01] [-6.02823627e-03 7.78048543e-05 9.99981827e-01 -2.84729505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06 meters 0.017127611270727483 Centerline is valid? [True, True] Translation: X:174.28, Y:62.74, Z:-2.85 [[ 7.77700205e-01 -6.28626728e-01 3.29054995e-03 1.74283257e+02] [ 6.28621354e-01 7.77707165e-01 2.59971354e-03 6.27439506e+01] [-4.19333369e-03 4.67122111e-05 9.99991207e-01 -2.85062067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12 meters 0.014593755963620532 Centerline is valid? [True, True] Translation: X:174.33, Y:62.78, Z:-2.85 [[ 7.82097044e-01 -6.23154595e-01 1.60121556e-03 1.74325190e+02] [ 6.23153308e-01 7.82098684e-01 1.26625719e-03 6.27846134e+01] [-2.04138257e-03 7.46676848e-06 9.99997916e-01 -2.85093883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18 meters 0.015655678121688464 Centerline is valid? [True, True] Translation: X:174.37, Y:62.82, Z:-2.85 [[ 7.84389063e-01 -6.20268523e-01 8.70181215e-04 1.74368535e+02] [ 6.20268145e-01 7.84389546e-01 6.84688116e-04 6.28245639e+01] [-1.10725153e-03 2.68381777e-06 9.99999387e-01 -2.85414592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23999999999998 meters 0.017565322383376283 Centerline is valid? [True, True] Translation: X:174.41, Y:62.87, Z:-2.86 [[ 7.88239637e-01 -6.15367588e-01 1.00307943e-03 1.74410711e+02] [ 6.15367081e-01 7.88240275e-01 7.90367913e-04 6.28659684e+01] [-1.27703440e-03 -5.73725469e-06 9.99999185e-01 -2.85639468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29999999999998 meters 0.017955594982268414 Centerline is valid? [True, True] Translation: X:174.45, Y:62.91, Z:-2.86 [[ 7.90318823e-01 -6.12692717e-01 1.94733189e-03 1.74454987e+02] [ 6.12690783e-01 7.90321222e-01 1.53967599e-03 6.29055807e+01] [-2.48236598e-03 -2.37226129e-05 9.99996919e-01 -2.85687221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35999999999999 meters 0.016551142623432415 Centerline is valid? [True, True] Translation: X:174.50, Y:62.94, Z:-2.85 [[ 7.92179250e-01 -6.10270659e-01 4.66457890e-03 1.74498431e+02] [ 6.10259472e-01 7.92192979e-01 3.69598734e-03 6.29442520e+01] [-5.95079928e-03 -8.12810236e-05 9.99982291e-01 -2.85298093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42 meters 0.01736155943602983 Centerline is valid? [True, True] Translation: X:174.54, Y:62.98, Z:-2.85 [[ 7.92368123e-01 -6.10021852e-01 5.10871791e-03 1.74543477e+02] [ 6.10008410e-01 7.92384586e-01 4.05064155e-03 6.29813053e+01] [-6.51904919e-03 -9.32383489e-05 9.99978746e-01 -2.85467388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48 meters 0.01824748637310318 Centerline is valid? [True, True] Translation: X:174.59, Y:63.02, Z:-2.86 [[ 7.92277833e-01 -6.10138504e-01 5.18087576e-03 1.74587600e+02] [ 6.10124665e-01 7.92294766e-01 4.11043355e-03 6.30190267e+01] [-6.61271453e-03 -9.56252960e-05 9.99978131e-01 -2.85693628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54 meters 0.01541800688447703 Centerline is valid? [True, True] Translation: X:174.63, Y:63.06, Z:-2.86 [[ 7.92116058e-01 -6.10360528e-01 3.48934269e-03 1.74632918e+02] [ 6.10354252e-01 7.92123741e-01 2.76870017e-03 6.30561441e+01] [-4.45389648e-03 -6.33967168e-05 9.99990079e-01 -2.85608353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.6 meters 0.016786033450076083 Centerline is valid? [True, True] Translation: X:174.68, Y:63.09, Z:-2.86 [[ 7.90286223e-01 -6.12737270e-01 8.50647914e-04 1.74679060e+02] [ 6.12736902e-01 7.90286681e-01 6.70969176e-04 6.30914990e+01] [-1.08338354e-03 -9.03432883e-06 9.99999413e-01 -2.86250140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66 meters 0.017946313402729615 Centerline is valid? [True, True] Translation: X:174.73, Y:63.13, Z:-2.87 [[ 7.87349339e-01 -6.16506274e-01 -1.01574585e-03 1.74726048e+02] [ 6.16505742e-01 7.87349995e-01 -8.09720123e-04 6.31256851e+01] [ 1.29894503e-03 1.13194524e-05 9.99999156e-01 -2.86633753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72 meters 0.018284588269867185 Centerline is valid? [True, True] Translation: X:174.77, Y:63.16, Z:-2.87 [[ 7.84458325e-01 -6.20180721e-01 -1.00464995e-03 1.74774849e+02] [ 6.20180199e-01 7.84458969e-01 -8.04410796e-04 6.31589394e+01] [ 1.28698673e-03 7.96273778e-06 9.99999172e-01 -2.86571852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78 meters 0.016117440471506126 Centerline is valid? [True, True] Translation: X:174.82, Y:63.19, Z:-2.86 [[ 7.81152693e-01 -6.24339661e-01 6.76570027e-04 1.74824028e+02] [ 6.24339432e-01 7.81152986e-01 5.33906831e-04 6.31920074e+01] [-8.61843907e-04 5.34658715e-06 9.99999629e-01 -2.86262708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84 meters 0.017908370692791102 Centerline is valid? [True, True] Translation: X:174.87, Y:63.22, Z:-2.86 [[ 7.76459449e-01 -6.30163966e-01 2.02457376e-03 1.74873658e+02] [ 6.30161915e-01 7.76462088e-01 1.60820580e-03 6.32236824e+01] [-2.58543812e-03 2.71026881e-05 9.99996657e-01 -2.86272655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.9 meters 0.015958657522496932 Centerline is valid? [True, True] Translation: X:174.92, Y:63.26, Z:-2.86 [[ 7.74908304e-01 -6.32064244e-01 3.45139102e-03 1.74919662e+02] [ 6.32058282e-01 7.74915988e-01 2.74583939e-03 6.32585329e+01] [-4.41008497e-03 5.37065333e-05 9.99990274e-01 -2.86014703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95999999999998 meters 0.016614478619265897 Centerline is valid? [True, True] Translation: X:174.97, Y:63.30, Z:-2.86 [[ 7.74128148e-01 -6.33020426e-01 3.27886256e-03 1.74966220e+02] [ 6.33015047e-01 7.74135090e-01 2.61034629e-03 6.32950481e+01] [-4.19068508e-03 5.48267971e-05 9.99991218e-01 -2.86178134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01999999999998 meters 0.01813463991883288 Centerline is valid? [True, True] Translation: X:175.01, Y:63.33, Z:-2.86 [[ 7.74309328e-01 -6.32803279e-01 2.25279954e-03 1.75011513e+02] [ 6.32800735e-01 7.74312604e-01 1.79473844e-03 6.33316479e+01] [-2.88008745e-03 3.58904870e-05 9.99995852e-01 -2.86429077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07999999999998 meters 0.016400719142707465 Centerline is valid? [True, True] Translation: X:175.05, Y:63.37, Z:-2.86 [[ 7.75913752e-01 -6.30835717e-01 2.03653629e-03 1.75054969e+02] [ 6.30833635e-01 7.75916425e-01 1.62080601e-03 6.33715958e+01] [-2.60264428e-03 2.71099223e-05 9.99996613e-01 -2.86420361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14 meters 0.018120759638745938 Centerline is valid? [True, True] Translation: X:175.10, Y:63.41, Z:-2.87 [[ 7.76710837e-01 -6.29856376e-01 1.10490960e-03 1.75098628e+02] [ 6.29855766e-01 7.76711623e-01 8.76933300e-04 6.34102384e+01] [-1.41053816e-03 1.48100848e-05 9.99999005e-01 -2.86667968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.2 meters 0.014686762144428073 Centerline is valid? [True, True] Translation: X:175.14, Y:63.45, Z:-2.86 [[ 7.78431343e-01 -6.27727020e-01 1.85287200e-03 1.75141219e+02] [ 6.27725279e-01 7.78433548e-01 1.47841268e-03 6.34491808e+01] [-2.37037731e-03 1.22518228e-05 9.99997191e-01 -2.86429909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26 meters 0.017051216430670948 Centerline is valid? [True, True] Translation: X:175.19, Y:63.49, Z:-2.87 [[ 7.78655214e-01 -6.27450176e-01 1.52790411e-03 1.75185870e+02] [ 6.27448998e-01 7.78656713e-01 1.21575699e-03 6.34864840e+01] [-1.95253973e-03 1.20263838e-05 9.99998094e-01 -2.86633129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32 meters 0.01603092435407509 Centerline is valid? [True, True] Translation: X:175.23, Y:63.53, Z:-2.87 [[ 7.79454641e-01 -6.26452716e-01 2.73090127e-03 1.75229867e+02] [ 6.26448926e-01 7.79459425e-01 2.17911305e-03 6.35251020e+01] [-3.49373802e-03 1.22503859e-05 9.99993897e-01 -2.86591953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38 meters 0.017455600360841105 Centerline is valid? [True, True] Translation: X:175.27, Y:63.56, Z:-2.87 [[ 7.80984544e-01 -6.24543245e-01 2.97948585e-03 1.75271654e+02] [ 6.24538711e-01 7.80990227e-01 2.37991879e-03 6.35642642e+01] [-3.81331153e-03 2.12445925e-06 9.99992729e-01 -2.86785627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44 meters 0.01636644817188754 Centerline is valid? [True, True] Translation: X:175.31, Y:63.60, Z:-2.87 [[ 7.82683820e-01 -6.22411896e-01 3.07725911e-03 1.75314555e+02] [ 6.22407043e-01 7.82689870e-01 2.45772737e-03 6.36034567e+01] [-3.93825828e-03 -8.31570603e-06 9.99992245e-01 -2.86705275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.5 meters 0.017040337445359714 Centerline is valid? [True, True] Translation: X:175.36, Y:63.65, Z:-2.87 [[ 7.85697978e-01 -6.18607360e-01 1.90289946e-03 1.75356488e+02] [ 6.18605495e-01 7.85700283e-01 1.51916830e-03 6.36455598e+01] [-2.43487733e-03 -1.64634008e-05 9.99997036e-01 -2.86937640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56 meters 0.014643237437203678 Centerline is valid? [True, True] Translation: X:175.40, Y:63.68, Z:-2.87 [[ 7.87159493e-01 -6.16744680e-01 2.43561529e-03 1.75401247e+02] [ 6.16741608e-01 7.87163261e-01 1.94675097e-03 6.36847472e+01] [-3.11787518e-03 -3.02582167e-05 9.99995139e-01 -2.86742175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62 meters 0.01772567381960639 Centerline is valid? [True, True] Translation: X:175.45, Y:63.72, Z:-2.87 [[ 7.88274698e-01 -6.15321207e-01 1.67704331e-03 1.75445042e+02] [ 6.15319749e-01 7.88276482e-01 1.33957810e-03 6.37241927e+01] [-2.14624461e-03 -2.40376552e-05 9.99997697e-01 -2.87187040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68 meters 0.017532648510831406 Centerline is valid? [True, True] Translation: X:175.49, Y:63.76, Z:-2.87 [[ 7.89654634e-01 -6.13546467e-01 2.50842005e-03 1.75488044e+02] [ 6.13543178e-01 7.89658616e-01 2.00967736e-03 6.37638113e+01] [-3.21382595e-03 -4.79270263e-05 9.99994834e-01 -2.87218547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73999999999998 meters 0.018220773190916785 Centerline is valid? [True, True] Translation: X:175.53, Y:63.80, Z:-2.87 [[ 7.89326490e-01 -6.13970938e-01 1.83832835e-03 1.75532598e+02] [ 6.13969180e-01 7.89328630e-01 1.46941815e-03 6.38007026e+01] [-2.35322524e-03 -3.11737187e-05 9.99997231e-01 -2.87414083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79999999999998 meters 0.018960626227701515 Centerline is valid? [True, True] Translation: X:175.58, Y:63.84, Z:-2.88 [[ 7.88808407e-01 -6.14637135e-01 1.57738710e-03 1.75577624e+02] [ 6.14635843e-01 7.88809984e-01 1.26073829e-03 6.38376790e+01] [-2.01915527e-03 -2.49623124e-05 9.99997961e-01 -2.87624125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85999999999999 meters 0.017591889775448524 Centerline is valid? [True, True] Translation: X:175.62, Y:63.87, Z:-2.88 [[ 7.88061441e-01 -6.15595934e-01 9.00840325e-04 1.75622956e+02] [ 6.15595515e-01 7.88061956e-01 7.18035835e-04 6.38732739e+01] [-1.15193793e-03 -1.13030903e-05 9.99999336e-01 -2.87666363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92 meters 0.01706000481938154 Centerline is valid? [True, True] Translation: X:175.67, Y:63.91, Z:-2.88 [[ 7.86961759e-01 -6.17001548e-01 5.28203660e-04 1.75669702e+02] [ 6.17001406e-01 7.86961936e-01 4.19649241e-04 6.39092465e+01] [-6.74600406e-04 -4.34550400e-06 9.99999772e-01 -2.87750663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98 meters 0.014526296494946104 Centerline is valid? [True, True] Translation: X:175.72, Y:63.94, Z:-2.88 [[ 7.85679805e-01 -6.18633073e-01 6.03726674e-04 1.75717047e+02] [ 6.18632886e-01 7.85680037e-01 4.80604840e-04 6.39440837e+01] [-7.71654045e-04 -4.11634231e-06 9.99999702e-01 -2.87535848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04 meters 0.01762591647956476 Centerline is valid? [True, True] Translation: X:175.76, Y:63.98, Z:-2.88 [[ 7.83421999e-01 -6.21490015e-01 -3.63592361e-04 1.75764865e+02] [ 6.21489944e-01 7.83422083e-01 -2.98049924e-04 6.39777956e+01] [ 4.70081337e-04 7.52987117e-06 9.99999889e-01 -2.88026758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.1 meters 0.01870187899182488 Centerline is valid? [True, True] Translation: X:175.81, Y:64.01, Z:-2.88 [[ 7.80105441e-01 -6.25648012e-01 -2.55435469e-04 1.75814782e+02] [ 6.25647977e-01 7.80105483e-01 -2.10134634e-04 6.40105120e+01] [ 3.30736926e-04 4.11448730e-06 9.99999945e-01 -2.88088539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16 meters 0.016330512217241473 Centerline is valid? [True, True] Translation: X:175.86, Y:64.04, Z:-2.88 [[ 7.77611089e-01 -6.28745099e-01 7.71201616e-04 1.75862395e+02] [ 6.28744794e-01 7.77611472e-01 6.19197094e-04 6.40435000e+01] [-9.89012362e-04 3.39447463e-06 9.99999511e-01 -2.87945227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22 meters 0.017828178391492668 Centerline is valid? [True, True] Translation: X:175.91, Y:64.08, Z:-2.88 [[ 7.72700967e-01 -6.34765401e-01 2.47018844e-03 1.75912600e+02] [ 6.34762298e-01 7.72704915e-01 1.98489846e-03 6.40752773e+01] [-3.16867161e-03 3.42495269e-05 9.99994979e-01 -2.87790349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28 meters 0.01829237959451932 Centerline is valid? [True, True] Translation: X:175.96, Y:64.11, Z:-2.88 [[ 7.69111687e-01 -6.39104344e-01 3.58483966e-03 1.75961355e+02] [ 6.39097832e-01 7.69120038e-01 2.88590589e-03 6.41068680e+01] [-4.60156700e-03 7.14793106e-05 9.99989410e-01 -2.87807770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34 meters 0.018705937589021882 Centerline is valid? [True, True] Translation: X:176.01, Y:64.14, Z:-2.88 [[ 7.65573263e-01 -6.43337068e-01 3.87249244e-03 1.76009099e+02] [ 6.43329517e-01 7.65583050e-01 3.11864330e-03 6.41405545e+01] [-4.97105341e-03 1.03738761e-04 9.99987639e-01 -2.87767123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.4 meters 0.020807407077371862 Centerline is valid? [True, True] Translation: X:176.06, Y:64.18, Z:-2.88 [[ 7.60654945e-01 -6.49147983e-01 3.30929654e-03 1.76057636e+02] [ 6.49142528e-01 7.60662134e-01 2.66401703e-03 6.41750254e+01] [-4.24659785e-03 1.21807399e-04 9.99990976e-01 -2.87985731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.45999999999998 meters 0.02193280761197892 Centerline is valid? [True, True] Translation: X:176.10, Y:64.21, Z:-2.88 [[ 7.56988977e-01 -6.53422815e-01 2.51276651e-03 1.76104467e+02] [ 6.53419694e-01 7.56993139e-01 2.02245115e-03 6.42108851e+01] [-3.22366273e-03 1.10917896e-04 9.99994798e-01 -2.88125377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51999999999998 meters 0.021772609856878938 Centerline is valid? [True, True] Translation: X:176.15, Y:64.25, Z:-2.88 [[ 7.55263924e-01 -6.55416136e-01 2.46840107e-03 1.76150732e+02] [ 6.55413133e-01 7.55267949e-01 1.98758060e-03 6.42473327e+01] [-3.16699661e-03 1.16674554e-04 9.99994978e-01 -2.88101566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57999999999998 meters 0.021023086880536123 Centerline is valid? [True, True] Translation: X:176.20, Y:64.29, Z:-2.88 [[ 7.54216768e-01 -6.56621158e-01 2.39201853e-03 1.76195241e+02] [ 6.56618342e-01 7.54220552e-01 1.92682862e-03 6.42861997e+01] [-3.06930597e-03 1.17396786e-04 9.99995283e-01 -2.88056823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64 meters 0.02213338132370357 Centerline is valid? [True, True] Translation: X:176.24, Y:64.33, Z:-2.88 [[ 7.54600115e-01 -6.56180553e-01 2.39741366e-03 1.76238665e+02] [ 6.56177718e-01 7.54603915e-01 1.93219523e-03 6.43265674e+01] [-3.07696667e-03 1.15094683e-04 9.99995260e-01 -2.88250395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.7 meters 0.0212159451545268 Centerline is valid? [True, True] Translation: X:176.28, Y:64.37, Z:-2.88 [[ 7.57052950e-01 -6.53345693e-01 3.19931013e-03 1.76281386e+02] [ 6.53340607e-01 7.57059698e-01 2.58169210e-03 6.43678702e+01] [-4.10880618e-03 1.35761600e-04 9.99991550e-01 -2.88258968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76 meters 0.019480533056641564 Centerline is valid? [True, True] Translation: X:176.32, Y:64.41, Z:-2.88 [[ 7.62925037e-01 -6.46479774e-01 3.04777277e-03 1.76320274e+02] [ 6.46475100e-01 7.62931119e-01 2.46016193e-03 6.44142283e+01] [-3.91568562e-03 9.33900736e-05 9.99992329e-01 -2.88435418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82 meters 0.01826841621796744 Centerline is valid? [True, True] Translation: X:176.36, Y:64.46, Z:-2.89 [[ 7.68310540e-01 -6.40072805e-01 2.39118285e-03 1.76360179e+02] [ 6.40069896e-01 7.68314260e-01 1.93050573e-03 6.44584570e+01] [-3.07284410e-03 4.72962582e-05 9.99995278e-01 -2.88646467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88 meters 0.017275704463877082 Centerline is valid? [True, True] Translation: X:176.40, Y:64.51, Z:-2.89 [[ 7.78043097e-01 -6.28206954e-01 2.22765798e-03 1.76395966e+02] [ 6.28204378e-01 7.78046286e-01 1.79919517e-03 6.45078361e+01] [-2.86348793e-03 -4.26886133e-07 9.99995900e-01 -2.88849393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94 meters 0.01755293315703853 Centerline is valid? [True, True] Translation: X:176.43, Y:64.55, Z:-2.89 [[ 7.84353332e-01 -6.20307850e-01 2.83226475e-03 1.76434758e+02] [ 6.20303619e-01 7.84358445e-01 2.29127908e-03 6.45526783e+01] [-3.64280917e-03 -4.03083046e-05 9.99993364e-01 -2.88886428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.0 meters 0.02037666945808315 Centerline is valid? [True, True] Translation: X:176.48, Y:64.60, Z:-2.89 [[ 7.88592809e-01 -6.14908811e-01 2.92161752e-03 1.76475910e+02] [ 6.14904278e-01 7.88598218e-01 2.36191883e-03 6.45958910e+01] [-3.75634707e-03 -6.60770911e-05 9.99992943e-01 -2.89110207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06 meters 0.02107663027340561 Centerline is valid? [True, True] Translation: X:176.52, Y:64.64, Z:-2.89 [[ 7.92022827e-01 -6.10478046e-01 4.04916088e-03 1.76518362e+02] [ 6.10469254e-01 7.92033168e-01 3.27879034e-03 6.46364810e+01] [-5.20869924e-03 -1.24988575e-04 9.99986427e-01 -2.89014726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12 meters 0.020426543910790407 Centerline is valid? [True, True] Translation: X:176.56, Y:64.67, Z:-2.89 [[ 7.92126595e-01 -6.10340410e-01 4.47674533e-03 1.76563643e+02] [ 6.10329671e-01 7.92139234e-01 3.62319148e-03 6.46735447e+01] [-5.75758579e-03 -1.37735823e-04 9.99983415e-01 -2.89009006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18 meters 0.019452400739914437 Centerline is valid? [True, True] Translation: X:176.61, Y:64.71, Z:-2.89 [[ 7.91071357e-01 -6.11712840e-01 3.67553068e-03 1.76608868e+02] [ 6.11705599e-01 7.91079889e-01 2.97817808e-03 6.47099550e+01] [-4.72942817e-03 -1.07608683e-04 9.99988810e-01 -2.89198965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23999999999998 meters 0.018034482520700626 Centerline is valid? [True, True] Translation: X:176.66, Y:64.74, Z:-2.89 [[ 7.89738224e-01 -6.13437837e-01 2.74896659e-03 1.76656616e+02] [ 6.13433806e-01 7.89743006e-01 2.22498271e-03 6.47448645e+01] [-3.53586572e-03 -7.08448577e-05 9.99993746e-01 -2.89238179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29999999999998 meters 0.016157277971632664 Centerline is valid? [True, True] Translation: X:176.71, Y:64.78, Z:-2.89 [[ 7.87945577e-01 -6.15742606e-01 1.67621171e-03 1.76705377e+02] [ 6.15741115e-01 7.87947359e-01 1.35579118e-03 6.47790335e+01] [-2.15558499e-03 -3.61771915e-05 9.99997676e-01 -2.89225413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35999999999999 meters 0.01841442719000676 Centerline is valid? [True, True] Translation: X:176.76, Y:64.81, Z:-2.90 [[ 7.82461157e-01 -6.22699393e-01 6.38909467e-05 1.76756178e+02] [ 6.22699391e-01 7.82461159e-01 4.75918649e-05 6.48094110e+01] [-7.96276097e-05 2.54606798e-06 9.99999997e-01 -2.89893767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42 meters 0.017644070897337116 Centerline is valid? [True, True] Translation: X:176.80, Y:64.84, Z:-2.90 [[ 7.79356207e-01 -6.26581076e-01 2.38474065e-04 1.76804938e+02] [ 6.26581047e-01 7.79356244e-01 1.91121547e-04 6.48413273e+01] [-3.05609396e-04 4.71565063e-07 9.99999953e-01 -2.89964240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48 meters 0.018899958123590382 Centerline is valid? [True, True] Translation: X:176.85, Y:64.88, Z:-2.90 [[ 7.77426290e-01 -6.28973806e-01 5.60947175e-04 1.76852579e+02] [ 6.28973644e-01 7.77426493e-01 4.50907459e-04 6.48755778e+01] [-7.19704175e-04 2.27367571e-06 9.99999741e-01 -2.90056786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54 meters 0.017605263471821585 Centerline is valid? [True, True] Translation: X:176.90, Y:64.91, Z:-2.90 [[ 7.72695017e-01 -6.34769598e-01 3.15721427e-03 1.76903673e+02] [ 6.34764429e-01 7.72701467e-01 2.56181276e-03 6.49057552e+01] [-4.06574495e-03 2.45873558e-05 9.99991735e-01 -2.89885732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.6 meters 0.014748273619811616 Centerline is valid? [True, True] Translation: X:176.95, Y:64.94, Z:-2.89 [[ 7.69454875e-01 -6.38684948e-01 4.55328004e-03 1.76953940e+02] [ 6.38674241e-01 7.69468345e-01 3.69862947e-03 6.49373638e+01] [-5.86586382e-03 6.21342013e-05 9.99982794e-01 -2.89393715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66 meters 0.017108484846820905 Centerline is valid? [True, True] Translation: X:177.00, Y:64.97, Z:-2.90 [[ 7.66455242e-01 -6.42280140e-01 4.75230096e-03 1.77001588e+02] [ 6.42268520e-01 7.66469970e-01 3.86440599e-03 6.49710823e+01] [-6.12452719e-03 9.03590782e-05 9.99981241e-01 -2.89729319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72 meters 0.01840833097141917 Centerline is valid? [True, True] Translation: X:177.05, Y:65.00, Z:-2.90 [[ 7.63780543e-01 -6.45458781e-01 4.71634942e-03 1.77048922e+02] [ 6.45447394e-01 7.63795096e-01 3.83567677e-03 6.50036499e+01] [-6.07809581e-03 1.14540156e-04 9.99981522e-01 -2.89865758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78 meters 0.018987132946292725 Centerline is valid? [True, True] Translation: X:177.10, Y:65.04, Z:-2.90 [[ 7.60177730e-01 -6.49699440e-01 4.52292466e-03 1.77098049e+02] [ 6.49689048e-01 7.60191171e-01 3.67754592e-03 6.50376556e+01] [-5.82758692e-03 1.42906110e-04 9.99983009e-01 -2.89855953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84 meters 0.017534478519877 Centerline is valid? [True, True] Translation: X:177.15, Y:65.07, Z:-2.90 [[ 7.58463511e-01 -6.51701733e-01 4.23717275e-03 1.77145512e+02] [ 6.51692637e-01 7.58475333e-01 3.44636354e-03 6.50732274e+01] [-5.45979210e-03 1.47393290e-04 9.99985084e-01 -2.89704322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.9 meters 0.01777950302823178 Centerline is valid? [True, True] Translation: X:177.19, Y:65.11, Z:-2.90 [[ 7.56254591e-01 -6.54265835e-01 3.90001972e-03 1.77192235e+02] [ 6.54258157e-01 7.56264632e-01 3.17336594e-03 6.51088944e+01] [-5.02567190e-03 1.51747149e-04 9.99987360e-01 -2.89818378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95999999999998 meters 0.02025516640067513 Centerline is valid? [True, True] Translation: X:177.24, Y:65.14, Z:-2.90 [[ 7.54770997e-01 -6.55974286e-01 4.29851757e-03 1.77239586e+02] [ 6.55964974e-01 7.54783216e-01 3.49991927e-03 6.51441782e+01] [-5.54030596e-03 1.78039408e-04 9.99984637e-01 -2.90189963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01999999999998 meters 0.018569949169181033 Centerline is valid? [True, True] Translation: X:177.29, Y:65.18, Z:-2.90 [[ 7.55440485e-01 -6.55199785e-01 4.78703712e-03 1.77286281e+02] [ 6.55188203e-01 7.55455628e-01 3.90030851e-03 6.51799138e+01] [-6.17187543e-03 1.89959296e-04 9.99980936e-01 -2.89917163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07999999999998 meters 0.018839504615555547 Centerline is valid? [True, True] Translation: X:177.33, Y:65.22, Z:-2.90 [[ 7.57845569e-01 -6.52414183e-01 5.08207969e-03 1.77330456e+02] [ 6.52401051e-01 7.57862588e-01 4.14312195e-03 6.52193036e+01] [-6.55454959e-03 1.75707519e-04 9.99978503e-01 -2.90247403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14 meters 0.018424075804074444 Centerline is valid? [True, True] Translation: X:177.37, Y:65.26, Z:-2.90 [[ 7.61272913e-01 -6.48411534e-01 5.10233381e-03 1.77373417e+02] [ 6.48398188e-01 7.61289999e-01 4.16257725e-03 6.52600512e+01] [-6.58341880e-03 1.39486684e-04 9.99978319e-01 -2.90409916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.2 meters 0.017628562261017562 Centerline is valid? [True, True] Translation: X:177.41, Y:65.30, Z:-2.91 [[ 7.68570295e-01 -6.39744332e-01 5.18573746e-03 1.77413594e+02] [ 6.39730334e-01 7.68587787e-01 4.23249153e-03 6.53026067e+01] [-6.69340694e-03 6.45062911e-05 9.99977597e-01 -2.90638694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26 meters 0.017028641544370813 Centerline is valid? [True, True] Translation: X:177.45, Y:65.35, Z:-2.91 [[ 7.74566724e-01 -6.32475140e-01 4.64625484e-03 1.77454436e+02] [ 6.32463773e-01 7.74580659e-01 3.79190187e-03 6.53452584e+01] [-5.99718280e-03 1.50685623e-06 9.99982017e-01 -2.90844364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32 meters 0.017795862050218766 Centerline is valid? [True, True] Translation: X:177.49, Y:65.39, Z:-2.91 [[ 7.82874756e-01 -6.22165827e-01 4.09867289e-03 1.77493176e+02] [ 6.22156821e-01 7.82885482e-01 3.34832373e-03 6.53906712e+01] [-5.29200410e-03 -7.13008263e-05 9.99985995e-01 -2.91062042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38 meters 0.016889956972168583 Centerline is valid? [True, True] Translation: X:177.54, Y:65.43, Z:-2.91 [[ 7.86751540e-01 -6.17255138e-01 4.25547560e-03 1.77536598e+02] [ 6.17245365e-01 7.86763042e-01 3.47509198e-03 6.54315622e+01] [-5.49306931e-03 -1.07361379e-04 9.99984907e-01 -2.90777561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44 meters 0.0197691700001643 Centerline is valid? [True, True] Translation: X:177.58, Y:65.47, Z:-2.91 [[ 7.88421285e-01 -6.15128092e-01 3.05102587e-03 1.77581909e+02] [ 6.15123054e-01 7.88427183e-01 2.49109072e-03 6.54693192e+01] [-3.93785161e-03 -8.72725899e-05 9.99992243e-01 -2.91292992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.5 meters 0.01760493761567571 Centerline is valid? [True, True] Translation: X:177.63, Y:65.51, Z:-2.91 [[ 7.88800152e-01 -6.14639471e-01 3.55538199e-03 1.77627565e+02] [ 6.14632604e-01 7.88808157e-01 2.90745720e-03 6.55057740e+01] [-4.59155227e-03 -1.08148990e-04 9.99989453e-01 -2.91080913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56 meters 0.020326547318832593 Centerline is valid? [True, True] Translation: X:177.68, Y:65.54, Z:-2.92 [[ 7.86400915e-01 -6.17715150e-01 1.26246244e-03 1.77676464e+02] [ 6.17714294e-01 7.86401928e-01 1.02862881e-03 6.55394473e+01] [-1.62820250e-03 -2.90735481e-05 9.99998674e-01 -2.91766943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62 meters 0.01910835710074794 Centerline is valid? [True, True] Translation: X:177.73, Y:65.57, Z:-2.92 [[ 7.84421423e-01 -6.20228160e-01 2.48018405e-04 1.77725480e+02] [ 6.20228128e-01 7.84421462e-01 1.98213602e-04 6.55725153e+01] [-3.17488617e-04 -1.65500450e-06 9.99999950e-01 -2.91852931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68 meters 0.017874299661911293 Centerline is valid? [True, True] Translation: X:177.78, Y:65.60, Z:-2.92 [[ 7.81739156e-01 -6.23605390e-01 4.59031229e-04 1.77776543e+02] [ 6.23605279e-01 7.81739290e-01 3.71636874e-04 6.56037501e+01] [-5.90597505e-04 -4.26879822e-06 9.99999826e-01 -2.91772926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73999999999998 meters 0.01873952908017808 Centerline is valid? [True, True] Translation: X:177.83, Y:65.64, Z:-2.92 [[ 7.80178500e-01 -6.25556650e-01 6.21077249e-04 1.77825844e+02] [ 6.25556447e-01 7.80178747e-01 5.04320941e-04 6.56371543e+01] [-8.00032589e-04 -4.94147766e-06 9.99999680e-01 -2.91885279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79999999999998 meters 0.018189278899023033 Centerline is valid? [True, True] Translation: X:177.88, Y:65.67, Z:-2.92 [[ 7.78217177e-01 -6.27993433e-01 1.50821127e-03 1.77876601e+02] [ 6.27992223e-01 7.78218638e-01 1.23235757e-03 6.56682659e+01] [-1.94763058e-03 -1.18968774e-05 9.99998103e-01 -2.91934295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85999999999999 meters 0.016544713118788405 Centerline is valid? [True, True] Translation: X:177.93, Y:65.70, Z:-2.92 [[ 7.77169838e-01 -6.29285199e-01 2.67974570e-03 1.77926027e+02] [ 6.29281372e-01 7.77174458e-01 2.19455501e-03 6.57005976e+01] [-3.46363090e-03 -1.92279141e-05 9.99994001e-01 -2.91772101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92 meters 0.014649473280649007 Centerline is valid? [True, True] Translation: X:177.97, Y:65.73, Z:-2.91 [[ 7.77182312e-01 -6.29267142e-01 3.24330467e-03 1.77973725e+02] [ 6.29261529e-01 7.77189079e-01 2.65790593e-03 6.57334512e+01] [-4.19319383e-03 -2.47906171e-05 9.99991208e-01 -2.91439173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98 meters 0.014989906439805968 Centerline is valid? [True, True] Translation: X:178.02, Y:65.77, Z:-2.91 [[ 7.78927204e-01 -6.27105444e-01 3.34254604e-03 1.78021463e+02] [ 6.27099453e-01 7.78934375e-01 2.74149887e-03 6.57687740e+01] [-4.32283288e-03 -3.93192623e-05 9.99990656e-01 -2.91468767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04 meters 0.018128097811299974 Centerline is valid? [True, True] Translation: X:178.07, Y:65.81, Z:-2.92 [[ 7.80375199e-01 -6.25306055e-01 2.62431251e-03 1.78066032e+02] [ 6.25302343e-01 7.80379610e-01 2.15491820e-03 6.58052365e+01] [-3.39544337e-03 -4.06559590e-05 9.99994235e-01 -2.92142407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.1 meters 0.017233121456111885 Centerline is valid? [True, True] Translation: X:178.11, Y:65.84, Z:-2.92 [[ 7.80275800e-01 -6.25434565e-01 1.13179583e-03 1.78111899e+02] [ 6.25433876e-01 7.80276621e-01 9.28528779e-04 6.58413604e+01] [-1.46384782e-03 -1.66450801e-05 9.99998928e-01 -2.92297507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16 meters 0.015396911640916357 Centerline is valid? [True, True] Translation: X:178.16, Y:65.88, Z:-2.92 [[ 7.79959446e-01 -6.25828632e-01 1.33680290e-03 1.78155737e+02] [ 6.25827676e-01 7.79960591e-01 1.09383868e-03 6.58794511e+01] [-1.72720914e-03 -1.65415557e-05 9.99998508e-01 -2.92094311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22 meters 0.018262261895292637 Centerline is valid? [True, True] Translation: X:178.20, Y:65.92, Z:-2.93 [[ 7.78216319e-01 -6.27993483e-01 1.88324109e-03 1.78200361e+02] [ 6.27991583e-01 7.78218597e-01 1.54474014e-03 6.59177836e+01] [-2.43565998e-03 -1.94824296e-05 9.99997034e-01 -2.92577788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28 meters 0.0172190451143508 Centerline is valid? [True, True] Translation: X:178.25, Y:65.95, Z:-2.92 [[ 7.78130804e-01 -6.28097587e-01 2.42351580e-03 1.78245445e+02] [ 6.28094436e-01 7.78134577e-01 1.98973755e-03 6.59546374e+01] [-3.13557079e-03 -2.60792897e-05 9.99995084e-01 -2.92423761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34 meters 0.01808320772413461 Centerline is valid? [True, True] Translation: X:178.29, Y:65.99, Z:-2.93 [[ 7.78111579e-01 -6.28118847e-01 3.01400889e-03 1.78289009e+02] [ 6.28113953e-01 7.78117416e-01 2.47978607e-03 6.59912689e+01] [-3.90285318e-03 -3.64092128e-05 9.99992383e-01 -2.92629563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.4 meters 0.0175804875056121 Centerline is valid? [True, True] Translation: X:178.34, Y:66.03, Z:-2.92 [[ 7.77370478e-01 -6.29022274e-01 5.11067797e-03 1.78335529e+02] [ 6.29008215e-01 7.77387275e-01 4.20594828e-03 6.60279149e+01] [-6.61861117e-03 -5.49215916e-05 9.99978095e-01 -2.92457758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45999999999998 meters 0.0176211099541725 Centerline is valid? [True, True] Translation: X:178.38, Y:66.07, Z:-2.92 [[ 7.76138297e-01 -6.30534420e-01 5.97406885e-03 1.78381380e+02] [ 6.30515228e-01 7.76161286e-01 4.91990967e-03 6.60650406e+01] [-7.73901335e-03 -5.17889301e-05 9.99970052e-01 -2.92423550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51999999999998 meters 0.015381602266874185 Centerline is valid? [True, True] Translation: X:178.43, Y:66.10, Z:-2.92 [[ 7.74971802e-01 -6.31973747e-01 5.28105519e-03 1.78425968e+02] [ 6.31958774e-01 7.74989794e-01 4.35045247e-03 6.61017820e+01] [-6.84213562e-03 -3.40688258e-05 9.99976592e-01 -2.92340806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57999999999998 meters 0.014651642217650822 Centerline is valid? [True, True] Translation: X:178.47, Y:66.14, Z:-2.92 [[ 7.74374105e-01 -6.32710003e-01 4.77470741e-03 1.78471361e+02] [ 6.32697766e-01 7.74388825e-01 3.93507860e-03 6.61384612e+01] [-6.18724365e-03 -2.62762533e-05 9.99980858e-01 -2.92340434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64 meters 0.014546872349675676 Centerline is valid? [True, True] Translation: X:178.52, Y:66.17, Z:-2.93 [[ 7.72527842e-01 -6.34969751e-01 3.76148451e-03 1.78516915e+02] [ 6.34962180e-01 7.72537000e-01 3.10067726e-03 6.61748784e+01] [-4.87472222e-03 -6.95910903e-06 9.99988118e-01 -2.92706497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.7 meters 0.017251713076378277 Centerline is valid? [True, True] Translation: X:178.56, Y:66.21, Z:-2.93 [[ 7.70515827e-01 -6.37417709e-01 2.00602452e-03 1.78563449e+02] [ 6.37415560e-01 7.70518439e-01 1.65511006e-03 6.62101381e+01] [-2.60067535e-03 3.38274403e-06 9.99996618e-01 -2.93261708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76 meters 0.01454748376186229 Centerline is valid? [True, True] Translation: X:178.61, Y:66.25, Z:-2.93 [[ 7.69737800e-01 -6.38349054e-01 3.76896850e-03 1.78609913e+02] [ 6.38341480e-01 7.69747027e-01 3.10962022e-03 6.62461035e+01] [-4.88617542e-03 1.22967035e-05 9.99988062e-01 -2.92627184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82 meters 0.016163171814942943 Centerline is valid? [True, True] Translation: X:178.65, Y:66.28, Z:-2.93 [[ 7.69639387e-01 -6.38461840e-01 4.65761051e-03 1.78654886e+02] [ 6.38450256e-01 7.69653480e-01 3.84595641e-03 6.62834890e+01] [-6.04024254e-03 1.36530890e-05 9.99981757e-01 -2.92869836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88 meters 0.017584577345620977 Centerline is valid? [True, True] Translation: X:178.70, Y:66.32, Z:-2.93 [[ 7.70760744e-01 -6.37105127e-01 4.99328859e-03 1.78698572e+02] [ 6.37091771e-01 7.70776918e-01 4.12519068e-03 6.63218388e+01] [-6.47689172e-03 1.64803033e-06 9.99979025e-01 -2.93050977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94 meters 0.017585407320695082 Centerline is valid? [True, True] Translation: X:178.74, Y:66.36, Z:-2.93 [[ 7.72606151e-01 -6.34871541e-01 4.22629558e-03 1.78741214e+02] [ 6.34861920e-01 7.72617710e-01 3.49519754e-03 6.63605936e+01] [-5.48431226e-03 -1.72969950e-05 9.99984961e-01 -2.93326867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.0 meters 0.016590175256457673 Centerline is valid? [True, True] Translation: X:178.79, Y:66.40, Z:-2.93 [[ 7.73768476e-01 -6.33463818e-01 2.43676055e-03 1.78785046e+02] [ 6.33460614e-01 7.73772312e-01 2.01486525e-03 6.63991997e+01] [-3.16184208e-03 -1.54473810e-05 9.99995001e-01 -2.93438492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06 meters 0.01708063486507879 Centerline is valid? [True, True] Translation: X:178.83, Y:66.44, Z:-2.93 [[ 7.75248980e-01 -6.31649807e-01 2.74601950e-03 1.78827501e+02] [ 6.31645726e-01 7.75253843e-01 2.27066960e-03 6.64382436e+01] [-3.56313018e-03 -2.58228084e-05 9.99993652e-01 -2.93488748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12 meters 0.015017744426865329 Centerline is valid? [True, True] Translation: X:178.87, Y:66.48, Z:-2.93 [[ 7.76040768e-01 -6.30672126e-01 3.66004137e-03 1.78871243e+02] [ 6.30664868e-01 7.76049398e-01 3.02589664e-03 6.64765267e+01] [-4.74872157e-03 -3.99596443e-05 9.99988724e-01 -2.93165719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17999999999998 meters 0.017433550367848657 Centerline is valid? [True, True] Translation: X:178.92, Y:66.52, Z:-2.94 [[ 7.76735489e-01 -6.29816346e-01 3.65369042e-03 1.78915453e+02] [ 6.29809094e-01 7.76744081e-01 3.02284211e-03 6.65159321e+01] [-4.74181778e-03 -4.68212974e-05 9.99988756e-01 -2.93600280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23999999999998 meters 0.017361567752386824 Centerline is valid? [True, True] Translation: X:178.96, Y:66.55, Z:-2.94 [[ 7.77266931e-01 -6.29160635e-01 3.60746387e-03 1.78959831e+02] [ 6.29153551e-01 7.77275301e-01 2.98609179e-03 6.65543978e+01] [-4.68272397e-03 -5.13416933e-05 9.99989035e-01 -2.93686023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29999999999998 meters 0.017130837971394326 Centerline is valid? [True, True] Translation: X:179.00, Y:66.59, Z:-2.94 [[ 7.77586705e-01 -6.28769632e-01 2.76893589e-03 1.79004846e+02] [ 6.28765456e-01 7.77591634e-01 2.29197164e-03 6.65923154e+01] [-3.59422355e-03 -4.11954357e-05 9.99993540e-01 -2.93776247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35999999999999 meters 0.01782174135519573 Centerline is valid? [True, True] Translation: X:179.05, Y:66.63, Z:-2.94 [[ 7.77384081e-01 -6.29021596e-01 2.41293119e-03 1.79047132e+02] [ 6.29018418e-01 7.77387825e-01 1.99964219e-03 6.66300035e+01] [-3.13360145e-03 -3.67118446e-05 9.99995090e-01 -2.94003611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42 meters 0.016370149857790974 Centerline is valid? [True, True] Translation: X:179.09, Y:66.67, Z:-2.94 [[ 7.77796486e-01 -6.28513484e-01 1.85093077e-03 1.79092486e+02] [ 6.28511619e-01 7.77798688e-01 1.53151390e-03 6.66677817e+01] [-2.40222866e-03 -2.78746297e-05 9.99997114e-01 -2.93872398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48 meters 0.015453514655681733 Centerline is valid? [True, True] Translation: X:179.14, Y:66.71, Z:-2.94 [[ 7.78049374e-01 -6.28202059e-01 1.15949352e-03 1.79137171e+02] [ 6.28201328e-01 7.78050238e-01 9.58053488e-04 6.67068275e+01] [-1.50399538e-03 -1.70175507e-05 9.99998869e-01 -2.93792797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54 meters 0.017882539066211667 Centerline is valid? [True, True] Translation: X:179.18, Y:66.74, Z:-2.94 [[ 7.76940575e-01 -6.29573720e-01 5.22466964e-04 1.79181810e+02] [ 6.29573572e-01 7.76940751e-01 4.32275992e-04 6.67438870e+01] [-6.78075480e-04 -6.92136480e-06 9.99999770e-01 -2.94383898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.6 meters 0.016222609868025095 Centerline is valid? [True, True] Translation: X:179.23, Y:66.78, Z:-2.94 [[ 7.75566115e-01 -6.31264596e-01 1.48701776e-03 1.79228327e+02] [ 6.31263395e-01 7.75567540e-01 1.23136919e-03 6.67808611e+01] [-1.93060248e-03 -1.63083386e-05 9.99998136e-01 -2.94240089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66 meters 0.018140916087580346 Centerline is valid? [True, True] Translation: X:179.28, Y:66.82, Z:-2.94 [[ 7.72699119e-01 -6.34761719e-01 3.69207674e-03 1.79276190e+02] [ 6.34754318e-01 7.72707940e-01 3.06524886e-03 6.68160326e+01] [-4.79859965e-03 -2.49534414e-05 9.99988486e-01 -2.94162000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72 meters 0.017218132928057506 Centerline is valid? [True, True] Translation: X:179.32, Y:66.85, Z:-2.94 [[ 7.71846323e-01 -6.35790921e-01 4.81239347e-03 1.79322042e+02] [ 6.35778346e-01 7.71861324e-01 3.99888650e-03 6.68525939e+01] [-6.25695613e-03 -2.69102754e-05 9.99980425e-01 -2.93953945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78 meters 0.016228606256380007 Centerline is valid? [True, True] Translation: X:179.37, Y:66.89, Z:-2.94 [[ 7.70847975e-01 -6.37014575e-01 2.41475695e-03 1.79367077e+02] [ 6.37011419e-01 7.70851757e-01 2.00517943e-03 6.68900368e+01] [-3.13874816e-03 -7.46075181e-06 9.99995074e-01 -2.94425376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84 meters 0.014737734954946118 Centerline is valid? [True, True] Translation: X:179.41, Y:66.93, Z:-2.94 [[ 7.70941428e-01 -6.36899825e-01 2.81558929e-03 1.79411888e+02] [ 6.36895529e-01 7.70946569e-01 2.33943912e-03 6.69269004e+01] [-3.66065727e-03 -1.03343048e-05 9.99993300e-01 -2.94271859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.9 meters 0.016357913085970323 Centerline is valid? [True, True] Translation: X:179.46, Y:66.96, Z:-2.95 [[ 7.70616362e-01 -6.37297606e-01 1.47739061e-03 1.79457829e+02] [ 6.37296427e-01 7.70617779e-01 1.22626536e-03 6.69638135e+01] [-1.91999945e-03 -3.44439369e-06 9.99998157e-01 -2.94679330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95999999999998 meters 0.015671421550399637 Centerline is valid? [True, True] Translation: X:179.50, Y:67.00, Z:-2.95 [[ 7.70888729e-01 -6.36969555e-01 5.95016981e-04 1.79502177e+02] [ 6.36969365e-01 7.70888958e-01 4.91242859e-04 6.70029970e+01] [-7.71598766e-04 3.14005646e-07 9.99999702e-01 -2.94831771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01999999999998 meters 0.014983818231219043 Centerline is valid? [True, True] Translation: X:179.55, Y:67.04, Z:-2.95 [[ 7.70855003e-01 -6.37007264e-01 2.07592694e-03 1.79546750e+02] [ 6.37004917e-01 7.70857798e-01 1.72931705e-03 6.70392418e+01] [-2.70183199e-03 -1.06770296e-05 9.99996350e-01 -2.94635990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07999999999998 meters 0.014844584066494283 Centerline is valid? [True, True] Translation: X:179.59, Y:67.08, Z:-2.94 [[ 7.70187469e-01 -6.37806508e-01 3.75778269e-03 1.79592695e+02] [ 6.37798828e-01 7.70196636e-01 3.13014231e-03 6.70756930e+01] [-4.89065673e-03 -1.40869908e-05 9.99988041e-01 -2.94440394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14 meters 0.017547208796076727 Centerline is valid? [True, True] Translation: X:179.64, Y:67.11, Z:-2.95 [[ 7.69377230e-01 -6.38776387e-01 4.83794092e-03 1.79638019e+02] [ 6.38763654e-01 7.69392440e-01 4.03337389e-03 6.71124984e+01] [-6.29869917e-03 -1.28852095e-05 9.99980163e-01 -2.94846417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.2 meters 0.015988732422923292 Centerline is valid? [True, True] Translation: X:179.68, Y:67.15, Z:-2.95 [[ 7.70079724e-01 -6.37928466e-01 4.94891228e-03 1.79681744e+02] [ 6.37915113e-01 7.70095625e-01 4.12758316e-03 6.71507980e+01] [-6.44423849e-03 -2.15821646e-05 9.99979235e-01 -2.94716266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26 meters 0.015143290186046245 Centerline is valid? [True, True] Translation: X:179.72, Y:67.19, Z:-2.95 [[ 7.70771147e-01 -6.37091852e-01 5.08042793e-03 1.79724354e+02] [ 6.37077738e-01 7.70787890e-01 4.24089343e-03 6.71891004e+01] [-6.61777098e-03 -3.21307600e-05 9.99978102e-01 -2.94685041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32 meters 0.01516411566202301 Centerline is valid? [True, True] Translation: X:179.77, Y:67.23, Z:-2.95 [[ 7.71487810e-01 -6.36223848e-01 5.07671562e-03 1.79768592e+02] [ 6.36209729e-01 7.71504513e-01 4.23882612e-03 6.72274488e+01] [-6.61355128e-03 -4.03468141e-05 9.99978129e-01 -2.94732133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38 meters 0.017548619545913257 Centerline is valid? [True, True] Translation: X:179.81, Y:67.26, Z:-2.95 [[ 7.71336103e-01 -6.36414054e-01 4.21524538e-03 1.79813341e+02] [ 6.36404306e-01 7.71347620e-01 3.52247913e-03 6.72648024e+01] [-5.49317471e-03 -3.44150110e-05 9.99984912e-01 -2.95272408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44 meters 0.017818329853491712 Centerline is valid? [True, True] Translation: X:179.86, Y:67.30, Z:-2.95 [[ 7.70521125e-01 -6.37405065e-01 3.46116636e-03 1.79858517e+02] [ 6.37398514e-01 7.70528898e-01 2.88980465e-03 6.73018223e+01] [-4.50890482e-03 -2.05132365e-05 9.99989835e-01 -2.95471851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.5 meters 0.015116286208041885 Centerline is valid? [True, True] Translation: X:179.90, Y:67.34, Z:-2.95 [[ 7.70086018e-01 -6.37925812e-01 4.26407078e-03 1.79902971e+02] [ 6.37915849e-01 7.70097823e-01 3.56549102e-03 6.73391331e+01] [-5.55827038e-03 -2.56164558e-05 9.99984552e-01 -2.95192618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56 meters 0.015001409545422293 Centerline is valid? [True, True] Translation: X:179.95, Y:67.38, Z:-2.95 [[ 7.68927546e-01 -6.39313924e-01 5.30428772e-03 1.79949143e+02] [ 6.39298535e-01 7.68945841e-01 4.43584178e-03 6.73756804e+01] [-6.91460540e-03 -1.98175608e-05 9.99976094e-01 -2.95106163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62 meters 0.014987945200026566 Centerline is valid? [True, True] Translation: X:179.99, Y:67.41, Z:-2.95 [[ 7.68160027e-01 -6.40233313e-01 5.61050392e-03 1.79993778e+02] [ 6.40216103e-01 7.68180516e-01 4.69430913e-03 6.74128839e+01] [-7.31533288e-03 -1.40456738e-05 9.99973242e-01 -2.95241579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67999999999998 meters 0.017991983856814442 Centerline is valid? [True, True] Translation: X:180.04, Y:67.45, Z:-2.96 [[ 7.66622540e-01 -6.42086525e-01 3.84391374e-03 1.80040177e+02] [ 6.42078467e-01 7.66632177e-01 3.21679528e-03 6.74485732e+01] [-5.01232886e-03 2.02647269e-06 9.99987438e-01 -2.95992438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73999999999998 meters 0.017002035740998764 Centerline is valid? [True, True] Translation: X:180.09, Y:67.48, Z:-2.96 [[ 7.65731600e-01 -6.43152105e-01 3.23841302e-03 1.80086687e+02] [ 6.43146392e-01 7.65738448e-01 2.71069424e-03 6.74845947e+01] [-4.22316606e-03 7.10940790e-06 9.99991082e-01 -2.96035910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79999999999998 meters 0.018151922789295893 Centerline is valid? [True, True] Translation: X:180.13, Y:67.52, Z:-2.96 [[ 7.63664533e-01 -6.45610636e-01 1.84077050e-03 1.80133934e+02] [ 6.45608801e-01 7.63666751e-01 1.53941282e-03 6.75193164e+01] [-2.39959652e-03 1.28226675e-05 9.99997121e-01 -2.96301608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85999999999999 meters 0.018426915892549925 Centerline is valid? [True, True] Translation: X:180.18, Y:67.55, Z:-2.96 [[ 7.62980223e-01 -6.46418847e-01 1.96301510e-03 1.80178912e+02] [ 6.46416754e-01 7.62982749e-01 1.64490433e-03 6.75542879e+01] [-2.56104382e-03 1.38963738e-05 9.99996720e-01 -2.96476230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92 meters 0.01812227860612412 Centerline is valid? [True, True] Translation: X:180.22, Y:67.59, Z:-2.96 [[ 7.63641368e-01 -6.45631235e-01 3.48848647e-03 1.80223903e+02] [ 6.45624613e-01 7.63649336e-01 2.92407256e-03 6.75921046e+01] [-4.55185296e-03 1.93099635e-05 9.99989640e-01 -2.96283671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98 meters 0.01737708503667044 Centerline is valid? [True, True] Translation: X:180.27, Y:67.63, Z:-2.96 [[ 7.64467778e-01 -6.44644509e-01 4.74053322e-03 1.80268252e+02] [ 6.44632228e-01 7.64482476e-01 3.97918285e-03 6.76298243e+01] [-6.18921295e-03 1.39434212e-05 9.99980847e-01 -2.96255243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04 meters 0.018261472475927507 Centerline is valid? [True, True] Translation: X:180.31, Y:67.67, Z:-2.96 [[ 7.65874299e-01 -6.42952702e-01 6.95569092e-03 1.80313066e+02] [ 6.42926186e-01 7.65905884e-01 5.83917883e-03 6.76687817e+01] [-9.08172041e-03 -8.11564532e-08 9.99958760e-01 -2.96129882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.1 meters 0.017992320042009072 Centerline is valid? [True, True] Translation: X:180.36, Y:67.71, Z:-2.96 [[ 7.66779948e-01 -6.41865510e-01 7.56172341e-03 1.80356936e+02] [ 6.41834086e-01 7.66817232e-01 6.35125040e-03 6.77072004e+01] [-9.87510839e-03 -1.66396156e-05 9.99951240e-01 -2.96155238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16 meters 0.017052676836917614 Centerline is valid? [True, True] Translation: X:180.40, Y:67.75, Z:-2.96 [[ 7.68693432e-01 -6.39572651e-01 7.56521179e-03 1.80400220e+02] [ 6.39541038e-01 7.68730656e-01 6.35920779e-03 6.77464179e+01] [-9.88278561e-03 -5.00178581e-05 9.99951163e-01 -2.96136813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22 meters 0.018633999237981126 Centerline is valid? [True, True] Translation: X:180.44, Y:67.79, Z:-2.97 [[ 7.69837456e-01 -6.38209251e-01 6.26435959e-03 1.80443595e+02] [ 6.38187536e-01 7.69862941e-01 5.26497547e-03 6.77860033e+01] [-8.18285435e-03 -5.53391121e-05 9.99966518e-01 -2.96552357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28 meters 0.0170207168951416 Centerline is valid? [True, True] Translation: X:180.49, Y:67.83, Z:-2.97 [[ 7.71682366e-01 -6.35986549e-01 5.23782400e-03 1.80486228e+02] [ 6.35971296e-01 7.71700139e-01 4.40526567e-03 6.78259324e+01] [-6.84371922e-03 -6.83601163e-05 9.99976579e-01 -2.96590141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34 meters 0.017805014628347222 Centerline is valid? [True, True] Translation: X:180.53, Y:67.86, Z:-2.97 [[ 7.70974906e-01 -6.36851163e-01 4.27678264e-03 1.80531035e+02] [ 6.36841019e-01 7.70986767e-01 3.59484261e-03 6.78634451e+01] [-5.58672251e-03 -4.79028288e-05 9.99984393e-01 -2.96895467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.4 meters 0.015873509486540774 Centerline is valid? [True, True] Translation: X:180.58, Y:67.90, Z:-2.97 [[ 7.67829745e-01 -6.40642696e-01 3.79719508e-03 1.80578423e+02] [ 6.40634737e-01 7.67839134e-01 3.19349650e-03 6.78987420e+01] [-4.96152519e-03 -1.94465365e-05 9.99987691e-01 -2.96773251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45999999999998 meters 0.015117853385989461 Centerline is valid? [True, True] Translation: X:180.63, Y:67.93, Z:-2.97 [[ 7.63999879e-01 -6.45198313e-01 4.82924496e-03 1.80625919e+02] [ 6.45185501e-01 7.64015142e-01 4.06603240e-03 6.79324348e+01] [-6.31301352e-03 9.31056696e-06 9.99980073e-01 -2.96661112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51999999999998 meters 0.01700463021165066 Centerline is valid? [True, True] Translation: X:180.68, Y:67.97, Z:-2.97 [[ 7.57096008e-01 -6.53272184e-01 6.41004101e-03 1.80675316e+02] [ 6.53249884e-01 7.57123137e-01 5.39865882e-03 6.79654514e+01] [-8.37998399e-03 1.00055501e-04 9.99964882e-01 -2.96789158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57999999999998 meters 0.01861298501960444 Centerline is valid? [True, True] Translation: X:180.72, Y:68.00, Z:-2.97 [[ 7.53759246e-01 -6.57116010e-01 6.74895237e-03 1.80720577e+02] [ 6.57091417e-01 7.53789445e-01 5.68707793e-03 6.80032258e+01] [-8.82435902e-03 1.47991103e-04 9.99961054e-01 -2.96996546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64 meters 0.01724276269833114 Centerline is valid? [True, True] Translation: X:180.77, Y:68.04, Z:-2.97 [[ 7.51058008e-01 -6.60207846e-01 6.12107629e-03 1.80766365e+02] [ 6.60187701e-01 7.51082933e-01 5.16022189e-03 6.80402861e+01] [-8.00425491e-03 1.65433306e-04 9.99967952e-01 -2.96946040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.7 meters 0.019847491635948396 Centerline is valid? [True, True] Translation: X:180.81, Y:68.08, Z:-2.97 [[ 7.49458387e-01 -6.62032985e-01 4.94506894e-03 1.80811409e+02] [ 6.62019868e-01 7.49474686e-01 4.17001247e-03 6.80783203e+01] [-6.46688980e-03 1.48483071e-04 9.99979078e-01 -2.97423132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76 meters 0.018667030370067093 Centerline is valid? [True, True] Translation: X:180.85, Y:68.12, Z:-2.97 [[ 7.50316114e-01 -6.61059566e-01 5.09703580e-03 1.80853744e+02] [ 6.61045591e-01 7.50333413e-01 4.30072013e-03 6.81203127e+01] [-6.66750845e-03 1.42473430e-04 9.99977762e-01 -2.97452762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82 meters 0.01615948240187216 Centerline is valid? [True, True] Translation: X:180.90, Y:68.16, Z:-2.97 [[ 7.52832784e-01 -6.58190521e-01 5.29502930e-03 1.80895968e+02] [ 6.58175354e-01 7.52851395e-01 4.46989381e-03 6.81617105e+01] [-6.92841194e-03 1.19975189e-04 9.99975991e-01 -2.97201910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88 meters 0.01780495330667462 Centerline is valid? [True, True] Translation: X:180.94, Y:68.20, Z:-2.98 [[ 7.55480185e-01 -6.55141101e-01 6.31102256e-03 1.80937132e+02] [ 6.55119418e-01 7.55506537e-01 5.33111205e-03 6.82045613e+01] [-8.26064941e-03 1.06923917e-04 9.99965875e-01 -2.97529431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94 meters 0.015789546570817742 Centerline is valid? [True, True] Translation: X:180.98, Y:68.25, Z:-2.97 [[ 7.58393482e-01 -6.51755803e-01 7.32801257e-03 1.80979372e+02] [ 6.51726373e-01 7.58428881e-01 6.19416373e-03 6.82464146e+01] [-9.59485853e-03 7.82456522e-05 9.99953965e-01 -2.97444031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.0 meters 0.01431806057859324 Centerline is valid? [True, True] Translation: X:181.02, Y:68.29, Z:-2.97 [[ 7.62101707e-01 -6.47407670e-01 8.01850923e-03 1.81020752e+02] [ 6.47372150e-01 7.62143889e-01 6.78172111e-03 6.82888602e+01] [-1.05017961e-02 2.25983272e-05 9.99944854e-01 -2.97337645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06 meters 0.01424448149820687 Centerline is valid? [True, True] Translation: X:181.06, Y:68.33, Z:-2.97 [[ 7.64046192e-01 -6.45109396e-01 8.20268972e-03 1.81061880e+02] [ 6.45072049e-01 7.64090222e-01 6.94149135e-03 6.83279343e+01] [-1.07456163e-02 -1.22941638e-05 9.99942264e-01 -2.97463806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12 meters 0.01544282622882909 Centerline is valid? [True, True] Translation: X:181.10, Y:68.37, Z:-2.98 [[ 7.66537957e-01 -6.42159733e-01 7.10197135e-03 1.81104301e+02] [ 6.42131586e-01 7.66570854e-01 6.01266552e-03 6.83680686e+01] [-9.30525594e-03 -4.85362177e-05 9.99956704e-01 -2.97863259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17999999999998 meters 0.01675204306911487 Centerline is valid? [True, True] Translation: X:181.15, Y:68.41, Z:-2.98 [[ 7.66621038e-01 -6.42065053e-01 6.68218130e-03 1.81147920e+02] [ 6.42040137e-01 7.66650158e-01 5.65657124e-03 6.84060109e+01] [-8.75478206e-03 -4.62179138e-05 9.99961675e-01 -2.98149970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23999999999998 meters 0.017275002471575696 Centerline is valid? [True, True] Translation: X:181.19, Y:68.44, Z:-2.98 [[ 7.66470384e-01 -6.42231028e-01 7.90294425e-03 1.81191848e+02] [ 6.42196135e-01 7.66511124e-01 6.69485968e-03 6.84434646e+01] [-1.03573413e-02 -5.61714205e-05 9.99946360e-01 -2.98224526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29999999999998 meters 0.016490120915505335 Centerline is valid? [True, True] Translation: X:181.24, Y:68.48, Z:-2.98 [[ 7.64443770e-01 -6.44623275e-01 9.30354829e-03 1.81238473e+02] [ 6.44575026e-01 7.64500381e-01 7.88695053e-03 6.84794827e+01] [-1.21966781e-02 -3.22953183e-05 9.99925617e-01 -2.98152076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35999999999999 meters 0.01563538921314144 Centerline is valid? [True, True] Translation: X:181.29, Y:68.51, Z:-2.98 [[ 7.61597327e-01 -6.47979855e-01 9.57176029e-03 1.81285425e+02] [ 6.47928995e-01 7.61657473e-01 8.11854136e-03 6.85138419e+01] [-1.25510540e-02 1.87616242e-05 9.99921232e-01 -2.98202279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42 meters 0.016967338761138602 Centerline is valid? [True, True] Translation: X:181.33, Y:68.55, Z:-2.98 [[ 7.60599851e-01 -6.49159325e-01 8.94636572e-03 1.81330789e+02] [ 6.49114928e-01 7.60652463e-01 7.59212840e-03 6.85496030e+01] [-1.17335761e-02 3.26478149e-05 9.99931159e-01 -2.98429445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48 meters 0.013919920758316162 Centerline is valid? [True, True] Translation: X:181.38, Y:68.59, Z:-2.98 [[ 7.61434006e-01 -6.48194898e-01 7.85032504e-03 1.81375041e+02] [ 6.48160630e-01 7.61474473e-01 6.66513926e-03 6.85869098e+01] [-1.02981314e-02 1.32079353e-05 9.99946973e-01 -2.98373554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54 meters 0.015323535601897911 Centerline is valid? [True, True] Translation: X:181.42, Y:68.62, Z:-2.99 [[ 7.61126058e-01 -6.48574239e-01 6.21131097e-03 1.81421102e+02] [ 6.48552781e-01 7.61151402e-01 5.27574197e-03 6.86239455e+01] [-8.14945838e-03 1.28583147e-05 9.99966793e-01 -2.98874520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.6 meters 0.015832445928137654 Centerline is valid? [True, True] Translation: X:181.47, Y:68.66, Z:-2.99 [[ 7.61601043e-01 -6.48035305e-01 3.75431035e-03 1.81467260e+02] [ 6.48027461e-01 7.61610296e-01 3.18853734e-03 6.86608515e+01] [-4.92560618e-03 4.50283986e-06 9.99987869e-01 -2.99320148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66 meters 0.01541507508957422 Centerline is valid? [True, True] Translation: X:181.51, Y:68.70, Z:-2.99 [[ 7.61531865e-01 -6.48116717e-01 3.73342656e-03 1.81512968e+02] [ 6.48108956e-01 7.61541017e-01 3.17182571e-03 6.86972747e+01] [-4.89887072e-03 4.22084240e-06 9.99988000e-01 -2.99385247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72 meters 0.015994807288387806 Centerline is valid? [True, True] Translation: X:181.56, Y:68.73, Z:-2.99 [[ 7.61105144e-01 -6.48601521e-01 5.91828328e-03 1.81560788e+02] [ 6.48581981e-01 7.61128154e-01 5.03463251e-03 6.87327009e+01] [-7.77004233e-03 6.60719129e-06 9.99969813e-01 -2.99266735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78 meters 0.017136249301068458 Centerline is valid? [True, True] Translation: X:181.61, Y:68.77, Z:-2.99 [[ 7.61663096e-01 -6.47929698e-01 7.51230999e-03 1.81606764e+02] [ 6.47898137e-01 7.61700142e-01 6.39514508e-03 6.87695060e+01] [-9.86573201e-03 -3.73435380e-06 9.99951332e-01 -2.99218579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84 meters 0.014141057139543394 Centerline is valid? [True, True] Translation: X:181.65, Y:68.81, Z:-2.99 [[ 7.64330750e-01 -6.44764969e-01 8.75441979e-03 1.81650957e+02] [ 6.44721849e-01 7.64380881e-01 7.45691916e-03 6.88072147e+01] [-1.14996714e-02 -5.53868960e-05 9.99933875e-01 -2.98814981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.9 meters 0.01682978651801728 Centerline is valid? [True, True] Translation: X:181.70, Y:68.85, Z:-2.99 [[ 7.64425475e-01 -6.44670212e-01 7.34925873e-03 1.81696213e+02] [ 6.44639791e-01 7.64460800e-01 6.26290047e-03 6.88453157e+01] [-9.65572559e-03 -4.98960456e-05 9.99953381e-01 -2.99393362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95999999999998 meters 0.014317623402418574 Centerline is valid? [True, True] Translation: X:181.74, Y:68.89, Z:-2.99 [[ 7.65197241e-01 -6.43768764e-01 5.91270708e-03 1.81738538e+02] [ 6.43749023e-01 7.65220083e-01 5.04185599e-03 6.88850646e+01] [-7.77031160e-03 -5.17148912e-05 9.99969809e-01 -2.99414725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01999999999998 meters 0.01650106816465476 Centerline is valid? [True, True] Translation: X:181.78, Y:68.93, Z:-3.00 [[ 7.64705649e-01 -6.44372120e-01 3.13698412e-03 1.81780099e+02] [ 6.44366579e-01 7.64712083e-01 2.67233877e-03 6.89272181e+01] [-4.12087027e-03 -2.21848292e-05 9.99991509e-01 -3.00176460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07999999999998 meters 0.015796460977460982 Centerline is valid? [True, True] Translation: X:181.82, Y:68.97, Z:-3.00 [[ 7.65355369e-01 -6.43601795e-01 2.80861810e-03 1.81823363e+02] [ 6.43597346e-01 7.65360522e-01 2.39318474e-03 6.89672582e+01] [-3.68986341e-03 -2.40176394e-05 9.99993192e-01 -3.00208425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14 meters 0.014433980398144922 Centerline is valid? [True, True] Translation: X:181.87, Y:69.01, Z:-3.00 [[ 7.65499364e-01 -6.43428884e-01 3.16145003e-03 1.81867713e+02] [ 6.43423239e-01 7.65505892e-01 2.69537157e-03 6.90053486e+01] [-4.15438855e-03 -2.91548041e-05 9.99991370e-01 -2.99982784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.2 meters 0.014239151482990025 Centerline is valid? [True, True] Translation: X:181.91, Y:69.04, Z:-3.00 [[ 7.61961015e-01 -6.47615453e-01 3.10425939e-03 1.81914262e+02] [ 6.47610037e-01 7.61967338e-01 2.64861907e-03 6.90418312e+01] [-4.08063090e-03 -7.79493618e-06 9.99991674e-01 -3.00228668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26 meters 0.015362038583452704 Centerline is valid? [True, True] Translation: X:181.96, Y:69.08, Z:-3.00 [[ 7.58147757e-01 -6.52073140e-01 3.54931916e-03 1.81960031e+02] [ 6.52066101e-01 7.58156065e-01 3.02998932e-03 6.90772918e+01] [-4.66671250e-03 1.72110961e-05 9.99989111e-01 -3.00435345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32 meters 0.016887736142532445 Centerline is valid? [True, True] Translation: X:182.01, Y:69.11, Z:-3.00 [[ 7.52512549e-01 -6.58557860e-01 5.13885935e-03 1.82009017e+02] [ 6.58543204e-01 7.52530092e-01 4.39426790e-03 6.91091223e+01] [-6.76102597e-03 7.74191604e-05 9.99977141e-01 -3.00401003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38 meters 0.017270124313020628 Centerline is valid? [True, True] Translation: X:182.06, Y:69.15, Z:-3.00 [[ 7.49303525e-01 -6.62209143e-01 4.82476620e-03 1.82055295e+02] [ 6.62196307e-01 7.49319051e-01 4.12446224e-03 6.91461883e+01] [-6.34654583e-03 1.04468266e-04 9.99979855e-01 -3.00468937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44 meters 0.01815587477764465 Centerline is valid? [True, True] Translation: X:182.10, Y:69.18, Z:-3.01 [[ 7.46829069e-01 -6.65004857e-01 3.85777030e-03 1.82101042e+02] [ 6.64996684e-01 7.46839025e-01 3.29852416e-03 6.91829862e+01] [-5.07466800e-03 1.01970728e-04 9.99987119e-01 -3.00789086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.5 meters 0.01786874990845788 Centerline is valid? [True, True] Translation: X:182.15, Y:69.22, Z:-3.01 [[ 7.45723016e-01 -6.66253006e-01 2.02862304e-03 1.82145653e+02] [ 6.66250755e-01 7.45725773e-01 1.73305073e-03 6.92213099e+01] [-2.66744674e-03 5.91958162e-05 9.99996441e-01 -3.00941809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56 meters 0.017224116507004235 Centerline is valid? [True, True] Translation: X:182.19, Y:69.26, Z:-3.01 [[ 7.46238186e-01 -6.65675733e-01 2.09477631e-03 1.82190232e+02] [ 6.65673328e-01 7.46241124e-01 1.79061124e-03 6.92605581e+01] [-2.75517468e-03 5.82142320e-05 9.99996203e-01 -3.00914882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62 meters 0.018495439826362467 Centerline is valid? [True, True] Translation: X:182.23, Y:69.30, Z:-3.01 [[ 7.48490692e-01 -6.63139953e-01 2.66204523e-03 1.82232351e+02] [ 6.63136037e-01 7.48495423e-01 2.27987734e-03 6.93007063e+01] [-3.50440643e-03 5.88311626e-05 9.99993858e-01 -3.01106214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.67999999999998 meters 0.014877978158577592 Centerline is valid? [True, True] Translation: X:182.27, Y:69.34, Z:-3.01 [[ 7.51821561e-01 -6.59354370e-01 4.01937625e-03 1.82274188e+02] [ 6.59345383e-01 7.51832302e-01 3.44325469e-03 6.93430624e+01] [-5.29222193e-03 6.14440596e-05 9.99985994e-01 -3.00656368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73999999999998 meters 0.015984780503436186 Centerline is valid? [True, True] Translation: X:182.32, Y:69.39, Z:-3.01 [[ 7.55872203e-01 -6.54701351e-01 4.83262781e-03 1.82316088e+02] [ 6.54688244e-01 7.55887651e-01 4.14280145e-03 6.93853349e+01] [-6.36522138e-03 3.24361571e-05 9.99979741e-01 -3.00887006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79999999999998 meters 0.01623983074483157 Centerline is valid? [True, True] Translation: X:182.36, Y:69.43, Z:-3.01 [[ 7.58958168e-01 -6.51122653e-01 4.66806876e-03 1.82357236e+02] [ 6.51110349e-01 7.58972523e-01 4.00281485e-03 6.94266299e+01] [-6.14925935e-03 1.45885283e-06 9.99981093e-01 -3.01111588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85999999999999 meters 0.016037516484835364 Centerline is valid? [True, True] Translation: X:182.40, Y:69.47, Z:-3.01 [[ 7.60414705e-01 -6.49423363e-01 4.33266513e-03 1.82400382e+02] [ 6.49412724e-01 7.60427048e-01 3.71732945e-03 6.94661781e+01] [-5.70879635e-03 -1.30241140e-05 9.99983705e-01 -3.01185783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92 meters 0.01692565772789556 Centerline is valid? [True, True] Translation: X:182.44, Y:69.50, Z:-3.01 [[ 7.60984685e-01 -6.48756616e-01 4.14269506e-03 1.82443310e+02] [ 6.48746874e-01 7.60995961e-01 3.55550315e-03 6.95047477e+01] [-5.45923040e-03 -1.81229780e-05 9.99985098e-01 -3.01380108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98 meters 0.0160621448148755 Centerline is valid? [True, True] Translation: X:182.49, Y:69.54, Z:-3.01 [[ 7.59945404e-01 -6.49969456e-01 4.76329706e-03 1.82489525e+02] [ 6.49956575e-01 7.59960332e-01 4.09193680e-03 6.95421937e+01] [-6.27955075e-03 -1.37123201e-05 9.99980283e-01 -3.01304470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04 meters 0.016706833928937407 Centerline is valid? [True, True] Translation: X:182.54, Y:69.58, Z:-3.01 [[ 7.56835789e-01 -6.53579153e-01 5.82060736e-03 1.82536876e+02] [ 6.53559989e-01 7.56858171e-01 5.00502137e-03 6.95761550e+01] [-7.67655187e-03 1.61367797e-05 9.99970535e-01 -3.01307424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.1 meters 0.014395891186371112 Centerline is valid? [True, True] Translation: X:182.58, Y:69.61, Z:-3.01 [[ 7.56207359e-01 -6.54301788e-01 6.29294861e-03 1.82582059e+02] [ 6.54279417e-01 7.56233542e-01 5.41052923e-03 6.96134423e+01] [-8.29905777e-03 2.58647295e-05 9.99965562e-01 -3.00972258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16 meters 0.017733774631829125 Centerline is valid? [True, True] Translation: X:182.63, Y:69.65, Z:-3.02 [[ 7.53881887e-01 -6.56996797e-01 4.16041074e-03 1.82628197e+02] [ 6.56987050e-01 7.53893366e-01 3.57907506e-03 6.96491307e+01] [-5.48794691e-03 3.51361174e-05 9.99984940e-01 -3.01779740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22 meters 0.016881742108358754 Centerline is valid? [True, True] Translation: X:182.67, Y:69.69, Z:-3.02 [[ 7.54329683e-01 -6.56485855e-01 3.61260669e-03 1.82672636e+02] [ 6.56478507e-01 7.54338333e-01 3.10618459e-03 6.96866775e+01] [-4.76429395e-03 2.85114082e-05 9.99988650e-01 -3.01863484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28 meters 0.015458363477564477 Centerline is valid? [True, True] Translation: X:182.72, Y:69.72, Z:-3.02 [[ 7.56696666e-01 -6.53760484e-01 2.71755435e-03 1.82715477e+02] [ 6.53756300e-01 7.56701546e-01 2.33904737e-03 6.97242879e+01] [-3.58555432e-03 6.66893390e-06 9.99993572e-01 -3.01834059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34 meters 0.016683226121890504 Centerline is valid? [True, True] Translation: X:182.76, Y:69.76, Z:-3.02 [[ 7.58266251e-01 -6.51943264e-01 1.50770900e-03 1.82758424e+02] [ 6.51941973e-01 7.58267750e-01 1.29757744e-03 6.97633911e+01] [-1.98919398e-03 -9.70394922e-07 9.99998022e-01 -3.02277712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.4 meters 0.01732494946586624 Centerline is valid? [True, True] Translation: X:182.80, Y:69.80, Z:-3.02 [[ 7.61419734e-01 -6.48258950e-01 5.67335802e-04 1.82802138e+02] [ 6.48258769e-01 7.61419946e-01 4.84157464e-04 6.98022881e+01] [-7.45840205e-04 -8.66638437e-07 9.99999722e-01 -3.02437773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45999999999998 meters 0.014889544445831415 Centerline is valid? [True, True] Translation: X:182.85, Y:69.84, Z:-3.02 [[ 7.63529067e-01 -6.45772370e-01 1.18789442e-03 1.82846636e+02] [ 6.45771564e-01 7.63529991e-01 1.01975785e-03 6.98414621e+01] [-1.56552446e-03 -1.15063168e-05 9.99998774e-01 -3.02062742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51999999999998 meters 0.015007192993162697 Centerline is valid? [True, True] Translation: X:182.89, Y:69.88, Z:-3.02 [[ 7.64528404e-01 -6.44586079e-01 2.25977115e-03 1.82890715e+02] [ 6.44583146e-01 7.64531743e-01 1.94483724e-03 6.98793591e+01] [-2.98128178e-03 -3.02729120e-05 9.99995556e-01 -3.02026408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57999999999998 meters 0.015936628936284166 Centerline is valid? [True, True] Translation: X:182.94, Y:69.92, Z:-3.02 [[ 7.63428022e-01 -6.45876787e-01 4.56417280e-03 1.82935610e+02] [ 6.45864792e-01 7.63441663e-01 3.93664640e-03 6.99172370e+01] [-6.02706820e-03 -5.75076627e-05 9.99981835e-01 -3.02149177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64 meters 0.0160705055352172 Centerline is valid? [True, True] Translation: X:182.98, Y:69.95, Z:-3.02 [[ 7.60219487e-01 -6.49644420e-01 5.33475447e-03 1.82981758e+02] [ 6.49628104e-01 7.60238204e-01 4.60438900e-03 6.99540593e+01] [-7.04689978e-03 -3.47398105e-05 9.99975170e-01 -3.02255894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.7 meters 0.014225078858502355 Centerline is valid? [True, True] Translation: X:183.03, Y:69.99, Z:-3.02 [[ 7.59614863e-01 -6.50353092e-01 5.11038787e-03 1.83025991e+02] [ 6.50338125e-01 7.59632053e-01 4.41230420e-03 6.99925091e+01] [-6.75157011e-03 -2.81717877e-05 9.99977207e-01 -3.02032061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76 meters 0.014403015760999642 Centerline is valid? [True, True] Translation: X:183.07, Y:70.03, Z:-3.02 [[ 7.60983001e-01 -6.48752084e-01 5.06014478e-03 1.83068738e+02] [ 6.48737355e-01 7.60999823e-01 4.37184145e-03 7.00328138e+01] [-6.68701054e-03 -4.41920838e-05 9.99977641e-01 -3.02237044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82 meters 0.01752813341719322 Centerline is valid? [True, True] Translation: X:183.11, Y:70.07, Z:-3.03 [[ 7.61668419e-01 -6.47956728e-01 3.64661308e-03 1.83112009e+02] [ 6.47949069e-01 7.61677147e-01 3.15076998e-03 7.00727171e+01] [-4.81910445e-03 -3.70224378e-05 9.99988387e-01 -3.02912739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88 meters 0.014679853864660516 Centerline is valid? [True, True] Translation: X:183.15, Y:70.11, Z:-3.03 [[ 7.62373018e-01 -6.47128418e-01 3.49159379e-03 1.83154925e+02] [ 6.47121381e-01 7.62381013e-01 3.01818020e-03 7.01133838e+01] [-4.61507499e-03 -4.14941535e-05 9.99989350e-01 -3.02743463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94 meters 0.014560564304763513 Centerline is valid? [True, True] Translation: X:183.20, Y:70.15, Z:-3.03 [[ 7.61651141e-01 -6.47978792e-01 3.32014826e-03 1.83197470e+02] [ 6.47972426e-01 7.61658377e-01 2.87259296e-03 7.01508431e+01] [-4.39019806e-03 -3.65491849e-05 9.99990362e-01 -3.02928355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.0 meters 0.016285647339278966 Centerline is valid? [True, True] Translation: X:183.24, Y:70.19, Z:-3.03 [[ 7.60623927e-01 -6.49183236e-01 3.51689968e-03 1.83243425e+02] [ 6.49176107e-01 7.60632057e-01 3.04243554e-03 7.01880439e+01] [-4.65016479e-03 -3.10620260e-05 9.99989187e-01 -3.03208990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06 meters 0.014133259557663303 Centerline is valid? [True, True] Translation: X:183.29, Y:70.23, Z:-3.03 [[ 7.60325429e-01 -6.49521846e-01 5.15892573e-03 1.83287793e+02] [ 6.49506482e-01 7.60342929e-01 4.46759491e-03 7.02267510e+01] [-6.82435319e-03 -4.60703139e-05 9.99976713e-01 -3.02794970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12 meters 0.015892965488635835 Centerline is valid? [True, True] Translation: X:183.33, Y:70.26, Z:-3.03 [[ 7.59599331e-01 -6.50373941e-01 4.75320592e-03 1.83330630e+02] [ 6.50360899e-01 7.59614201e-01 4.11903809e-03 7.02646057e+01] [-6.28951776e-03 -3.75193020e-05 9.99980220e-01 -3.03327641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17999999999998 meters 0.015455484836454586 Centerline is valid? [True, True] Translation: X:183.38, Y:70.30, Z:-3.03 [[ 7.58990816e-01 -6.51086090e-01 4.45460647e-03 1.83375503e+02] [ 6.51074651e-01 7.59003888e-01 3.85968207e-03 7.03017998e+01] [-5.89404894e-03 -2.91818962e-05 9.99982630e-01 -3.03370616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23999999999998 meters 0.0137369404790203 Centerline is valid? [True, True] Translation: X:183.42, Y:70.34, Z:-3.03 [[ 7.57062832e-01 -6.53319733e-01 5.40319413e-03 1.83422395e+02] [ 6.53302927e-01 7.57082113e-01 4.68608989e-03 7.03385163e+01] [-7.15217663e-03 -1.77419427e-05 9.99974423e-01 -3.03124099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29999999999998 meters 0.016561432230268916 Centerline is valid? [True, True] Translation: X:183.47, Y:70.38, Z:-3.04 [[ 7.55219382e-01 -6.55453217e-01 4.97654234e-03 1.83467065e+02] [ 6.55438999e-01 7.55235778e-01 4.31717204e-03 7.03750070e+01] [-6.58816713e-03 1.40793127e-06 9.99978298e-01 -3.03562921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35999999999999 meters 0.01627532471257589 Centerline is valid? [True, True] Translation: X:183.51, Y:70.41, Z:-3.04 [[ 7.54380325e-01 -6.56420488e-01 4.74009461e-03 1.83510845e+02] [ 6.56407595e-01 7.54395217e-01 4.11416233e-03 7.04125340e+01] [-6.27652514e-03 7.79098242e-06 9.99980302e-01 -3.03616669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42 meters 0.016550278822629286 Centerline is valid? [True, True] Translation: X:183.55, Y:70.45, Z:-3.04 [[ 7.52770498e-01 -6.58271236e-01 3.94409355e-03 1.83554958e+02] [ 6.58262328e-01 7.52780831e-01 3.42471839e-03 7.04514127e+01] [-5.22343163e-03 1.82212386e-05 9.99986358e-01 -3.03842850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48 meters 0.013781363911818287 Centerline is valid? [True, True] Translation: X:183.60, Y:70.49, Z:-3.03 [[ 7.51140309e-01 -6.60119943e-01 5.46776642e-03 1.83599445e+02] [ 6.60102842e-01 7.51160209e-01 4.75169014e-03 7.04895860e+01] [-7.24385399e-03 4.01021526e-05 9.99973762e-01 -3.03481734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54 meters 0.01636800649470002 Centerline is valid? [True, True] Translation: X:183.65, Y:70.53, Z:-3.04 [[ 7.48388878e-01 -6.63238484e-01 5.36660178e-03 1.83645143e+02] [ 6.63222069e-01 7.48408116e-01 4.66675889e-03 7.05266440e+01] [-7.11158242e-03 6.66982886e-05 9.99974710e-01 -3.03866691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.6 meters 0.014554333428255652 Centerline is valid? [True, True] Translation: X:183.69, Y:70.56, Z:-3.04 [[ 7.45700051e-01 -6.66251844e-01 6.31782370e-03 1.83690707e+02] [ 6.66229172e-01 7.45726806e-01 5.49749259e-03 7.05640467e+01] [-8.37408507e-03 1.09637946e-04 9.99964931e-01 -3.03555863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66 meters 0.017899128444772504 Centerline is valid? [True, True] Translation: X:183.74, Y:70.60, Z:-3.04 [[ 7.40414709e-01 -6.72118021e-01 6.58968880e-03 1.83736011e+02] [ 6.72093558e-01 7.40444011e-01 5.73731248e-03 7.06011624e+01] [-8.73544671e-03 1.80896837e-04 9.99961829e-01 -3.03911473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72 meters 0.018283577599253604 Centerline is valid? [True, True] Translation: X:183.78, Y:70.64, Z:-3.04 [[ 7.36997225e-01 -6.75865148e-01 6.43360673e-03 1.83780636e+02] [ 6.75841950e-01 7.37025274e-01 5.60397408e-03 7.06384157e+01] [-8.52926153e-03 2.17987970e-04 9.99963601e-01 -3.03923378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78 meters 0.016661287185824106 Centerline is valid? [True, True] Translation: X:183.82, Y:70.68, Z:-3.04 [[ 7.36396733e-01 -6.76520998e-01 6.26032866e-03 1.83823455e+02] [ 6.76499040e-01 7.36423311e-01 5.45498477e-03 7.06796926e+01] [-8.30066370e-03 2.18073367e-04 9.99965525e-01 -3.03857738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84 meters 0.01908982398197467 Centerline is valid? [True, True] Translation: X:183.86, Y:70.72, Z:-3.04 [[ 7.37705027e-01 -6.75104091e-01 5.07545063e-03 1.83864312e+02] [ 6.75089604e-01 7.37722469e-01 4.42564736e-03 7.07205443e+01] [-6.73204661e-03 1.61561653e-04 9.99977326e-01 -3.04376777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.9 meters 0.015421516705617736 Centerline is valid? [True, True] Translation: X:183.90, Y:70.76, Z:-3.04 [[ 7.40688353e-01 -6.71820680e-01 6.14310758e-03 1.83904631e+02] [ 6.71799345e-01 7.40713810e-01 5.35644948e-03 7.07637815e+01] [-8.14885816e-03 1.59475909e-04 9.99966785e-01 -3.04053905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95999999999998 meters 0.01524207130148145 Centerline is valid? [True, True] Translation: X:183.95, Y:70.80, Z:-3.04 [[ 7.42351860e-01 -6.69977958e-01 6.57655163e-03 1.83946346e+02] [ 6.69953396e-01 7.42380977e-01 5.73867850e-03 7.08035290e+01] [-8.72709492e-03 1.45864437e-04 9.99961908e-01 -3.04135791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01999999999998 meters 0.013825681528901743 Centerline is valid? [True, True] Translation: X:183.98, Y:70.85, Z:-3.04 [[ 7.48375647e-01 -6.63242354e-01 6.59322375e-03 1.83984662e+02] [ 6.63217398e-01 7.48404687e-01 5.75392675e-03 7.08498924e+01] [-8.75064748e-03 6.66420419e-05 9.99961710e-01 -3.04291964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07999999999998 meters 0.01338424746071157 Centerline is valid? [True, True] Translation: X:184.02, Y:70.90, Z:-3.04 [[ 7.55329826e-01 -6.55317657e-01 5.96854804e-03 1.84022541e+02] [ 6.55296942e-01 7.55353406e-01 5.21051227e-03 7.08962063e+01] [-7.92290378e-03 -2.44840464e-05 9.99968613e-01 -3.04491375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14 meters 0.013979627829022118 Centerline is valid? [True, True] Translation: X:184.06, Y:70.94, Z:-3.05 [[ 7.59669238e-01 -6.50279117e-01 6.30235242e-03 1.84062657e+02] [ 6.50255820e-01 7.59695375e-01 5.50495023e-03 7.09397903e+01] [-8.36762216e-03 -8.38000014e-05 9.99964987e-01 -3.04604047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.2 meters 0.017731325408229866 Centerline is valid? [True, True] Translation: X:184.10, Y:70.98, Z:-3.05 [[ 7.62605996e-01 -6.46840981e-01 5.37020000e-03 1.84102034e+02] [ 6.46823959e-01 7.62624897e-01 4.69392004e-03 7.09817915e+01] [-7.13166807e-03 -1.06037540e-04 9.99974564e-01 -3.05187072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26 meters 0.018583435860538202 Centerline is valid? [True, True] Translation: X:184.14, Y:71.02, Z:-3.05 [[ 7.64862412e-01 -6.44179593e-01 4.25944557e-03 1.84144540e+02] [ 6.44168839e-01 7.64874265e-01 3.72361847e-03 7.10218168e+01] [-5.65661933e-03 -1.04253703e-04 9.99983996e-01 -3.05388781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32 meters 0.01532696258111621 Centerline is valid? [True, True] Translation: X:184.19, Y:71.06, Z:-3.05 [[ 7.64837461e-01 -6.44200539e-01 5.41509647e-03 1.84189011e+02] [ 6.44183164e-01 7.64856620e-01 4.73310609e-03 7.10586372e+01] [-7.19084188e-03 -1.31742869e-04 9.99974137e-01 -3.04999876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38 meters 0.01451507858676416 Centerline is valid? [True, True] Translation: X:184.24, Y:71.09, Z:-3.05 [[ 7.62313549e-01 -6.47185634e-01 5.36731415e-03 1.84236036e+02] [ 6.47168617e-01 7.62332436e-01 4.69442484e-03 7.10941175e+01] [-7.12984199e-03 -1.05066388e-04 9.99974577e-01 -3.05156318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44 meters 0.01417086800660395 Centerline is valid? [True, True] Translation: X:184.28, Y:71.13, Z:-3.05 [[ 7.59773332e-01 -6.50168474e-01 5.04376009e-03 1.84282532e+02] [ 6.50153498e-01 7.59790069e-01 4.41348146e-03 7.11296314e+01] [-6.70170534e-03 -7.40272442e-05 9.99977541e-01 -3.05336523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.5 meters 0.013757887204266243 Centerline is valid? [True, True] Translation: X:184.33, Y:71.16, Z:-3.05 [[ 7.56920498e-01 -6.53487454e-01 5.05044154e-03 1.84330354e+02] [ 6.53472497e-01 7.56937346e-01 4.42163686e-03 7.11640062e+01] [-6.71235203e-03 -4.65029399e-05 9.99977471e-01 -3.05455374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56 meters 0.016170315450009003 Centerline is valid? [True, True] Translation: X:184.38, Y:71.19, Z:-3.06 [[ 7.51384202e-01 -6.59845218e-01 5.10581570e-03 1.84381606e+02] [ 6.59830060e-01 7.51401549e-01 4.47248739e-03 7.11944622e+01] [-6.78766724e-03 8.41430829e-06 9.99976963e-01 -3.05800467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62 meters 0.014996724548283368 Centerline is valid? [True, True] Translation: X:184.43, Y:71.23, Z:-3.06 [[ 7.48204783e-01 -6.63444143e-01 5.60999227e-03 1.84430334e+02] [ 6.63425923e-01 7.48225813e-01 4.91704757e-03 7.12289563e+01] [-7.45972744e-03 4.28557973e-05 9.99972175e-01 -3.05685573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67999999999998 meters 0.014411526983203207 Centerline is valid? [True, True] Translation: X:184.48, Y:71.26, Z:-3.06 [[ 7.44243914e-01 -6.67887864e-01 5.17663574e-03 1.84480040e+02] [ 6.67872444e-01 7.44261913e-01 4.53916813e-03 7.12622485e+01] [-6.88442812e-03 7.90841065e-05 9.99976299e-01 -3.05707720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73999999999998 meters 0.017276355143709714 Centerline is valid? [True, True] Translation: X:184.52, Y:71.30, Z:-3.06 [[ 7.42886141e-01 -6.69403127e-01 4.43115930e-03 1.84524269e+02] [ 6.69391839e-01 7.42899352e-01 3.88812780e-03 7.13003047e+01] [-5.89463028e-03 7.77456221e-05 9.99982623e-01 -3.06122305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79999999999998 meters 0.014738223189289657 Centerline is valid? [True, True] Translation: X:184.57, Y:71.34, Z:-3.06 [[ 7.42811198e-01 -6.69485142e-01 4.60108650e-03 1.84567857e+02] [ 6.69472977e-01 7.42825443e-01 4.03664689e-03 7.13387904e+01] [-6.12027923e-03 8.18365690e-05 9.99981268e-01 -3.05925003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85999999999999 meters 0.017591356922341737 Centerline is valid? [True, True] Translation: X:184.61, Y:71.38, Z:-3.06 [[ 7.41244010e-01 -6.71223325e-01 4.07013844e-03 1.84612272e+02] [ 6.71213822e-01 7.41255179e-01 3.57264794e-03 7.13773797e+01] [-5.41505583e-03 8.37292949e-05 9.99985335e-01 -3.06296363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92 meters 0.01628255182381542 Centerline is valid? [True, True] Translation: X:184.65, Y:71.42, Z:-3.06 [[ 7.41048018e-01 -6.71434266e-01 4.88487326e-03 1.84654452e+02] [ 6.71420565e-01 7.41064111e-01 4.29055017e-03 7.14170363e+01] [-6.50082666e-03 1.00300661e-04 9.99978864e-01 -3.06225181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98 meters 0.016270510890191256 Centerline is valid? [True, True] Translation: X:184.70, Y:71.46, Z:-3.06 [[ 7.41914677e-01 -6.70470397e-01 5.66211509e-03 1.84696490e+02] [ 6.70451921e-01 7.41936275e-01 4.97843186e-03 7.14571086e+01] [-7.53881977e-03 1.02604277e-04 9.99971577e-01 -3.06317780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04 meters 0.014102899535821941 Centerline is valid? [True, True] Translation: X:184.74, Y:71.50, Z:-3.06 [[ 7.44401433e-01 -6.67697192e-01 6.85322326e-03 1.84737658e+02] [ 6.67669993e-01 7.44432973e-01 6.02727922e-03 7.14991511e+01] [-9.12616278e-03 8.89762478e-05 9.99958352e-01 -3.06104888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.1 meters 0.01676662292164186 Centerline is valid? [True, True] Translation: X:184.78, Y:71.54, Z:-3.06 [[ 7.49119942e-01 -6.62401801e-01 6.57010365e-03 1.84777517e+02] [ 6.62376575e-01 7.49148752e-01 5.78100571e-03 7.15431814e+01] [-8.75133355e-03 2.12160853e-05 9.99961706e-01 -3.06490959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16 meters 0.015913484693592606 Centerline is valid? [True, True] Translation: X:184.82, Y:71.59, Z:-3.07 [[ 7.52572384e-01 -6.58470249e-01 7.19300071e-03 1.84817500e+02] [ 6.58439799e-01 7.52606757e-01 6.33247647e-03 7.15853389e+01] [-9.58324830e-03 -2.94889692e-05 9.99954079e-01 -3.06570419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22 meters 0.014196141663121609 Centerline is valid? [True, True] Translation: X:184.86, Y:71.63, Z:-3.06 [[ 7.56532949e-01 -6.53915206e-01 7.26641338e-03 1.84857882e+02] [ 6.53883881e-01 7.56567839e-01 6.40110564e-03 7.16291707e+01] [-9.68331498e-03 -9.12567473e-05 9.99953111e-01 -3.06480975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28 meters 0.01460498586588569 Centerline is valid? [True, True] Translation: X:184.90, Y:71.67, Z:-3.07 [[ 7.57566375e-01 -6.52719548e-01 7.09791004e-03 1.84900273e+02] [ 6.52689578e-01 7.57599618e-01 6.25572659e-03 7.16694968e+01] [-9.46060896e-03 -1.06396208e-04 9.99955242e-01 -3.06613433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34 meters 0.014662410833273958 Centerline is valid? [True, True] Translation: X:184.94, Y:71.71, Z:-3.07 [[ 7.57393960e-01 -6.52918871e-01 7.16495718e-03 1.84943170e+02] [ 6.52888313e-01 7.57427842e-01 6.31777371e-03 7.17087808e+01] [-9.55193173e-03 -1.07126845e-04 9.99954374e-01 -3.06693168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.4 meters 0.016880028081467605 Centerline is valid? [True, True] Translation: X:184.99, Y:71.75, Z:-3.07 [[ 7.54934732e-01 -6.55759540e-01 7.27847681e-03 1.84989002e+02] [ 6.55728098e-01 7.54969814e-01 6.42194328e-03 7.17464584e+01] [-9.70628086e-03 -7.54462737e-05 9.99952890e-01 -3.07107192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45999999999998 meters 0.015280370512309417 Centerline is valid? [True, True] Translation: X:185.03, Y:71.78, Z:-3.07 [[ 7.52818001e-01 -6.58186704e-01 7.43771043e-03 1.85034208e+02] [ 6.58153960e-01 7.52854740e-01 6.56543839e-03 7.17841864e+01] [-9.92079981e-03 -4.74216277e-05 9.99950787e-01 -3.07224686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51999999999998 meters 0.013706779000861109 Centerline is valid? [True, True] Translation: X:185.08, Y:71.82, Z:-3.07 [[ 7.52176050e-01 -6.58929424e-01 6.57305414e-03 1.85078778e+02] [ 6.58903861e-01 7.52204768e-01 5.80418276e-03 7.18222051e+01] [-8.76882947e-03 -3.47565134e-05 9.99961552e-01 -3.07246139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57999999999998 meters 0.013801312630638732 Centerline is valid? [True, True] Translation: X:185.12, Y:71.86, Z:-3.07 [[ 7.51826092e-01 -6.59335148e-01 5.88983168e-03 1.85123377e+02] [ 6.59314617e-01 7.51849162e-01 5.20330260e-03 7.18597390e+01] [-7.85898530e-03 -2.87265436e-05 9.99969117e-01 -3.07398849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64 meters 0.0170381415104882 Centerline is valid? [True, True] Translation: X:185.17, Y:71.90, Z:-3.08 [[ 7.52663891e-01 -6.58394759e-01 3.66185515e-03 1.85167788e+02] [ 6.58386811e-01 7.52672798e-01 3.23521631e-03 7.18981244e+01] [-4.88622822e-03 -2.41133659e-05 9.99988062e-01 -3.07982883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.7 meters 0.014363698536937091 Centerline is valid? [True, True] Translation: X:185.21, Y:71.94, Z:-3.08 [[ 7.54860405e-01 -6.55878871e-01 2.94546439e-03 1.85211355e+02] [ 6.55873708e-01 7.54866151e-01 2.60261335e-03 7.19379569e+01] [-3.93043047e-03 -3.27571188e-05 9.99992275e-01 -3.07856191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76 meters 0.01598028162972515 Centerline is valid? [True, True] Translation: X:185.26, Y:71.98, Z:-3.08 [[ 7.55520026e-01 -6.55122915e-01 1.85937666e-03 1.85255624e+02] [ 6.55120851e-01 7.55522313e-01 1.64461020e-03 7.19759955e+01] [-2.48222238e-03 -2.44195222e-05 9.99996919e-01 -3.08157602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82 meters 0.014747306704611258 Centerline is valid? [True, True] Translation: X:185.30, Y:72.01, Z:-3.08 [[ 7.56104698e-01 -6.54445610e-01 2.57466763e-03 1.85300929e+02] [ 6.54441656e-01 7.56109081e-01 2.27536408e-03 7.20121538e+01] [-3.43583161e-03 -3.54437257e-05 9.99994097e-01 -3.07874375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88 meters 0.015393020846370741 Centerline is valid? [True, True] Translation: X:185.35, Y:72.05, Z:-3.08 [[ 7.55254350e-01 -6.55424432e-01 3.11139983e-03 1.85345693e+02] [ 6.55418652e-01 7.55260758e-01 2.75303083e-03 7.20499411e+01] [-4.15432186e-03 -3.99690265e-05 9.99991370e-01 -3.08040760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94 meters 0.01701991872532748 Centerline is valid? [True, True] Translation: X:185.39, Y:72.08, Z:-3.08 [[ 7.53159187e-01 -6.57825440e-01 4.11455955e-03 1.85393603e+02] [ 6.57815348e-01 7.53170425e-01 3.64402866e-03 7.20846443e+01] [-5.49609932e-03 -3.79132409e-05 9.99984896e-01 -3.08116422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.0 meters 0.014164503295453237 Centerline is valid? [True, True] Translation: X:185.44, Y:72.12, Z:-3.08 [[ 7.52391061e-01 -6.58692100e-01 5.69295770e-03 1.85439358e+02] [ 6.58672770e-01 7.52412597e-01 5.04643682e-03 7.21214274e+01] [-7.60750115e-03 -4.70977339e-05 9.99971061e-01 -3.07745491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06 meters 0.014109748870243913 Centerline is valid? [True, True] Translation: X:185.48, Y:72.16, Z:-3.08 [[ 7.51453242e-01 -6.59757680e-01 6.15059767e-03 1.85484892e+02] [ 6.59735128e-01 7.51478411e-01 5.45516389e-03 7.21583199e+01] [-8.22112764e-03 -4.15352488e-05 9.99966205e-01 -3.07789338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12 meters 0.01423587360396293 Centerline is valid? [True, True] Translation: X:185.53, Y:72.20, Z:-3.08 [[ 7.51855684e-01 -6.59306505e-01 5.28804870e-03 1.85529438e+02] [ 6.59289812e-01 7.51874278e-01 4.69183352e-03 7.21961991e+01] [-7.06930417e-03 -4.12250668e-05 9.99975011e-01 -3.07962740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17999999999998 meters 0.0168310626630388 Centerline is valid? [True, True] Translation: X:185.57, Y:72.24, Z:-3.09 [[ 7.53433516e-01 -6.57511888e-01 4.00676439e-03 1.85570921e+02] [ 6.57502276e-01 7.53444169e-01 3.55553010e-03 7.22382360e+01] [-5.35667657e-03 -4.43988407e-05 9.99985652e-01 -3.08581927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23999999999998 meters 0.014910533836460592 Centerline is valid? [True, True] Translation: X:185.61, Y:72.28, Z:-3.09 [[ 7.55369811e-01 -6.55290379e-01 3.31178245e-03 1.85612933e+02] [ 6.55283788e-01 7.55377069e-01 2.93945064e-03 7.22799675e+01] [-4.42783824e-03 -5.02149258e-05 9.99990196e-01 -3.08505733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29999999999998 meters 0.015239676066452233 Centerline is valid? [True, True] Translation: X:185.66, Y:72.32, Z:-3.09 [[ 7.56226372e-01 -6.54302924e-01 3.05919344e-03 1.85655754e+02] [ 6.54297288e-01 7.56232558e-01 2.71624219e-03 7.23208301e+01] [-4.09070689e-03 -5.24720085e-05 9.99991632e-01 -3.08610561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35999999999999 meters 0.015481332117218726 Centerline is valid? [True, True] Translation: X:185.70, Y:72.36, Z:-3.09 [[ 7.56670557e-01 -6.53787286e-01 3.44281511e-03 1.85697547e+02] [ 6.53780127e-01 7.56678386e-01 3.06022448e-03 7.23601809e+01] [-4.60583964e-03 -6.47376584e-05 9.99989391e-01 -3.08696458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42 meters 0.01613559616112446 Centerline is valid? [True, True] Translation: X:185.74, Y:72.40, Z:-3.09 [[ 7.55903512e-01 -6.54674719e-01 3.30047398e-03 1.85741795e+02] [ 6.54668153e-01 7.55910715e-01 2.93275981e-03 7.23984484e+01] [-4.41486735e-03 -5.61682296e-05 9.99990253e-01 -3.08908001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48 meters 0.017527558466421612 Centerline is valid? [True, True] Translation: X:185.79, Y:72.44, Z:-3.09 [[ 7.54421666e-01 -6.56382283e-01 3.20118787e-03 1.85786152e+02] [ 6.56376113e-01 7.54428456e-01 2.84654902e-03 7.24367240e+01] [-4.28349157e-03 -4.63150053e-05 9.99990825e-01 -3.09133919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54 meters 0.014786230061776023 Centerline is valid? [True, True] Translation: X:185.83, Y:72.48, Z:-3.09 [[ 7.53436613e-01 -6.57512864e-01 3.17872849e-03 1.85831080e+02] [ 6.57506783e-01 7.53443317e-01 2.82801145e-03 7.24754614e+01] [-4.25444565e-03 -4.06918174e-05 9.99990949e-01 -3.08959385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.6 meters 0.016162017723062413 Centerline is valid? [True, True] Translation: X:185.88, Y:72.51, Z:-3.09 [[ 7.50677823e-01 -6.60661843e-01 2.95543504e-03 1.85877337e+02] [ 6.60656607e-01 7.50683641e-01 2.63052962e-03 7.25127734e+01] [-3.95648728e-03 -2.21525599e-05 9.99992173e-01 -3.09242909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66 meters 0.015397437714564794 Centerline is valid? [True, True] Translation: X:185.92, Y:72.55, Z:-3.09 [[ 7.46320756e-01 -6.65575917e-01 3.74535651e-03 1.85924048e+02] [ 6.65567556e-01 7.46330154e-01 3.33613176e-03 7.25487403e+01] [-5.01572145e-03 2.96339542e-06 9.99987421e-01 -3.09195164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72 meters 0.014212136281684043 Centerline is valid? [True, True] Translation: X:185.97, Y:72.58, Z:-3.09 [[ 7.43287507e-01 -6.68959012e-01 4.18584067e-03 1.85969573e+02] [ 6.68948611e-01 7.43299293e-01 3.73051677e-03 7.25845602e+01] [-5.60689523e-03 2.72657889e-05 9.99984281e-01 -3.09015926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78 meters 0.01724805118045178 Centerline is valid? [True, True] Translation: X:186.02, Y:72.62, Z:-3.09 [[ 7.37867930e-01 -6.74937323e-01 3.24470026e-03 1.86017403e+02] [ 6.74931127e-01 7.37875062e-01 2.89267125e-03 7.26196392e+01] [-4.34655520e-03 5.55398534e-05 9.99990552e-01 -3.09336738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84 meters 0.018307071397313343 Centerline is valid? [True, True] Translation: X:186.06, Y:72.66, Z:-3.09 [[ 7.35716461e-01 -6.77284412e-01 2.66738262e-03 1.86061731e+02] [ 6.77280238e-01 7.35721294e-01 2.37835008e-03 7.26584069e+01] [-3.57326963e-03 5.67742346e-05 9.99993614e-01 -3.09459409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.9 meters 0.01587360968494727 Centerline is valid? [True, True] Translation: X:186.11, Y:72.70, Z:-3.09 [[ 7.34543269e-01 -6.78559110e-01 1.92893320e-03 1.86105598e+02] [ 6.78556933e-01 7.34545800e-01 1.71932444e-03 7.26983665e+01] [-2.58355304e-03 4.59728045e-05 9.99996662e-01 -3.09329006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95999999999998 meters 0.017071629070670304 Centerline is valid? [True, True] Translation: X:186.15, Y:72.74, Z:-3.10 [[ 7.31158718e-01 -6.82206764e-01 9.27103294e-04 1.86149827e+02] [ 6.82206266e-01 7.31159305e-01 8.25156735e-04 7.27355561e+01] [-1.24078771e-03 2.91551354e-05 9.99999230e-01 -3.09510074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01999999999998 meters 0.017115603936384692 Centerline is valid? [True, True] Translation: X:186.19, Y:72.78, Z:-3.10 [[ 7.28759600e-01 -6.84766259e-01 2.14870074e-03 1.86192950e+02] [ 6.84763578e-01 7.28762764e-01 1.91752255e-03 7.27757016e+01] [-2.87894783e-03 7.39390429e-05 9.99995853e-01 -3.09516698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07999999999998 meters 0.01931526922281832 Centerline is valid? [True, True] Translation: X:186.24, Y:72.81, Z:-3.09 [[ 7.26328690e-01 -6.87333182e-01 4.44181636e-03 1.86236326e+02] [ 6.87321718e-01 7.26342253e-01 3.97335192e-03 7.28136317e+01] [-5.95729552e-03 1.66997349e-04 9.99982241e-01 -3.09464889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14 meters 0.017256386986647575 Centerline is valid? [True, True] Translation: X:186.28, Y:72.86, Z:-3.09 [[ 7.26208731e-01 -6.87452304e-01 5.49632485e-03 1.86275764e+02] [ 6.87434756e-01 7.26229500e-01 4.91622530e-03 7.28586229e+01] [-7.37126366e-03 2.08159004e-04 9.99972810e-01 -3.09353464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.2 meters 0.016515377770201664 Centerline is valid? [True, True] Translation: X:186.31, Y:72.90, Z:-3.10 [[ 7.29197085e-01 -6.84278373e-01 5.89229391e-03 1.86314413e+02] [ 6.84258068e-01 7.29220868e-01 5.27471615e-03 7.29043773e+01] [-7.90615786e-03 1.85542005e-04 9.99968729e-01 -3.09504443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26 meters 0.016852984108972482 Centerline is valid? [True, True] Translation: X:186.35, Y:72.95, Z:-3.10 [[ 7.31049172e-01 -6.82303402e-01 5.40147021e-03 1.86354010e+02] [ 6.82286278e-01 7.31069111e-01 4.83629794e-03 7.29490638e+01] [-7.24867056e-03 1.49777397e-04 9.99973717e-01 -3.09812357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32 meters 0.017738070101400452 Centerline is valid? [True, True] Translation: X:186.39, Y:72.99, Z:-3.10 [[ 7.32567489e-01 -6.80683202e-01 3.90549872e-03 1.86393226e+02] [ 6.80674234e-01 7.32577893e-01 3.49548619e-03 7.29938274e+01] [-5.24040075e-03 9.76928117e-05 9.99986264e-01 -3.10197995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38 meters 0.014718102378213752 Centerline is valid? [True, True] Translation: X:186.43, Y:73.04, Z:-3.10 [[ 7.33702606e-01 -6.79454530e-01 4.69325277e-03 1.86433824e+02] [ 6.79441535e-01 7.33717609e-01 4.20351920e-03 7.30368550e+01] [-6.29962236e-03 1.04657876e-04 9.99980152e-01 -3.10045307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44 meters 0.01684407640411147 Centerline is valid? [True, True] Translation: X:186.47, Y:73.08, Z:-3.10 [[ 7.34450685e-01 -6.78653054e-01 3.49609283e-03 1.86472823e+02] [ 6.78645824e-01 7.34459003e-01 3.13339257e-03 7.30780659e+01] [-4.69422329e-03 7.12864835e-05 9.99988980e-01 -3.10300852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.5 meters 0.014422497579551122 Centerline is valid? [True, True] Translation: X:186.51, Y:73.12, Z:-3.10 [[ 7.36032175e-01 -6.76929982e-01 4.73671312e-03 1.86513375e+02] [ 6.76916672e-01 7.36047412e-01 4.24580365e-03 7.31206982e+01] [-6.36055723e-03 8.13119809e-05 9.99979768e-01 -3.10207588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56 meters 0.013961767632604458 Centerline is valid? [True, True] Translation: X:186.55, Y:73.16, Z:-3.10 [[ 7.38445338e-01 -6.74293772e-01 5.13727143e-03 1.86553469e+02] [ 6.74278032e-01 7.38463205e-01 4.60758825e-03 7.31645317e+01] [-6.90055399e-03 6.14972086e-05 9.99976189e-01 -3.10215677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62 meters 0.016578330741892078 Centerline is valid? [True, True] Translation: X:186.59, Y:73.21, Z:-3.10 [[ 7.39703895e-01 -6.72913535e-01 5.05197863e-03 1.86594382e+02] [ 6.72898254e-01 7.39721145e-01 4.53511747e-03 7.32055478e+01] [-6.78879734e-03 4.48235441e-05 9.99976955e-01 -3.10466607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.67999999999998 meters 0.014836054034087096 Centerline is valid? [True, True] Translation: X:186.63, Y:73.25, Z:-3.10 [[ 7.42492133e-01 -6.69831876e-01 5.53978693e-03 1.86633415e+02] [ 6.69813420e-01 7.42512799e-01 4.97245814e-03 7.32497025e+01] [-7.44407367e-03 1.86125817e-05 9.99972292e-01 -3.10472374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73999999999998 meters 0.015092648525937682 Centerline is valid? [True, True] Translation: X:186.67, Y:73.29, Z:-3.11 [[ 7.43866036e-01 -6.68307720e-01 5.30209251e-03 1.86674290e+02] [ 6.68290762e-01 7.43884932e-01 4.76079263e-03 7.32914339e+01] [-7.12582119e-03 1.94750046e-06 9.99974611e-01 -3.10652610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79999999999998 meters 0.013926410562350635 Centerline is valid? [True, True] Translation: X:186.72, Y:73.33, Z:-3.11 [[ 7.44775339e-01 -6.67295213e-01 5.17619213e-03 1.86715537e+02] [ 6.67278997e-01 7.44793326e-01 4.65210764e-03 7.33308881e+01] [-6.95952251e-03 -1.08107482e-05 9.99975782e-01 -3.10706755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85999999999999 meters 0.015541934807413468 Centerline is valid? [True, True] Translation: X:186.76, Y:73.37, Z:-3.11 [[ 7.45529654e-01 -6.66461911e-01 3.74920873e-03 1.86757325e+02] [ 6.66453401e-01 7.45539081e-01 3.36809531e-03 7.33724072e+01] [-5.03988886e-03 -1.23420221e-05 9.99987300e-01 -3.11098002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92 meters 0.016706148643080093 Centerline is valid? [True, True] Translation: X:186.80, Y:73.41, Z:-3.11 [[ 7.45860847e-01 -6.66095309e-01 2.93886087e-03 1.86800091e+02] [ 6.66090076e-01 7.45866637e-01 2.64037214e-03 7.34130280e+01] [-3.95073777e-03 -1.18041372e-05 9.99992196e-01 -3.11377996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98 meters 0.016638887701593615 Centerline is valid? [True, True] Translation: X:186.84, Y:73.45, Z:-3.12 [[ 7.46413776e-01 -6.65477682e-01 2.43531538e-03 1.86843218e+02] [ 6.65474084e-01 7.46417748e-01 2.18818128e-03 7.34532635e+01] [-3.27394843e-03 -1.26493809e-05 9.99994641e-01 -3.11527231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04 meters 0.01638722242878583 Centerline is valid? [True, True] Translation: X:186.89, Y:73.49, Z:-3.11 [[ 7.46995482e-01 -6.64819983e-01 3.48422626e-03 1.86887500e+02] [ 6.64812598e-01 7.47003607e-01 3.13377774e-03 7.34907800e+01] [-4.68612765e-03 -2.45602991e-05 9.99989020e-01 -3.11437856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.1 meters 0.01666563837300496 Centerline is valid? [True, True] Translation: X:186.93, Y:73.53, Z:-3.11 [[ 7.46947527e-01 -6.64862923e-01 5.16579061e-03 1.86932443e+02] [ 6.64846648e-01 7.46965389e-01 4.65216175e-03 7.35286339e+01] [-6.95171665e-03 -4.04621428e-05 9.99975836e-01 -3.11338154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16 meters 0.014802965136876215 Centerline is valid? [True, True] Translation: X:186.98, Y:73.57, Z:-3.11 [[ 7.48139321e-01 -6.63501643e-01 7.28881949e-03 1.86976539e+02] [ 6.63469127e-01 7.48174822e-01 6.56917208e-03 7.35664630e+01] [-9.81196769e-03 -7.87492343e-05 9.99951858e-01 -3.11173188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22 meters 0.01394678692447579 Centerline is valid? [True, True] Translation: X:187.02, Y:73.61, Z:-3.11 [[ 7.50065609e-01 -6.61314221e-01 8.06740714e-03 1.87020360e+02] [ 6.61274205e-01 7.50108983e-01 7.27602477e-03 7.36059456e+01] [-1.08631732e-02 -1.22727712e-04 9.99940986e-01 -3.11157509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28 meters 0.017807010331570845 Centerline is valid? [True, True] Translation: X:187.06, Y:73.65, Z:-3.12 [[ 7.52078408e-01 -6.59039521e-01 6.70659040e-03 1.87063458e+02] [ 6.59011755e-01 7.52108298e-01 6.05095189e-03 7.36457353e+01] [-9.03189873e-03 -1.31068347e-04 9.99959203e-01 -3.11699290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34 meters 0.015279632059523056 Centerline is valid? [True, True] Translation: X:187.11, Y:73.69, Z:-3.12 [[ 7.54577770e-01 -6.56178256e-01 6.51813036e-03 1.87106279e+02] [ 6.56151884e-01 7.54605904e-01 5.88515813e-03 7.36853922e+01] [-8.78033245e-03 -1.63925985e-04 9.99961439e-01 -3.11661724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.4 meters 0.015704594982609846 Centerline is valid? [True, True] Translation: X:187.15, Y:73.72, Z:-3.12 [[ 7.55548057e-01 -6.55066144e-01 5.95655103e-03 1.87150095e+02] [ 6.55044092e-01 7.55571520e-01 5.37739447e-03 7.37244769e+01] [-8.02314937e-03 -1.61076390e-04 9.99967801e-01 -3.11864123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45999999999998 meters 0.01597937079071849 Centerline is valid? [True, True] Translation: X:187.20, Y:73.76, Z:-3.12 [[ 7.55625851e-01 -6.54979486e-01 5.60767867e-03 1.87195203e+02] [ 6.54959910e-01 7.55646643e-01 5.06637954e-03 7.37613917e+01] [-7.55579822e-03 -1.55482636e-04 9.99971442e-01 -3.12062571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51999999999998 meters 0.015509442316869931 Centerline is valid? [True, True] Translation: X:187.24, Y:73.80, Z:-3.12 [[ 7.54270855e-01 -6.56530149e-01 6.60612482e-03 1.87241690e+02] [ 6.56503039e-01 7.54299766e-01 5.96849464e-03 7.37978609e+01] [-8.90149508e-03 -1.64920533e-04 9.99960367e-01 -3.12051044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57999999999998 meters 0.014514752420551716 Centerline is valid? [True, True] Translation: X:187.29, Y:73.83, Z:-3.12 [[ 7.51359552e-01 -6.59839949e-01 8.37047763e-03 1.87290432e+02] [ 6.59796570e-01 7.51406158e-01 7.56776517e-03 7.38320331e+01] [-1.12831422e-02 -1.63300221e-04 9.99936330e-01 -3.11959105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64 meters 0.014154516158316872 Centerline is valid? [True, True] Translation: X:187.34, Y:73.87, Z:-3.12 [[ 7.49141326e-01 -6.62353572e-01 8.66142288e-03 1.87336574e+02] [ 6.62307239e-01 7.49191383e-01 7.83538699e-03 7.38666839e+01] [-1.16788599e-02 -1.33289134e-04 9.99931791e-01 -3.12008942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.7 meters 0.013535323326469416 Centerline is valid? [True, True] Translation: X:187.39, Y:73.90, Z:-3.12 [[ 7.45878722e-01 -6.66022553e-01 8.88206210e-03 1.87386568e+02] [ 6.65974078e-01 7.45931601e-01 8.03585793e-03 7.38999471e+01] [-1.19774734e-02 -7.85523249e-05 9.99928264e-01 -3.12138892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76 meters 0.013590630976167724 Centerline is valid? [True, True] Translation: X:187.43, Y:73.93, Z:-3.12 [[ 7.43883806e-01 -6.68255248e-01 8.47386785e-03 1.87432732e+02] [ 6.68211224e-01 7.43932068e-01 7.67063106e-03 7.39344570e+01] [-1.14299215e-02 -4.37246242e-05 9.99934675e-01 -3.12346654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82 meters 0.013506796743263473 Centerline is valid? [True, True] Translation: X:187.48, Y:73.97, Z:-3.13 [[ 7.42403745e-01 -6.69912230e-01 7.36774168e-03 1.87479556e+02] [ 6.69879035e-01 7.42440303e-01 6.66894585e-03 7.39689979e+01] [-9.93771675e-03 -1.55546796e-05 9.99950620e-01 -3.12507450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88 meters 0.013739656604384861 Centerline is valid? [True, True] Translation: X:187.53, Y:74.00, Z:-3.13 [[ 7.40509545e-01 -6.72016990e-01 6.22726791e-03 1.87528125e+02] [ 6.71993332e-01 7.40535728e-01 5.63896334e-03 7.40022857e+01] [-8.40099355e-03 8.97632987e-06 9.99964711e-01 -3.12725958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94 meters 0.013772425229181753 Centerline is valid? [True, True] Translation: X:187.57, Y:74.04, Z:-3.13 [[ 7.38501240e-01 -6.74216726e-01 6.90829780e-03 1.87574913e+02] [ 6.74187666e-01 7.38533551e-01 6.25986037e-03 7.40364603e+01] [-9.32251227e-03 3.45745193e-05 9.99956544e-01 -3.12749532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.0 meters 0.013913312038503909 Centerline is valid? [True, True] Translation: X:187.62, Y:74.07, Z:-3.13 [[ 7.36798400e-01 -6.76058314e-01 8.56003802e-03 1.87620243e+02] [ 6.76013753e-01 7.36848120e-01 7.76231941e-03 7.40723220e+01] [-1.15552285e-02 6.74389077e-05 9.99933234e-01 -3.12634253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06 meters 0.013749436336252663 Centerline is valid? [True, True] Translation: X:187.66, Y:74.11, Z:-3.13 [[ 7.37895840e-01 -6.74841837e-01 9.91080955e-03 1.87662410e+02] [ 6.74781907e-01 7.37962393e-01 8.99365050e-03 7.41117127e+01] [-1.33830963e-02 5.12576674e-05 9.99910441e-01 -3.12579493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12 meters 0.013601909510862513 Centerline is valid? [True, True] Translation: X:187.70, Y:74.15, Z:-3.13 [[ 7.40122586e-01 -6.72408654e-01 9.22821853e-03 1.87702996e+02] [ 6.72356497e-01 7.40180115e-01 8.37488041e-03 7.41539901e+01] [-1.24618859e-02 6.21453857e-06 9.99922348e-01 -3.12742794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17999999999998 meters 0.01371808193694078 Centerline is valid? [True, True] Translation: X:187.74, Y:74.20, Z:-3.13 [[ 7.42620642e-01 -6.69672666e-01 7.28712987e-03 1.87743769e+02] [ 6.69639984e-01 7.42656394e-01 6.61608308e-03 7.41969253e+01] [-9.84244358e-03 -3.34863384e-05 9.99951561e-01 -3.13074635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23999999999998 meters 0.0136946026350402 Centerline is valid? [True, True] Translation: X:187.79, Y:74.24, Z:-3.13 [[ 7.42911539e-01 -6.69361617e-01 6.12133850e-03 1.87786167e+02] [ 6.69338530e-01 7.42936756e-01 5.55955358e-03 7.42374680e+01] [-8.26911915e-03 -3.30087926e-05 9.99965810e-01 -3.13320554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29999999999998 meters 0.013637715919980208 Centerline is valid? [True, True] Translation: X:187.83, Y:74.28, Z:-3.13 [[ 7.42499370e-01 -6.69824008e-01 5.52114414e-03 1.87827415e+02] [ 6.69805217e-01 7.42519897e-01 5.01734753e-03 7.42764693e+01] [-7.46029921e-03 -2.72862367e-05 9.99972171e-01 -3.13481204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35999999999999 meters 0.013618808423787114 Centerline is valid? [True, True] Translation: X:187.87, Y:74.31, Z:-3.13 [[ 7.39826612e-01 -6.72774674e-01 5.55181514e-03 1.87870560e+02] [ 6.72755742e-01 7.39847443e-01 5.04706867e-03 7.43133023e+01] [-7.50303621e-03 1.05980710e-06 9.99971852e-01 -3.13497108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42 meters 0.014042804194749434 Centerline is valid? [True, True] Translation: X:187.92, Y:74.35, Z:-3.13 [[ 7.34794988e-01 -6.78260275e-01 6.27090487e-03 1.87917107e+02] [ 6.78236311e-01 7.34821744e-01 5.70184029e-03 7.43491880e+01] [-8.47532902e-03 6.34717171e-05 9.99964082e-01 -3.13440443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48 meters 0.01445913895565492 Centerline is valid? [True, True] Translation: X:187.96, Y:74.39, Z:-3.13 [[ 7.31788887e-01 -6.81494226e-01 7.11651364e-03 1.87961305e+02] [ 6.81463469e-01 7.31823482e-01 6.47548942e-03 7.43872937e+01] [-9.62104044e-03 1.10952873e-04 9.99953711e-01 -3.13382229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54 meters 0.014873428462745123 Centerline is valid? [True, True] Translation: X:188.01, Y:74.43, Z:-3.13 [[ 7.29384095e-01 -6.84054116e-01 8.29509527e-03 1.88005889e+02] [ 6.84012485e-01 7.29431243e-01 7.54869686e-03 7.44264474e+01] [-1.12144188e-02 1.68049306e-04 9.99937102e-01 -3.13438505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.6 meters 0.014649166516083086 Centerline is valid? [True, True] Translation: X:188.05, Y:74.47, Z:-3.14 [[ 7.29779144e-01 -6.83643071e-01 7.38596704e-03 1.88047648e+02] [ 6.83610019e-01 7.29816505e-01 6.72390799e-03 7.44662712e+01] [-9.98715376e-03 1.42153251e-04 9.99950117e-01 -3.13656120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66 meters 0.014637162381573372 Centerline is valid? [True, True] Translation: X:188.09, Y:74.51, Z:-3.14 [[ 7.31650899e-01 -6.81657659e-01 5.45868264e-03 1.88089414e+02] [ 6.81639525e-01 7.31671257e-01 4.97280404e-03 7.45063240e+01] [-7.38371115e-03 8.24972944e-05 9.99972737e-01 -3.13991145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72 meters 0.01417667436006569 Centerline is valid? [True, True] Translation: X:188.13, Y:74.55, Z:-3.14 [[ 7.32846288e-01 -6.80379617e-01 4.46045200e-03 1.88131150e+02] [ 6.80367497e-01 7.32859859e-01 4.06144254e-03 7.45472320e+01] [-6.03220895e-03 5.83334745e-05 9.99981804e-01 -3.14190035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78 meters 0.01373786329293524 Centerline is valid? [True, True] Translation: X:188.17, Y:74.59, Z:-3.15 [[ 7.37075962e-01 -6.75809204e-01 9.72513480e-04 1.88171407e+02] [ 6.75808629e-01 7.37076603e-01 8.82188134e-04 7.45908138e+01] [-1.31300779e-03 6.99333377e-06 9.99999138e-01 -3.14631711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84 meters 0.013809347422926025 Centerline is valid? [True, True] Translation: X:188.21, Y:74.63, Z:-3.15 [[ 7.39262442e-01 -6.73417428e-01 -9.83851520e-05 1.88213126e+02] [ 6.73417421e-01 7.39262449e-01 -9.48821049e-05 7.46323030e+01] [ 1.36627711e-04 3.88850123e-06 9.99999991e-01 -3.14808433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.9 meters 0.013866727108065755 Centerline is valid? [True, True] Translation: X:188.25, Y:74.67, Z:-3.15 [[ 7.40477753e-01 -6.72080732e-01 4.32393018e-04 1.88254453e+02] [ 6.72080618e-01 7.40477879e-01 3.90905340e-04 7.46716821e+01] [-5.82897412e-04 1.14625934e-06 9.99999830e-01 -3.14880501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95999999999998 meters 0.013540757801874054 Centerline is valid? [True, True] Translation: X:188.30, Y:74.71, Z:-3.14 [[ 7.40102334e-01 -6.72481692e-01 4.11215214e-03 1.88299481e+02] [ 6.72471227e-01 7.40113758e-01 3.75160781e-03 7.47101046e+01] [-5.56634794e-03 -1.12697032e-05 9.99984508e-01 -3.14342424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01999999999998 meters 0.013491288950228407 Centerline is valid? [True, True] Translation: X:188.34, Y:74.75, Z:-3.14 [[ 7.40774521e-01 -6.71723969e-01 6.32604414e-03 1.88342974e+02] [ 6.71699127e-01 7.40801531e-01 5.77701662e-03 7.47498637e+01] [-8.56690372e-03 -3.02683861e-05 9.99963303e-01 -3.14115404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07999999999998 meters 0.013899907913737393 Centerline is valid? [True, True] Translation: X:188.38, Y:74.79, Z:-3.14 [[ 7.44098229e-01 -6.68036513e-01 6.71137067e-03 1.88384379e+02] [ 6.68008372e-01 7.44128491e-01 6.13218115e-03 7.47920865e+01] [-9.09064305e-03 -7.96933367e-05 9.99958676e-01 -3.14230410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14 meters 0.014514239233782669 Centerline is valid? [True, True] Translation: X:188.43, Y:74.83, Z:-3.15 [[ 7.46591280e-01 -6.65262445e-01 5.22878326e-03 1.88425951e+02] [ 6.65245287e-01 7.46609584e-01 4.77880817e-03 7.48336565e+01] [-7.08302130e-03 -8.93930836e-05 9.99974911e-01 -3.14553886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.2 meters 0.015064244377139385 Centerline is valid? [True, True] Translation: X:188.47, Y:74.87, Z:-3.15 [[ 7.48530349e-01 -6.63093507e-01 3.05244644e-03 1.88468066e+02] [ 6.63087645e-01 7.48536570e-01 2.78903036e-03 7.48747011e+01] [-4.13425571e-03 -6.36343518e-05 9.99991452e-01 -3.14954687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26 meters 0.015557390872892138 Centerline is valid? [True, True] Translation: X:188.51, Y:74.91, Z:-3.15 [[ 7.49469725e-01 -6.62038600e-01 1.51018158e-04 1.88511668e+02] [ 6.62038587e-01 7.49469740e-01 1.33211483e-04 7.49142567e+01] [-2.01374684e-04 1.41874051e-07 9.99999980e-01 -3.15302530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32 meters 0.015346064386783424 Centerline is valid? [True, True] Translation: X:188.56, Y:74.95, Z:-3.15 [[ 7.48427983e-01 -6.63215750e-01 -6.50782497e-04 1.88556362e+02] [ 6.63215477e-01 7.48428265e-01 -6.02169638e-04 7.49521151e+01] [ 8.86432404e-04 1.90715836e-05 9.99999607e-01 -3.15380154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38 meters 0.014406903922217081 Centerline is valid? [True, True] Translation: X:188.60, Y:74.99, Z:-3.15 [[ 7.44920744e-01 -6.67152023e-01 1.12388903e-03 1.88603768e+02] [ 6.67151236e-01 7.44921592e-01 1.02530670e-03 7.49872615e+01] [-1.52124464e-03 -1.39682735e-05 9.99998843e-01 -3.15170716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44 meters 0.013824447333709819 Centerline is valid? [True, True] Translation: X:188.65, Y:75.02, Z:-3.15 [[ 7.41869905e-01 -6.70534541e-01 3.53190387e-03 1.88650026e+02] [ 6.70526740e-01 7.41878311e-01 3.23463615e-03 7.50237074e+01] [-4.78917815e-03 -3.14432233e-05 9.99988531e-01 -3.14980245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.5 meters 0.013427966663658308 Centerline is valid? [True, True] Translation: X:188.70, Y:75.06, Z:-3.15 [[ 7.37612514e-01 -6.75195427e-01 6.23813395e-03 1.88696936e+02] [ 6.75171198e-01 7.37638892e-01 5.72002087e-03 7.50605318e+01] [-8.46362216e-03 -7.35060237e-06 9.99964183e-01 -3.14730926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56 meters 0.013382935447918952 Centerline is valid? [True, True] Translation: X:188.74, Y:75.10, Z:-3.15 [[ 7.35484267e-01 -6.77507999e-01 6.76794757e-03 1.88740278e+02] [ 6.77479550e-01 7.35515405e-01 6.20869006e-03 7.50994935e+01] [-9.18436688e-03 1.87522173e-05 9.99957823e-01 -3.14736247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62 meters 0.013649768870734037 Centerline is valid? [True, True] Translation: X:188.78, Y:75.14, Z:-3.15 [[ 7.33340031e-01 -6.79841733e-01 5.25516871e-03 1.88782957e+02] [ 6.79824616e-01 7.33358859e-01 4.82446949e-03 7.51392864e+01] [-7.13380023e-03 3.46164485e-05 9.99974554e-01 -3.15023857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67999999999998 meters 0.01384166390810949 Centerline is valid? [True, True] Translation: X:188.83, Y:75.18, Z:-3.15 [[ 7.32185785e-01 -6.81091879e-01 4.22242820e-03 1.88826103e+02] [ 6.81080859e-01 7.32197958e-01 3.87470594e-03 7.51790703e+01] [-5.73068406e-03 3.88104192e-05 9.99983579e-01 -3.15214008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73999999999998 meters 0.014306003693248482 Centerline is valid? [True, True] Translation: X:188.87, Y:75.22, Z:-3.15 [[ 7.30631450e-01 -6.82766155e-01 2.83938545e-03 1.88868777e+02] [ 6.82761176e-01 7.30636966e-01 2.60762411e-03 7.52176539e+01] [-3.85495746e-03 3.34099688e-05 9.99992569e-01 -3.15416802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79999999999998 meters 0.014386888848619361 Centerline is valid? [True, True] Translation: X:188.91, Y:75.26, Z:-3.15 [[ 7.29295769e-01 -6.84193938e-01 2.51727342e-03 1.88910849e+02] [ 6.84190033e-01 7.29300112e-01 2.31196689e-03 7.52581885e+01] [-3.41768152e-03 3.61857093e-05 9.99994159e-01 -3.15426624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85999999999999 meters 0.014752231621670208 Centerline is valid? [True, True] Translation: X:188.95, Y:75.30, Z:-3.16 [[ 7.27534044e-01 -6.86065911e-01 2.78932228e-03 1.88952969e+02] [ 6.86061137e-01 7.27539389e-01 2.56004424e-03 7.52993909e+01] [-3.78570091e-03 5.11262721e-05 9.99992833e-01 -3.15544557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92 meters 0.015015389932908884 Centerline is valid? [True, True] Translation: X:189.00, Y:75.34, Z:-3.16 [[ 7.26458901e-01 -6.87202401e-01 3.21340546e-03 1.88995981e+02] [ 6.87196065e-01 7.26466005e-01 2.95153229e-03 7.53395001e+01] [-4.36272991e-03 6.40726841e-05 9.99990481e-01 -3.15578114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98 meters 0.014977403692137447 Centerline is valid? [True, True] Translation: X:189.04, Y:75.38, Z:-3.16 [[ 7.25625883e-01 -6.88080360e-01 3.53490360e-03 1.89039152e+02] [ 6.88072694e-01 7.25634490e-01 3.24886177e-03 7.53802750e+01] [-4.80052595e-03 7.48124519e-05 9.99988475e-01 -3.15564144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04 meters 0.0150261046460845 Centerline is valid? [True, True] Translation: X:189.08, Y:75.42, Z:-3.16 [[ 7.25640757e-01 -6.88067441e-01 2.94765204e-03 1.89080630e+02] [ 6.88062110e-01 7.25646741e-01 2.70912853e-03 7.54205606e+01] [-4.00301723e-03 6.23136087e-05 9.99991986e-01 -3.15688943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.1 meters 0.015008374671399266 Centerline is valid? [True, True] Translation: X:189.12, Y:75.46, Z:-3.16 [[ 7.26192182e-01 -6.87486977e-01 2.56355676e-03 1.89122193e+02] [ 6.87482939e-01 7.26196705e-01 2.35671356e-03 7.54611163e+01] [-3.48185635e-03 5.09745699e-05 9.99993937e-01 -3.15792449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16 meters 0.01475684981988618 Centerline is valid? [True, True] Translation: X:189.16, Y:75.50, Z:-3.16 [[ 7.27967896e-01 -6.85608258e-01 2.01481766e-03 1.89163162e+02] [ 6.85605748e-01 7.27970684e-01 1.85537811e-03 7.55026399e+01] [-2.73879074e-03 3.07148659e-05 9.99996249e-01 -3.15986432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22 meters 0.014401753126189534 Centerline is valid? [True, True] Translation: X:189.20, Y:75.54, Z:-3.16 [[ 7.30077950e-01 -6.83360171e-01 2.25029431e-03 1.89204562e+02] [ 6.83357028e-01 7.30081417e-01 2.07281715e-03 7.55436779e+01] [-3.05937874e-03 2.44363386e-05 9.99995320e-01 -3.16081212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28 meters 0.01392133834712923 Centerline is valid? [True, True] Translation: X:189.25, Y:75.59, Z:-3.16 [[ 7.31923896e-01 -6.81378039e-01 3.37313378e-03 1.89245841e+02] [ 6.81370959e-01 7.31931668e-01 3.10620890e-03 7.55852430e+01] [-4.58540596e-03 2.48468825e-05 9.99989487e-01 -3.15996568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34 meters 0.013697190169496498 Centerline is valid? [True, True] Translation: X:189.29, Y:75.63, Z:-3.16 [[ 7.35313533e-01 -6.77715352e-01 3.98879762e-03 1.89286263e+02] [ 6.77705371e-01 7.35324351e-01 3.67802450e-03 7.56264758e+01] [-5.42571369e-03 -1.27161284e-06 9.99985281e-01 -3.16039113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.4 meters 0.013806528309765408 Centerline is valid? [True, True] Translation: X:189.33, Y:75.67, Z:-3.16 [[ 7.37871057e-01 -6.74930944e-01 3.81103711e-03 1.89328301e+02] [ 6.74921804e-01 7.37880899e-01 3.51249755e-03 7.56684957e+01] [-5.18278477e-03 -1.96182365e-05 9.99986569e-01 -3.16089543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45999999999998 meters 0.014348972508685167 Centerline is valid? [True, True] Translation: X:189.37, Y:75.71, Z:-3.16 [[ 7.40985365e-01 -6.71512318e-01 3.44895077e-03 1.89368328e+02] [ 6.71504784e-01 7.40993390e-01 3.18121476e-03 7.57097075e+01] [-4.69187462e-03 -4.12466329e-05 9.99988992e-01 -3.16267509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51999999999998 meters 0.015479889265771563 Centerline is valid? [True, True] Translation: X:189.41, Y:75.75, Z:-3.16 [[ 7.45264845e-01 -6.66763137e-01 2.68873027e-03 1.89408778e+02] [ 6.66758532e-01 7.45269693e-01 2.47870684e-03 7.57523834e+01] [-3.65653954e-03 -5.45592235e-05 9.99993313e-01 -3.16473028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57999999999998 meters 0.015957069107122693 Centerline is valid? [True, True] Translation: X:189.45, Y:75.79, Z:-3.17 [[ 7.46280541e-01 -6.65628247e-01 2.09564084e-03 1.89451557e+02] [ 6.65625445e-01 7.46283482e-01 1.93175745e-03 7.57931872e+01] [-2.84977447e-03 -4.67211290e-05 9.99995938e-01 -3.16620074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64 meters 0.017210403359323077 Centerline is valid? [True, True] Translation: X:189.49, Y:75.83, Z:-3.17 [[ 7.48367170e-01 -6.63281230e-01 2.14215677e-03 1.89492877e+02] [ 6.63278284e-01 7.48370234e-01 1.97759855e-03 7.58333348e+01] [-2.91483036e-03 -5.91237637e-05 9.99995750e-01 -3.16761349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.7 meters 0.018055849492377908 Centerline is valid? [True, True] Translation: X:189.54, Y:75.87, Z:-3.17 [[ 7.49287950e-01 -6.62236257e-01 3.27221183e-03 1.89536613e+02] [ 6.62229372e-01 7.49295089e-01 3.02146544e-03 7.58735050e+01] [-4.45277622e-03 -9.69928606e-05 9.99990082e-01 -3.16660921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76 meters 0.01874174028115342 Centerline is valid? [True, True] Translation: X:189.58, Y:75.91, Z:-3.17 [[ 7.49874876e-01 -6.61570898e-01 3.40859418e-03 1.89580079e+02] [ 6.61563411e-01 7.49882615e-01 3.14912108e-03 7.59139323e+01] [-4.63941238e-03 -1.06445584e-04 9.99989232e-01 -3.16752229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82 meters 0.01907985581044293 Centerline is valid? [True, True] Translation: X:189.62, Y:75.95, Z:-3.17 [[ 7.49915897e-01 -6.61525035e-01 3.28261851e-03 1.89623824e+02] [ 6.61518085e-01 7.49923075e-01 3.03398928e-03 7.59535336e+01] [-4.46877123e-03 -1.03725285e-04 9.99990010e-01 -3.16925373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88 meters 0.018850614300488754 Centerline is valid? [True, True] Translation: X:189.67, Y:75.99, Z:-3.17 [[ 7.48745962e-01 -6.62851530e-01 2.70819141e-03 1.89668744e+02] [ 6.62846807e-01 7.48750855e-01 2.50344980e-03 7.59919591e+01] [-3.68717616e-03 -7.93319014e-05 9.99993199e-01 -3.17207776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94 meters 0.018413290533328085 Centerline is valid? [True, True] Translation: X:189.71, Y:76.03, Z:-3.17 [[ 7.47456234e-01 -6.64308108e-01 1.97893359e-03 1.89714054e+02] [ 6.64305588e-01 7.47458852e-01 1.83057669e-03 7.60304095e+01] [-2.69523837e-03 -5.36593139e-05 9.99996366e-01 -3.17399868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.0 meters 0.017913437608943154 Centerline is valid? [True, True] Translation: X:189.76, Y:76.07, Z:-3.18 [[ 7.45847353e-01 -6.66116431e-01 7.91528457e-04 1.89757957e+02] [ 6.66116030e-01 7.45847773e-01 7.30738889e-04 7.60680475e+01] [-1.07711692e-03 -1.77698724e-05 9.99999420e-01 -3.17716031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06 meters 0.017857738467330797 Centerline is valid? [True, True] Translation: X:189.80, Y:76.11, Z:-3.18 [[ 7.45118134e-01 -6.66932453e-01 2.65111152e-04 1.89800629e+02] [ 6.66932409e-01 7.45118181e-01 2.41173995e-04 7.61059088e+01] [-3.58385904e-04 -2.89189807e-06 9.99999936e-01 -3.17903469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12 meters 0.015081459687229492 Centerline is valid? [True, True] Translation: X:189.85, Y:76.14, Z:-3.17 [[ 7.43522060e-01 -6.68709927e-01 1.40693349e-03 1.89849612e+02] [ 6.68708664e-01 7.43523391e-01 1.30005007e-03 7.61406437e+01] [-1.91544435e-03 -2.57872896e-05 9.99998165e-01 -3.17449642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17999999999998 meters 0.014743564764696782 Centerline is valid? [True, True] Translation: X:189.89, Y:76.18, Z:-3.17 [[ 7.42155211e-01 -6.70222493e-01 2.72987304e-03 1.89894368e+02] [ 6.70217727e-01 7.42160230e-01 2.52790807e-03 7.61786913e+01] [-3.72026405e-03 -4.64908478e-05 9.99993079e-01 -3.17329915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23999999999998 meters 0.014474326654317094 Centerline is valid? [True, True] Translation: X:189.94, Y:76.22, Z:-3.17 [[ 7.40098675e-01 -6.72483688e-01 4.43179088e-03 1.89938501e+02] [ 6.72471135e-01 7.40111941e-01 4.10935295e-03 7.62170513e+01] [-6.04349418e-03 -6.10752304e-05 9.99981736e-01 -3.17234536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29999999999998 meters 0.014254925190994626 Centerline is valid? [True, True] Translation: X:189.98, Y:76.26, Z:-3.17 [[ 7.38859819e-01 -6.73834953e-01 5.71167907e-03 1.89981970e+02] [ 6.73814110e-01 7.38881893e-01 5.30029527e-03 7.62573449e+01] [-7.79178046e-03 -6.75652601e-05 9.99969641e-01 -3.17302716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35999999999999 meters 0.01416090109933478 Centerline is valid? [True, True] Translation: X:190.02, Y:76.30, Z:-3.17 [[ 7.38388917e-01 -6.74356879e-01 4.96054899e-03 1.90023946e+02] [ 6.74341162e-01 7.38405577e-01 4.60443415e-03 7.62973510e+01] [-6.76792889e-03 -5.47607760e-05 9.99977096e-01 -3.17430257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42 meters 0.01430954069096143 Centerline is valid? [True, True] Translation: X:190.07, Y:76.34, Z:-3.18 [[ 7.38770801e-01 -6.73943776e-01 4.18216169e-03 1.90066301e+02] [ 6.73932587e-01 7.38782637e-01 3.88373948e-03 7.63381431e+01] [-5.70713049e-03 -5.06982756e-05 9.99983713e-01 -3.17616389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48 meters 0.014450234024143757 Centerline is valid? [True, True] Translation: X:190.11, Y:76.38, Z:-3.18 [[ 7.39444913e-01 -6.73208528e-01 3.39082582e-03 1.90108146e+02] [ 6.73201152e-01 7.39452686e-01 3.15174408e-03 7.63787925e+01] [-4.62913625e-03 -4.78332852e-05 9.99989284e-01 -3.17814746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54 meters 0.01436942325624241 Centerline is valid? [True, True] Translation: X:190.15, Y:76.42, Z:-3.18 [[ 7.39020468e-01 -6.73676859e-01 2.87012548e-03 1.90150092e+02] [ 6.73671589e-01 7.39026040e-01 2.66497992e-03 7.64194734e+01] [-3.91643277e-03 -3.59527181e-05 9.99992330e-01 -3.17997009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.6 meters 0.014338750174320038 Centerline is valid? [True, True] Translation: X:190.19, Y:76.46, Z:-3.18 [[ 7.38622723e-01 -6.74110877e-01 3.31641342e-03 1.90192069e+02] [ 6.74103833e-01 7.38630167e-01 3.08201601e-03 7.64594416e+01] [-4.52722351e-03 -4.08400604e-05 9.99989751e-01 -3.18130575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66 meters 0.014316167551691315 Centerline is valid? [True, True] Translation: X:190.23, Y:76.50, Z:-3.18 [[ 7.38560048e-01 -6.74180023e-01 3.21735603e-03 1.90234562e+02] [ 6.74173388e-01 7.38567055e-01 2.99144941e-03 7.64985421e+01] [-4.39300860e-03 -4.03092078e-05 9.99990350e-01 -3.18121862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72 meters 0.014890809895258992 Centerline is valid? [True, True] Translation: X:190.28, Y:76.54, Z:-3.18 [[ 7.39324085e-01 -6.73342709e-01 3.08123115e-03 1.90275306e+02] [ 6.73336599e-01 7.39330504e-01 2.86867890e-03 7.65396420e+01] [-4.20965220e-03 -4.61777053e-05 9.99991138e-01 -3.18272619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78 meters 0.014755520408271985 Centerline is valid? [True, True] Translation: X:190.32, Y:76.58, Z:-3.18 [[ 7.39764158e-01 -6.72858085e-01 3.31467426e-03 1.90317775e+02] [ 6.72851016e-01 7.39771583e-01 3.08467006e-03 7.65800041e+01] [-4.52764701e-03 -5.16464050e-05 9.99989749e-01 -3.18281716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84 meters 0.014848726577824095 Centerline is valid? [True, True] Translation: X:190.36, Y:76.62, Z:-3.18 [[ 7.40492691e-01 -6.72060683e-01 2.23892954e-03 1.90359525e+02] [ 6.72057455e-01 7.40496075e-01 2.08341288e-03 7.66218069e+01] [-3.05809842e-03 -3.80627234e-05 9.99995323e-01 -3.18480204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.9 meters 0.015097518834305516 Centerline is valid? [True, True] Translation: X:190.40, Y:76.66, Z:-3.19 [[ 7.40619607e-01 -6.71923755e-01 1.03198492e-03 1.90402147e+02] [ 6.71923072e-01 7.40620326e-01 9.58051883e-04 7.66622246e+01] [-1.40804682e-03 -1.61375326e-05 9.99999009e-01 -3.18646690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95999999999998 meters 0.015130534442761228 Centerline is valid? [True, True] Translation: X:190.45, Y:76.70, Z:-3.19 [[ 7.40316746e-01 -6.72258054e-01 4.73320720e-04 1.90445297e+02] [ 6.72257912e-01 7.40316898e-01 4.36538922e-04 7.67020631e+01] [-6.43874134e-04 -4.98347524e-06 9.99999793e-01 -3.18736573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01999999999998 meters 0.014944212006462418 Centerline is valid? [True, True] Translation: X:190.49, Y:76.74, Z:-3.19 [[ 7.39651633e-01 -6.72989205e-01 9.95815328e-04 1.90489027e+02] [ 6.72988569e-01 7.39652303e-01 9.25245663e-04 7.67420580e+01] [-1.35923744e-03 -1.41871325e-05 9.99999076e-01 -3.18790236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07999999999998 meters 0.01483802826311848 Centerline is valid? [True, True] Translation: X:190.53, Y:76.78, Z:-3.19 [[ 7.39099102e-01 -6.73594925e-01 1.54736138e-03 1.90533408e+02] [ 6.73593383e-01 7.39100722e-01 1.44129292e-03 7.67809026e+01] [-2.11450350e-03 -2.29659149e-05 9.99997764e-01 -3.18717454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14 meters 0.014490173463008186 Centerline is valid? [True, True] Translation: X:190.58, Y:76.82, Z:-3.19 [[ 7.38336373e-01 -6.74428736e-01 2.29783469e-03 1.90577621e+02] [ 6.74425329e-01 7.38339948e-01 2.14383408e-03 7.68199122e+01] [-3.14244645e-03 -3.31527601e-05 9.99995062e-01 -3.18667738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.2 meters 0.014355745407526575 Centerline is valid? [True, True] Translation: X:190.62, Y:76.86, Z:-3.19 [[ 7.37502538e-01 -6.75335905e-01 3.37945149e-03 1.90621508e+02] [ 6.75328528e-01 7.37510280e-01 3.15700722e-03 7.68597947e+01] [-4.62442054e-03 -4.60608386e-05 9.99989306e-01 -3.18702325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26 meters 0.014525201297277497 Centerline is valid? [True, True] Translation: X:190.66, Y:76.90, Z:-3.19 [[ 7.37445511e-01 -6.75402236e-01 2.43665188e-03 1.90662920e+02] [ 6.75398398e-01 7.37449536e-01 2.27720321e-03 7.68995473e+01] [-3.33493594e-03 -3.36025024e-05 9.99994439e-01 -3.18920557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32 meters 0.014461611378022887 Centerline is valid? [True, True] Translation: X:190.71, Y:76.94, Z:-3.19 [[ 7.37635336e-01 -6.75197968e-01 1.34732230e-03 1.90705517e+02] [ 6.75196799e-01 7.37636566e-01 1.25661521e-03 7.69400858e+01] [-1.84229823e-03 -1.72160755e-05 9.99998303e-01 -3.19002045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38 meters 0.014569353325898862 Centerline is valid? [True, True] Translation: X:190.75, Y:76.98, Z:-3.19 [[ 7.37679955e-01 -6.75149338e-01 1.28689486e-03 1.90747064e+02] [ 6.75148272e-01 7.37681077e-01 1.20002001e-03 7.69813769e+01] [-1.75951070e-03 -1.63858708e-05 9.99998452e-01 -3.19134495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44 meters 0.01449009022298791 Centerline is valid? [True, True] Translation: X:190.79, Y:77.02, Z:-3.19 [[ 7.37468229e-01 -6.75380065e-01 1.54234039e-03 1.90788918e+02] [ 6.75378530e-01 7.37469841e-01 1.44016606e-03 7.70219865e+01] [-2.11008897e-03 -2.04131265e-05 9.99997774e-01 -3.19226874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.5 meters 0.014259924604575144 Centerline is valid? [True, True] Translation: X:190.83, Y:77.06, Z:-3.19 [[ 7.36411288e-01 -6.76530757e-01 2.13282844e-03 1.90832616e+02] [ 6.76527815e-01 7.36414376e-01 1.99549624e-03 7.70616957e+01] [-2.92066011e-03 -2.65881972e-05 9.99995735e-01 -3.19223271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56 meters 0.013940741610385003 Centerline is valid? [True, True] Translation: X:190.88, Y:77.10, Z:-3.19 [[ 7.33994893e-01 -6.79146639e-01 3.36736684e-03 1.90877616e+02] [ 6.79139311e-01 7.34002617e-01 3.15515487e-03 7.70993760e+01] [-4.61446890e-03 -2.89563697e-05 9.99989353e-01 -3.19079818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62 meters 0.013774320564788785 Centerline is valid? [True, True] Translation: X:190.92, Y:77.14, Z:-3.19 [[ 7.31657041e-01 -6.81661373e-01 3.96811178e-03 1.90922531e+02] [ 6.81651218e-01 7.31667802e-01 3.72083468e-03 7.71382753e+01] [-5.43968890e-03 -1.75066649e-05 9.99985205e-01 -3.19105608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67999999999998 meters 0.013708639634449005 Centerline is valid? [True, True] Translation: X:190.97, Y:77.18, Z:-3.19 [[ 7.29330625e-01 -6.84150982e-01 3.77793706e-03 1.90965520e+02] [ 6.84141799e-01 7.29340410e-01 3.54480836e-03 7.71761650e+01] [-5.18058628e-03 -6.92641003e-07 9.99986581e-01 -3.19330016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73999999999998 meters 0.01380696589271268 Centerline is valid? [True, True] Translation: X:191.01, Y:77.21, Z:-3.19 [[ 7.26814780e-01 -6.86823796e-01 3.65371171e-03 1.91009549e+02] [ 6.86815241e-01 7.26823963e-01 3.42815600e-03 7.72135490e+01] [-5.01014434e-03 1.77904389e-05 9.99987449e-01 -3.19393824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79999999999998 meters 0.013803993149462117 Centerline is valid? [True, True] Translation: X:191.05, Y:77.25, Z:-3.19 [[ 7.26201441e-01 -6.87473974e-01 3.31706953e-03 1.91052207e+02] [ 6.87466923e-01 7.26209016e-01 3.11356938e-03 7.72522983e+01] [-4.54938371e-03 1.92970173e-05 9.99989651e-01 -3.19470882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85999999999999 meters 0.013865234772214814 Centerline is valid? [True, True] Translation: X:191.09, Y:77.29, Z:-3.20 [[ 7.26375578e-01 -6.87290996e-01 3.09954672e-03 1.91094429e+02] [ 6.87284833e-01 7.26382191e-01 2.91068607e-03 7.72927278e+01] [-4.25194386e-03 1.60201757e-05 9.99990960e-01 -3.19572707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92 meters 0.013805703680418464 Centerline is valid? [True, True] Translation: X:191.14, Y:77.33, Z:-3.20 [[ 7.27136458e-01 -6.86483750e-01 3.55408629e-03 1.91135973e+02] [ 6.86475624e-01 7.27145144e-01 3.34025970e-03 7.73333382e+01] [-4.87737059e-03 1.09689954e-05 9.99988105e-01 -3.19596605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98 meters 0.013678559333376162 Centerline is valid? [True, True] Translation: X:191.18, Y:77.38, Z:-3.20 [[ 7.28902867e-01 -6.84603324e-01 4.34731129e-03 1.91176192e+02] [ 6.84591111e-01 7.28915831e-01 4.08929541e-03 7.73750007e+01] [-5.96836925e-03 -4.56848919e-06 9.99982189e-01 -3.19520892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04 meters 0.01380025328634438 Centerline is valid? [True, True] Translation: X:191.22, Y:77.42, Z:-3.20 [[ 7.30082508e-01 -6.83344904e-01 4.39026232e-03 1.91216324e+02] [ 6.83332410e-01 7.30095708e-01 4.13211485e-03 7.74164412e+01] [-6.02897130e-03 -1.67762358e-05 9.99981825e-01 -3.19605718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.1 meters 0.014007758877955218 Centerline is valid? [True, True] Translation: X:191.26, Y:77.46, Z:-3.20 [[ 7.32329307e-01 -6.80941058e-01 3.61401579e-03 1.91256882e+02] [ 6.80932557e-01 7.32338224e-01 3.40285238e-03 7.74591506e+01] [-4.96382380e-03 -3.11075131e-05 9.99987680e-01 -3.19596313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16 meters 0.014343543774097838 Centerline is valid? [True, True] Translation: X:191.30, Y:77.50, Z:-3.20 [[ 7.33690457e-01 -6.79478031e-01 2.81411301e-03 1.91297787e+02] [ 6.79472855e-01 7.33695853e-01 2.65238497e-03 7.75003323e+01] [-3.86694036e-03 -3.39161392e-05 9.99992523e-01 -3.19611867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22 meters 0.014596259965771602 Centerline is valid? [True, True] Translation: X:191.34, Y:77.54, Z:-3.20 [[ 7.35212030e-01 -6.77835292e-01 1.60845415e-03 1.91338642e+02] [ 6.77833605e-01 7.35213789e-01 1.51260992e-03 7.75425486e+01] [-2.20785806e-03 -2.18247335e-05 9.99997562e-01 -3.19607607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28 meters 0.014912730420340983 Centerline is valid? [True, True] Translation: X:191.38, Y:77.58, Z:-3.20 [[ 7.35892674e-01 -6.77098187e-01 1.32235715e-04 1.91380290e+02] [ 6.77098176e-01 7.35892686e-01 1.19627672e-04 7.75842391e+01] [-1.78310975e-04 1.50343423e-06 9.99999984e-01 -3.19809597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34 meters 0.015151235073847816 Centerline is valid? [True, True] Translation: X:191.42, Y:77.62, Z:-3.20 [[ 7.35849053e-01 -6.77142944e-01 -1.89850976e-03 1.91422775e+02] [ 6.77140567e-01 7.35851501e-01 -1.79460228e-03 7.76237521e+01] [ 2.61222353e-03 3.49984078e-05 9.99996588e-01 -3.20043403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.4 meters 0.014905798659133785 Centerline is valid? [True, True] Translation: X:191.47, Y:77.66, Z:-3.20 [[ 7.35216505e-01 -6.77828197e-01 -2.37189075e-03 1.91466421e+02] [ 6.77824474e-01 7.35220330e-01 -2.24697502e-03 7.76627558e+01] [ 3.26692533e-03 4.42875228e-05 9.99994663e-01 -3.19959816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45999999999998 meters 0.014870136198548857 Centerline is valid? [True, True] Translation: X:191.51, Y:77.70, Z:-3.20 [[ 7.34985566e-01 -6.78078671e-01 -2.35235706e-03 1.91509856e+02] [ 6.78075006e-01 7.34989329e-01 -2.22983365e-03 7.77018349e+01] [ 3.24095998e-03 4.38210199e-05 9.99994747e-01 -3.19889413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51999999999998 meters 0.015030239318416993 Centerline is valid? [True, True] Translation: X:191.55, Y:77.74, Z:-3.20 [[ 7.35124436e-01 -6.77927359e-01 -2.56104130e-03 1.91552861e+02] [ 6.77923015e-01 7.35128896e-01 -2.42750293e-03 7.77419520e+01] [ 3.52836611e-03 4.83278837e-05 9.99993774e-01 -3.19926730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57999999999998 meters 0.014997659355149675 Centerline is valid? [True, True] Translation: X:191.60, Y:77.78, Z:-3.20 [[ 7.36161802e-01 -6.76799178e-01 -2.94513992e-03 1.91597063e+02] [ 6.76793420e-01 7.36167691e-01 -2.79236408e-03 7.77813125e+01] [ 4.05798656e-03 6.23804536e-05 9.99991764e-01 -3.19733465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64 meters 0.015314482032379064 Centerline is valid? [True, True] Translation: X:191.64, Y:77.82, Z:-3.20 [[ 7.37298680e-01 -6.75555737e-01 -3.88617346e-03 1.91639954e+02] [ 6.75545693e-01 7.37308916e-01 -3.68482854e-03 7.78220976e+01] [ 5.35461740e-03 9.15314762e-05 9.99985660e-01 -3.19831796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.7 meters 0.015952795270660937 Centerline is valid? [True, True] Translation: X:191.68, Y:77.86, Z:-3.20 [[ 7.38541409e-01 -6.74187893e-01 -5.22227389e-03 1.91682597e+02] [ 6.74169753e-01 7.38559860e-01 -4.94735536e-03 7.78621489e+01] [ 7.19240896e-03 1.33127701e-04 9.99974125e-01 -3.19833941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76 meters 0.01609378513198611 Centerline is valid? [True, True] Translation: X:191.73, Y:77.90, Z:-3.20 [[ 7.37908350e-01 -6.74879663e-01 -5.35795449e-03 1.91725417e+02] [ 6.74860535e-01 7.37927790e-01 -5.08292623e-03 7.79017227e+01] [ 7.38414705e-03 1.34861678e-04 9.99972728e-01 -3.19812605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82 meters 0.0158042346186871 Centerline is valid? [True, True] Translation: X:191.77, Y:77.94, Z:-3.20 [[ 7.36557898e-01 -6.76352932e-01 -5.40142574e-03 1.91770374e+02] [ 6.76333518e-01 7.36577692e-01 -5.12603583e-03 7.79404307e+01] [ 7.44557907e-03 1.22456903e-04 9.99972274e-01 -3.19658899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88 meters 0.015711304222998438 Centerline is valid? [True, True] Translation: X:191.81, Y:77.98, Z:-3.20 [[ 7.34419204e-01 -6.78671005e-01 -5.83947414e-03 1.91813940e+02] [ 6.78648411e-01 7.34442412e-01 -5.53885953e-03 7.79785269e+01] [ 8.04782083e-03 1.04894971e-04 9.99967610e-01 -3.19660012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94 meters 0.015696497837667283 Centerline is valid? [True, True] Translation: X:191.86, Y:78.02, Z:-3.20 [[ 7.33467593e-01 -6.79699410e-01 -5.83117373e-03 1.91857467e+02] [ 6.79676863e-01 7.33490765e-01 -5.53703161e-03 7.80187675e+01] [ 8.04062921e-03 9.79193754e-05 9.99967669e-01 -3.19718042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.0 meters 0.015587040814073779 Centerline is valid? [True, True] Translation: X:191.90, Y:78.06, Z:-3.20 [[ 7.32561095e-01 -6.80679948e-01 -5.38990979e-03 1.91901137e+02] [ 6.80660694e-01 7.32580918e-01 -5.12035455e-03 7.80591409e+01] [ 7.43386773e-03 8.22727956e-05 9.99972365e-01 -3.19622188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06 meters 0.015650646744687254 Centerline is valid? [True, True] Translation: X:191.94, Y:78.10, Z:-3.20 [[ 7.32321328e-01 -6.80939340e-01 -5.20457431e-03 1.91942031e+02] [ 6.80921396e-01 7.32339818e-01 -4.94406083e-03 7.80992384e+01] [ 7.17812252e-03 7.67351870e-05 9.99974234e-01 -3.19763347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12 meters 0.015447605153507432 Centerline is valid? [True, True] Translation: X:191.98, Y:78.14, Z:-3.20 [[ 7.32789828e-01 -6.80434189e-01 -5.32756536e-03 1.91983875e+02] [ 6.80415367e-01 7.32809189e-01 -5.06174131e-03 7.81399945e+01] [ 7.34827069e-03 8.42352038e-05 9.99972998e-01 -3.19649390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.17999999999998 meters 0.01542769499811838 Centerline is valid? [True, True] Translation: X:192.03, Y:78.18, Z:-3.20 [[ 7.33477813e-01 -6.79693979e-01 -5.13742353e-03 1.92025513e+02] [ 6.79676422e-01 7.33495798e-01 -4.88625849e-03 7.81816816e+01] [ 7.08943905e-03 9.21765431e-05 9.99974865e-01 -3.19634901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23999999999998 meters 0.01549396578918566 Centerline is valid? [True, True] Translation: X:192.07, Y:78.22, Z:-3.20 [[ 7.34572315e-01 -6.78514483e-01 -4.64862851e-03 1.92066342e+02] [ 6.78500066e-01 7.34587018e-01 -4.42421040e-03 7.82239358e+01] [ 6.41671298e-03 9.58077294e-05 9.99979408e-01 -3.19652743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29999999999998 meters 0.01596894669400893 Centerline is valid? [True, True] Translation: X:192.10, Y:78.27, Z:-3.20 [[ 7.36151410e-01 -6.76808975e-01 -3.27295150e-03 1.92104788e+02] [ 6.76801809e-01 7.36158682e-01 -3.11554865e-03 7.82658039e+01] [ 4.51804295e-03 7.83760321e-05 9.99989791e-01 -3.19687870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35999999999999 meters 0.015988145299013105 Centerline is valid? [True, True] Translation: X:192.15, Y:78.31, Z:-3.20 [[ 7.36765225e-01 -6.76143653e-01 -2.60058310e-03 1.92146337e+02] [ 6.76139108e-01 7.36769812e-01 -2.48030105e-03 7.83069041e+01] [ 3.59307094e-03 6.90436265e-05 9.99993543e-01 -3.19698896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42 meters 0.015951633834739323 Centerline is valid? [True, True] Translation: X:192.19, Y:78.35, Z:-3.20 [[ 7.36743811e-01 -6.76167886e-01 -2.35523067e-03 1.92188042e+02] [ 6.76164151e-01 7.36747573e-01 -2.24822159e-03 7.83468811e+01] [ 3.25538572e-03 6.38408016e-05 9.99994699e-01 -3.19738349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48 meters 0.016636550403860362 Centerline is valid? [True, True] Translation: X:192.23, Y:78.39, Z:-3.20 [[ 7.37183399e-01 -6.75689653e-01 -2.03197176e-03 1.92227950e+02] [ 6.75686874e-01 7.37186198e-01 -1.93854336e-03 7.83876108e+01] [ 2.80779523e-03 5.60853330e-05 9.99996057e-01 -3.19952923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54 meters 0.01630280251383939 Centerline is valid? [True, True] Translation: X:192.27, Y:78.43, Z:-3.20 [[ 7.36918469e-01 -6.75979588e-01 -1.66301674e-03 1.92270310e+02] [ 6.75977720e-01 7.36920344e-01 -1.59026885e-03 7.84279011e+01] [ 2.30050015e-03 4.77362236e-05 9.99997353e-01 -3.20016969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.6 meters 0.016693431210588992 Centerline is valid? [True, True] Translation: X:192.31, Y:78.47, Z:-3.20 [[ 7.36575796e-01 -6.76353973e-01 -1.18292998e-03 1.92311574e+02] [ 6.76353025e-01 7.36576745e-01 -1.13284162e-03 7.84692284e+01] [ 1.63752064e-03 3.43454473e-05 9.99998659e-01 -3.20290327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66 meters 0.016247612095929242 Centerline is valid? [True, True] Translation: X:192.35, Y:78.51, Z:-3.20 [[ 7.36702807e-01 -6.76216643e-01 1.58617502e-04 1.92354606e+02] [ 6.76216628e-01 7.36702824e-01 1.46022112e-04 7.85090768e+01] [-2.15596544e-04 -3.15107672e-07 9.99999977e-01 -3.20201344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72 meters 0.016914616697380293 Centerline is valid? [True, True] Translation: X:192.40, Y:78.55, Z:-3.20 [[ 7.37871577e-01 -6.74940776e-01 6.96085672e-04 1.92395812e+02] [ 6.74940455e-01 7.37871905e-01 6.59061163e-04 7.85516291e+01] [-9.58449314e-04 -1.64861201e-05 9.99999541e-01 -3.20357421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78 meters 0.017178151687100147 Centerline is valid? [True, True] Translation: X:192.44, Y:78.59, Z:-3.21 [[ 7.38751114e-01 -6.73977900e-01 7.63271393e-04 1.92437417e+02] [ 6.73977512e-01 7.38751508e-01 7.23484198e-04 7.85936116e+01] [-1.05148025e-03 -2.00470025e-05 9.99999447e-01 -3.20504235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84 meters 0.01777755278484233 Centerline is valid? [True, True] Translation: X:192.48, Y:78.64, Z:-3.21 [[ 7.39387151e-01 -6.73280321e-01 5.00638562e-04 1.92478278e+02] [ 6.73280153e-01 7.39387320e-01 4.76216932e-04 7.86352506e+01] [-6.90793294e-04 -1.50386721e-05 9.99999761e-01 -3.20773426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.9 meters 0.01734900354565361 Centerline is valid? [True, True] Translation: X:192.52, Y:78.67, Z:-3.21 [[ 7.39227417e-01 -6.73455658e-01 5.49134929e-04 1.92521343e+02] [ 6.73455459e-01 7.39227621e-01 5.18611845e-04 7.86743961e+01] [-7.55197789e-04 -1.35541799e-05 9.99999715e-01 -3.20779895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95999999999998 meters 0.017559514698423265 Centerline is valid? [True, True] Translation: X:192.56, Y:78.71, Z:-3.21 [[ 7.38662853e-01 -6.74074965e-01 3.62371248e-04 1.92563399e+02] [ 6.74074879e-01 7.38662942e-01 3.40457676e-04 7.87144388e+01] [-4.97164208e-04 -7.21808288e-06 9.99999876e-01 -3.20991387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01999999999998 meters 0.017144673204422815 Centerline is valid? [True, True] Translation: X:192.61, Y:78.75, Z:-3.21 [[ 7.37918843e-01 -6.74889194e-01 5.98049547e-04 1.92606625e+02] [ 6.74888956e-01 7.37919085e-01 5.66776978e-04 7.87538080e+01] [-8.23823832e-04 -1.46183771e-05 9.99999661e-01 -3.21146568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07999999999998 meters 0.01688040390557403 Centerline is valid? [True, True] Translation: X:192.65, Y:78.79, Z:-3.21 [[ 7.36560058e-01 -6.76370050e-01 1.68442192e-03 1.92650875e+02] [ 6.76368143e-01 7.36561983e-01 1.60673311e-03 7.87932737e+01] [-2.32742730e-03 -4.41661041e-05 9.99997291e-01 -3.21137521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14 meters 0.016254766499528863 Centerline is valid? [True, True] Translation: X:192.70, Y:78.83, Z:-3.21 [[ 7.34115114e-01 -6.79013323e-01 3.98817798e-03 1.92696232e+02] [ 6.79002622e-01 7.34125942e-01 3.81327554e-03 7.88309453e+01] [-5.51708982e-03 -9.13999046e-05 9.99984777e-01 -3.21015189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.2 meters 0.016115035331458936 Centerline is valid? [True, True] Translation: X:192.74, Y:78.87, Z:-3.21 [[ 7.32609998e-01 -6.80628397e-01 5.25129527e-03 1.92738728e+02] [ 6.80609841e-01 7.32628810e-01 5.02698555e-03 7.88702217e+01] [-7.26875933e-03 -1.08736637e-04 9.99973576e-01 -3.21075420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26 meters 0.01585246221632444 Centerline is valid? [True, True] Translation: X:192.78, Y:78.91, Z:-3.21 [[ 7.31249202e-01 -6.82078147e-01 6.63362170e-03 1.92780962e+02] [ 6.82048581e-01 7.31279281e-01 6.35191578e-03 7.89097589e+01] [-9.18353305e-03 -1.20381080e-04 9.99957823e-01 -3.21192056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32 meters 0.015696089116484607 Centerline is valid? [True, True] Translation: X:192.82, Y:78.95, Z:-3.21 [[ 7.31806233e-01 -6.81483662e-01 6.29725160e-03 1.92822888e+02] [ 6.81457000e-01 7.31833317e-01 6.02933848e-03 7.89507618e+01] [-8.71743420e-03 -1.21001302e-04 9.99961995e-01 -3.21364407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38 meters 0.016502789042105538 Centerline is valid? [True, True] Translation: X:192.86, Y:78.99, Z:-3.22 [[ 7.33750507e-01 -6.79400840e-01 4.96905440e-03 1.92862369e+02] [ 6.79384183e-01 7.33767323e-01 4.75897177e-03 7.89948557e+01] [-6.87937917e-03 -1.16000987e-04 9.99976330e-01 -3.21825816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44 meters 0.01651201378896853 Centerline is valid? [True, True] Translation: X:192.90, Y:79.04, Z:-3.22 [[ 7.35380822e-01 -6.77639920e-01 4.38018146e-03 1.92903291e+02] [ 6.77626937e-01 7.35393857e-01 4.19633230e-03 7.90372646e+01] [-6.06476082e-03 -1.17773346e-04 9.99981602e-01 -3.22068567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.5 meters 0.01747626442950898 Centerline is valid? [True, True] Translation: X:192.94, Y:79.08, Z:-3.22 [[ 7.37490159e-01 -6.75337229e-01 5.28141518e-03 1.92942619e+02] [ 6.75318267e-01 7.37509050e-01 5.06344805e-03 7.90814509e+01] [-7.31462647e-03 -1.67606955e-04 9.99973234e-01 -3.22100540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56 meters 0.017672020340304274 Centerline is valid? [True, True] Translation: X:192.98, Y:79.12, Z:-3.22 [[ 7.38073406e-01 -6.74687456e-01 6.66964948e-03 1.92984408e+02] [ 6.74657147e-01 7.38103507e-01 6.39896754e-03 7.91234827e+01] [-9.24019480e-03 -2.23181080e-04 9.99957284e-01 -3.22017590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62 meters 0.01760232437590014 Centerline is valid? [True, True] Translation: X:193.03, Y:79.16, Z:-3.22 [[ 7.37934571e-01 -6.74830866e-01 7.47472782e-03 1.93025213e+02] [ 6.74792763e-01 7.37972384e-01 7.17541001e-03 7.91643307e+01] [-1.03583309e-02 -2.51090871e-04 9.99946320e-01 -3.22083925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.67999999999998 meters 0.01718233843714825 Centerline is valid? [True, True] Translation: X:193.07, Y:79.20, Z:-3.22 [[ 7.36935059e-01 -6.75908239e-01 8.64704842e-03 1.93068195e+02] [ 6.75857250e-01 7.36985737e-01 8.30673491e-03 7.92047493e+01] [-1.19873419e-02 -2.77353817e-04 9.99928111e-01 -3.22142071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73999999999998 meters 0.017355644475228024 Centerline is valid? [True, True] Translation: X:193.11, Y:79.25, Z:-3.22 [[ 7.36185473e-01 -6.76722034e-01 8.84517906e-03 1.93109943e+02] [ 6.76668686e-01 7.36238557e-01 8.50151667e-03 7.92456246e+01] [-1.22653255e-02 -2.73437386e-04 9.99924741e-01 -3.22200204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79999999999998 meters 0.01729780651041108 Centerline is valid? [True, True] Translation: X:193.15, Y:79.29, Z:-3.22 [[ 7.35803681e-01 -6.77133735e-01 9.10206241e-03 1.93151125e+02] [ 6.77077218e-01 7.35859924e-01 8.75284306e-03 7.92863151e+01] [-1.26246883e-02 -2.77575048e-04 9.99920267e-01 -3.22351963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85999999999999 meters 0.01694961124099662 Centerline is valid? [True, True] Translation: X:193.19, Y:79.33, Z:-3.23 [[ 7.35492409e-01 -6.77472215e-01 9.07276354e-03 1.93192679e+02] [ 6.77416025e-01 7.35548314e-01 8.72958347e-03 7.93263406e+01] [-1.25875062e-02 -2.74506956e-04 9.99920737e-01 -3.22574083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92 meters 0.0164947870317818 Centerline is valid? [True, True] Translation: X:193.24, Y:79.37, Z:-3.23 [[ 7.34820086e-01 -6.78211978e-01 8.24339464e-03 1.93235459e+02] [ 6.78165591e-01 7.34866283e-01 7.93575362e-03 7.93664621e+01] [-1.14399159e-02 -2.40964560e-04 9.99934533e-01 -3.22866354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98 meters 0.016656462537199497 Centerline is valid? [True, True] Translation: X:193.28, Y:79.41, Z:-3.23 [[ 7.33621897e-01 -6.79507764e-01 8.25293949e-03 1.93277427e+02] [ 6.79461299e-01 7.33668282e-01 7.94951376e-03 7.94065010e+01] [-1.14566763e-02 -2.24384379e-04 9.99934345e-01 -3.23018718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04 meters 0.015825629719916818 Centerline is valid? [True, True] Translation: X:193.32, Y:79.45, Z:-3.23 [[ 7.31896824e-01 -6.81359288e-01 8.74981387e-03 1.93322211e+02] [ 6.81307164e-01 7.31949095e-01 8.43037763e-03 7.94452838e+01] [-1.21485344e-02 -2.08855742e-04 9.99926182e-01 -3.23067023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.1 meters 0.015583148477088046 Centerline is valid? [True, True] Translation: X:193.37, Y:79.48, Z:-3.23 [[ 7.30088872e-01 -6.83289279e-01 9.27357677e-03 1.93365047e+02] [ 6.83230814e-01 7.30147741e-01 8.94036074e-03 7.94839710e+01] [-1.28799338e-02 -1.91264484e-04 9.99917032e-01 -3.23152753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16 meters 0.01504056052384285 Centerline is valid? [True, True] Translation: X:193.41, Y:79.52, Z:-3.23 [[ 7.27610413e-01 -6.85932112e-01 8.95679709e-03 1.93410034e+02] [ 6.85877762e-01 7.27665526e-01 8.63585243e-03 7.95226479e+01] [-1.24411610e-02 -1.40268219e-04 9.99922596e-01 -3.23268542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22 meters 0.014685004926842278 Centerline is valid? [True, True] Translation: X:193.45, Y:79.56, Z:-3.23 [[ 7.26267745e-01 -6.87361360e-01 8.33806412e-03 1.93453748e+02] [ 6.87314311e-01 7.26315599e-01 8.04289114e-03 7.95619125e+01] [-1.15844386e-02 -1.10421616e-04 9.99932892e-01 -3.23459054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28 meters 0.014721013100974425 Centerline is valid? [True, True] Translation: X:193.50, Y:79.60, Z:-3.24 [[ 7.25176422e-01 -6.88527295e-01 7.02291664e-03 1.93495052e+02] [ 6.88493940e-01 7.25210423e-01 6.77765423e-03 7.96008609e+01] [-9.75969228e-03 -7.97594877e-05 9.99952370e-01 -3.23694645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34 meters 0.014613248960320556 Centerline is valid? [True, True] Translation: X:193.54, Y:79.64, Z:-3.24 [[ 7.24683712e-01 -6.89049132e-01 6.69413200e-03 1.93537142e+02] [ 6.89018842e-01 7.24714626e-01 6.46113533e-03 7.96402432e+01] [-9.30337506e-03 -6.98964502e-05 9.99956720e-01 -3.23812796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.4 meters 0.014311771106882636 Centerline is valid? [True, True] Translation: X:193.58, Y:79.68, Z:-3.24 [[ 7.21737770e-01 -6.92138242e-01 6.26460200e-03 1.93580877e+02] [ 6.92111800e-01 7.21764957e-01 6.05000586e-03 7.96789772e+01] [-8.70901061e-03 -3.07127702e-05 9.99962075e-01 -3.24018991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45999999999998 meters 0.014165088712328258 Centerline is valid? [True, True] Translation: X:193.63, Y:79.72, Z:-3.24 [[ 7.18249671e-01 -6.95757307e-01 6.25937133e-03 1.93625801e+02] [ 6.95731023e-01 7.18276945e-01 6.04764686e-03 7.97161193e+01] [-8.70365661e-03 1.11184500e-05 9.99962122e-01 -3.24030560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51999999999998 meters 0.01477380236220647 Centerline is valid? [True, True] Translation: X:193.67, Y:79.75, Z:-3.24 [[ 7.12078284e-01 -7.02061764e-01 7.33468189e-03 1.93673886e+02] [ 7.02025940e-01 7.12116051e-01 7.09296445e-03 7.97499994e+01] [-1.02028438e-02 9.83909936e-05 9.99947945e-01 -3.23897613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57999999999998 meters 0.014973188442794735 Centerline is valid? [True, True] Translation: X:193.72, Y:79.79, Z:-3.24 [[ 7.09308318e-01 -7.04848142e-01 8.41472071e-03 1.93717148e+02] [ 7.04801174e-01 7.09358212e-01 8.13833281e-03 7.97901599e+01] [-1.17053400e-02 1.58117880e-04 9.99931478e-01 -3.23703763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64 meters 0.015465299775411974 Centerline is valid? [True, True] Translation: X:193.76, Y:79.83, Z:-3.24 [[ 7.06828284e-01 -7.07323989e-01 9.30329932e-03 1.93759772e+02] [ 7.07266726e-01 7.06889474e-01 9.00280976e-03 7.98309133e+01] [-1.29443077e-02 2.16473471e-04 9.99916196e-01 -3.23666704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.7 meters 0.01572702458447956 Centerline is valid? [True, True] Translation: X:193.80, Y:79.87, Z:-3.24 [[ 7.06382802e-01 -7.07771540e-01 9.09853658e-03 1.93800893e+02] [ 7.07716748e-01 7.06441364e-01 8.80937262e-03 7.98713913e+01] [-1.26626058e-02 2.16397402e-04 9.99919803e-01 -3.23833677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76 meters 0.0153652652000202 Centerline is valid? [True, True] Translation: X:193.84, Y:79.91, Z:-3.24 [[ 7.06696857e-01 -7.07458515e-01 9.05549724e-03 1.93840770e+02] [ 7.07404191e-01 7.06754841e-01 8.76950966e-03 7.99142831e+01] [-1.26040808e-02 2.08511791e-04 9.99920544e-01 -3.23873558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82 meters 0.015067848985749723 Centerline is valid? [True, True] Translation: X:193.88, Y:79.96, Z:-3.24 [[ 7.07125133e-01 -7.07050395e-01 7.33384978e-03 1.93879309e+02] [ 7.07014717e-01 7.07163145e-01 7.10472714e-03 7.99573747e+01] [-1.02096284e-02 1.61208598e-04 9.99947867e-01 -3.24078474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88 meters 0.015479988665578386 Centerline is valid? [True, True] Translation: X:193.92, Y:80.00, Z:-3.24 [[ 7.06773694e-01 -7.07420916e-01 5.15679752e-03 1.93918251e+02] [ 7.07403263e-01 7.06792497e-01 4.99900173e-03 8.00007716e+01] [-7.18118418e-03 1.14772474e-04 9.99974208e-01 -3.24456525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94 meters 0.015480719300733895 Centerline is valid? [True, True] Translation: X:193.96, Y:80.04, Z:-3.25 [[ 7.05320294e-01 -7.08872659e-01 4.77877616e-03 1.93958713e+02] [ 7.08857527e-01 7.05336472e-01 4.63323335e-03 8.00428166e+01] [-6.65501756e-03 1.19557943e-04 9.99977848e-01 -3.24540411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.0 meters 0.016280813611576826 Centerline is valid? [True, True] Translation: X:194.00, Y:80.08, Z:-3.25 [[ 7.02484319e-01 -7.11679212e-01 5.33667717e-03 1.94001040e+02] [ 7.11660426e-01 7.02504571e-01 5.17360072e-03 8.00839703e+01] [-7.43098420e-03 1.63528569e-04 9.99972376e-01 -3.24576777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06 meters 0.017788512624322222 Centerline is valid? [True, True] Translation: X:194.04, Y:80.12, Z:-3.25 [[ 6.97343167e-01 -7.16716648e-01 5.45462124e-03 1.94043015e+02] [ 7.16697155e-01 6.97364465e-01 5.29059906e-03 8.01246958e+01] [-7.59571945e-03 2.19948414e-04 9.99971128e-01 -3.24678020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12 meters 0.018385630868056713 Centerline is valid? [True, True] Translation: X:194.09, Y:80.17, Z:-3.25 [[ 6.94119562e-01 -7.19835829e-01 5.86619332e-03 1.94085003e+02] [ 7.19813366e-01 6.94144297e-01 5.69324764e-03 8.01664304e+01] [-8.17018828e-03 2.70769797e-04 9.99966587e-01 -3.24627116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.17999999999998 meters 0.01904777849193674 Centerline is valid? [True, True] Translation: X:194.13, Y:80.21, Z:-3.25 [[ 6.92152619e-01 -7.21724169e-01 6.24316552e-03 1.94125150e+02] [ 7.21698773e-01 6.92180705e-01 6.06233513e-03 8.02095138e+01] [-8.69673249e-03 3.09623762e-04 9.99962135e-01 -3.24626016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23999999999998 meters 0.018251597327434047 Centerline is valid? [True, True] Translation: X:194.16, Y:80.25, Z:-3.25 [[ 6.92503992e-01 -7.21388465e-01 6.07478008e-03 1.94163869e+02] [ 7.21364385e-01 6.92530573e-01 5.90159671e-03 8.02548255e+01] [-8.46431472e-03 2.95250721e-04 9.99964133e-01 -3.24727550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29999999999998 meters 0.017858176688977746 Centerline is valid? [True, True] Translation: X:194.20, Y:80.30, Z:-3.25 [[ 6.93728815e-01 -7.20212486e-01 5.85719664e-03 1.94202354e+02] [ 7.20190036e-01 6.93753489e-01 5.69291653e-03 8.03000586e+01] [-8.16356017e-03 2.68954427e-04 9.99966641e-01 -3.24886198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35999999999999 meters 0.016793434627953036 Centerline is valid? [True, True] Translation: X:194.24, Y:80.35, Z:-3.25 [[ 6.96086995e-01 -7.17930607e-01 6.20792764e-03 1.94237848e+02] [ 7.17905268e-01 6.96114630e-01 6.03715408e-03 8.03479084e+01] [-8.65568695e-03 2.54319512e-04 9.99962506e-01 -3.24994776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42 meters 0.0160427185711022 Centerline is valid? [True, True] Translation: X:194.27, Y:80.40, Z:-3.25 [[ 6.98500948e-01 -7.15576526e-01 6.83091029e-03 1.94273137e+02] [ 7.15545696e-01 6.98534306e-01 6.64689033e-03 8.03958922e+01] [-9.52798386e-03 2.44969258e-04 9.99954578e-01 -3.25081958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48 meters 0.01550008676322039 Centerline is valid? [True, True] Translation: X:194.31, Y:80.44, Z:-3.25 [[ 7.00612980e-01 -7.13494922e-01 8.15154842e-03 1.94310145e+02] [ 7.13450821e-01 7.00660353e-01 7.93695107e-03 8.04420319e+01] [-1.13744411e-02 2.54997967e-04 9.99935276e-01 -3.25144586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54 meters 0.014483110167833478 Centerline is valid? [True, True] Translation: X:194.35, Y:80.49, Z:-3.25 [[ 7.02709715e-01 -7.11425605e-01 8.52439460e-03 1.94346309e+02] [ 7.11377173e-01 7.02761380e-01 8.30430149e-03 8.04888807e+01] [-1.18985080e-02 2.28546395e-04 9.99929184e-01 -3.25321814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.6 meters 0.013892895576763582 Centerline is valid? [True, True] Translation: X:194.38, Y:80.54, Z:-3.26 [[ 7.05369181e-01 -7.08799263e-01 7.61079019e-03 1.94380616e+02] [ 7.08760469e-01 7.05410220e-01 7.41745657e-03 8.05377614e+01] [-1.06262169e-02 1.62181966e-04 9.99943527e-01 -3.25723235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66 meters 0.013456164385385853 Centerline is valid? [True, True] Translation: X:194.42, Y:80.58, Z:-3.26 [[ 7.07008577e-01 -7.07165954e-01 7.42870715e-03 1.94417534e+02] [ 7.07128868e-01 7.07047591e-01 7.24344405e-03 8.05844305e+01] [-1.03747665e-02 1.31876215e-04 9.99946172e-01 -3.25944468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72 meters 0.012835076400861813 Centerline is valid? [True, True] Translation: X:194.45, Y:80.63, Z:-3.26 [[ 7.09364473e-01 -7.04803585e-01 7.34514135e-03 1.94452949e+02] [ 7.04767165e-01 7.09402493e-01 7.16555721e-03 8.06332273e+01] [-1.02609720e-02 9.36227373e-05 9.99947350e-01 -3.26142066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78 meters 0.01283751729428158 Centerline is valid? [True, True] Translation: X:194.49, Y:80.68, Z:-3.26 [[ 7.10580786e-01 -7.03577882e-01 7.28771065e-03 1.94490936e+02] [ 7.03541920e-01 7.10618153e-01 7.11392229e-03 8.06767959e+01] [-1.01839779e-02 7.21934477e-05 9.99948139e-01 -3.26303539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84 meters 0.012562052538154645 Centerline is valid? [True, True] Translation: X:194.53, Y:80.72, Z:-3.26 [[ 7.11737454e-01 -7.02408760e-01 7.19239347e-03 1.94527602e+02] [ 7.02373675e-01 7.11773792e-01 7.02069684e-03 8.07219450e+01] [-1.00507561e-02 5.48549373e-05 9.99949488e-01 -3.26435419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.9 meters 0.012513991604259225 Centerline is valid? [True, True] Translation: X:194.57, Y:80.76, Z:-3.27 [[ 7.11790767e-01 -7.02346769e-01 7.93221966e-03 1.94566745e+02] [ 7.02304023e-01 7.11834962e-01 7.74900543e-03 8.07638357e+01] [-1.10889202e-02 5.51592608e-05 9.99938515e-01 -3.26504130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95999999999998 meters 0.012510481866401168 Centerline is valid? [True, True] Translation: X:194.61, Y:80.81, Z:-3.26 [[ 7.11132539e-01 -7.02997407e-01 9.22809116e-03 1.94606519e+02] [ 7.02939579e-01 7.11192407e-01 9.01715171e-03 8.08060797e+01] [-1.29019826e-02 7.44005250e-05 9.99916763e-01 -3.26418071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01999999999998 meters 0.012489345307317436 Centerline is valid? [True, True] Translation: X:194.65, Y:80.85, Z:-3.27 [[ 7.10841727e-01 -7.03297352e-01 8.76770901e-03 1.94647530e+02] [ 7.03245116e-01 7.10895793e-01 8.57193496e-03 8.08478628e+01] [-1.22615466e-02 7.25594867e-05 9.99924822e-01 -3.26570157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07999999999998 meters 0.01242030351007758 Centerline is valid? [True, True] Translation: X:194.69, Y:80.89, Z:-3.27 [[ 7.10982915e-01 -7.03176830e-01 6.75579331e-03 1.94688731e+02] [ 7.03145785e-01 7.11015009e-01 6.60767743e-03 8.08898661e+01] [-9.44983611e-03 5.23618380e-05 9.99955348e-01 -3.26879820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14 meters 0.012396787367378388 Centerline is valid? [True, True] Translation: X:194.73, Y:80.93, Z:-3.27 [[ 7.11316587e-01 -7.02839264e-01 6.75884599e-03 1.94729522e+02] [ 7.02808135e-01 7.11348696e-01 6.61501642e-03 8.09303369e+01] [-9.45718956e-03 4.48010436e-05 9.99955279e-01 -3.26987564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.2 meters 0.012322644953342033 Centerline is valid? [True, True] Translation: X:194.77, Y:80.97, Z:-3.27 [[ 7.11373070e-01 -7.02784136e-01 6.54315384e-03 1.94770186e+02] [ 7.02754959e-01 7.11403160e-01 6.40399464e-03 8.09711419e+01] [-9.15544616e-03 4.26044828e-05 9.99958087e-01 -3.26985603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26 meters 0.012306451556541169 Centerline is valid? [True, True] Translation: X:194.81, Y:81.01, Z:-3.27 [[ 7.11584686e-01 -7.02572271e-01 6.28006911e-03 1.94811110e+02] [ 7.02545342e-01 7.11612397e-01 6.15138663e-03 8.10101729e+01] [-8.79076871e-03 3.48007730e-05 9.99961360e-01 -3.27086992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32 meters 0.01245072970159521 Centerline is valid? [True, True] Translation: X:194.85, Y:81.05, Z:-3.27 [[ 7.10435369e-01 -7.03738799e-01 5.76978892e-03 1.94853983e+02] [ 7.03716094e-01 7.10458796e-01 5.65315056e-03 8.10497654e+01] [-8.07753868e-03 4.40952184e-05 9.99967375e-01 -3.27276207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38 meters 0.013288134164743648 Centerline is valid? [True, True] Translation: X:194.90, Y:81.09, Z:-3.27 [[ 7.05768995e-01 -7.08422002e-01 5.32851704e-03 1.94900234e+02] [ 7.08402776e-01 7.05789104e-01 5.21990432e-03 8.10864389e+01] [-7.45870433e-03 9.06896415e-05 9.99972179e-01 -3.27481836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44 meters 0.014629213327169108 Centerline is valid? [True, True] Translation: X:194.95, Y:81.12, Z:-3.28 [[ 7.01211930e-01 -7.12933725e-01 5.22814181e-03 1.94946780e+02] [ 7.12915324e-01 7.01231407e-01 5.12404964e-03 8.11234901e+01] [-7.31924503e-03 1.34177675e-04 9.99973205e-01 -3.27505322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.5 meters 0.01655473077736187 Centerline is valid? [True, True] Translation: X:194.99, Y:81.16, Z:-3.27 [[ 6.94312224e-01 -7.19658037e-01 4.77962569e-03 1.94993213e+02] [ 7.19642804e-01 6.94328650e-01 4.68619953e-03 8.11597242e+01] [-6.69109221e-03 1.85937612e-04 9.99977597e-01 -3.27485215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56 meters 0.017675658783027105 Centerline is valid? [True, True] Translation: X:195.04, Y:81.20, Z:-3.28 [[ 6.90974950e-01 -7.22865492e-01 4.37024517e-03 1.95037628e+02] [ 7.22852808e-01 6.90988742e-01 4.28671665e-03 8.11992050e+01] [-6.11850975e-03 1.97030168e-04 9.99981262e-01 -3.27556780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62 meters 0.01903680476780437 Centerline is valid? [True, True] Translation: X:195.08, Y:81.24, Z:-3.28 [[ 6.88830178e-01 -7.24912171e-01 3.91537526e-03 1.95080945e+02] [ 7.24902009e-01 6.88841279e-01 3.84310126e-03 8.12375519e+01] [-5.48298298e-03 1.91019269e-04 9.99984950e-01 -3.27648058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67999999999998 meters 0.019655279836853556 Centerline is valid? [True, True] Translation: X:195.12, Y:81.28, Z:-3.28 [[ 6.87949972e-01 -7.25752509e-01 2.85152093e-03 1.95124039e+02] [ 7.25747132e-01 6.87955867e-01 2.79741914e-03 8.12776605e+01] [-3.99195452e-03 1.44998718e-04 9.99992022e-01 -3.27844843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73999999999998 meters 0.0176979828513005 Centerline is valid? [True, True] Translation: X:195.16, Y:81.32, Z:-3.28 [[ 6.89628515e-01 -7.24162238e-01 1.25093502e-03 1.95164552e+02] [ 7.24161205e-01 6.89629647e-01 1.22474260e-03 8.13207365e+01] [-1.74959422e-03 6.12611943e-05 9.99998468e-01 -3.27836615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79999999999998 meters 0.016827684661206883 Centerline is valid? [True, True] Translation: X:195.21, Y:81.36, Z:-3.28 [[ 6.91964600e-01 -7.21930214e-01 1.32611112e-03 1.95205316e+02] [ 7.21929047e-01 6.91965868e-01 1.29933614e-03 8.13628890e+01] [-1.85565365e-03 5.82635222e-05 9.99998277e-01 -3.27818846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85999999999999 meters 0.016559122847163356 Centerline is valid? [True, True] Translation: X:195.25, Y:81.40, Z:-3.28 [[ 6.95343413e-01 -7.18675977e-01 1.54191261e-03 1.95246424e+02] [ 7.18674384e-01 6.95345121e-01 1.51439930e-03 8.14037649e+01] [-2.16052381e-03 5.51055131e-05 9.99997665e-01 -3.27822225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92 meters 0.014610434256110685 Centerline is valid? [True, True] Translation: X:195.29, Y:81.45, Z:-3.28 [[ 7.00544165e-01 -7.13606114e-01 2.04642220e-03 1.95286320e+02] [ 7.13603286e-01 7.00547152e-01 2.00963408e-03 8.14473387e+01] [-2.86770241e-03 5.24961820e-05 9.99995887e-01 -3.27723749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98 meters 0.013589391373962622 Centerline is valid? [True, True] Translation: X:195.33, Y:81.49, Z:-3.28 [[ 7.03632548e-01 -7.10559933e-01 2.41241754e-03 1.95326646e+02] [ 7.10555977e-01 7.03636682e-01 2.37145117e-03 8.14910361e+01] [-3.38252365e-03 4.55274699e-05 9.99994278e-01 -3.27756343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04 meters 0.01298489224991356 Centerline is valid? [True, True] Translation: X:195.37, Y:81.53, Z:-3.28 [[ 7.08233641e-01 -7.05975920e-01 1.76360197e-03 1.95366124e+02] [ 7.05973788e-01 7.08235837e-01 1.73496775e-03 8.15335274e+01] [-2.47389157e-03 1.62942324e-05 9.99996940e-01 -3.27982463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.1 meters 0.012617952534009672 Centerline is valid? [True, True] Translation: X:195.41, Y:81.58, Z:-3.28 [[ 7.11166992e-01 -7.03022813e-01 6.58622777e-04 1.95407005e+02] [ 7.03022519e-01 7.11167297e-01 6.43077041e-04 8.15753620e+01] [-9.20488811e-04 5.69147905e-06 9.99999576e-01 -3.27992771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16 meters 0.012718785352949017 Centerline is valid? [True, True] Translation: X:195.45, Y:81.62, Z:-3.28 [[ 7.13663198e-01 -7.00488994e-01 9.86242845e-05 1.95448949e+02] [ 7.00488987e-01 7.13663205e-01 9.43758060e-05 8.16156576e+01] [-1.36493736e-04 1.73268568e-06 9.99999991e-01 -3.28149066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22 meters 0.013077340518679165 Centerline is valid? [True, True] Translation: X:195.49, Y:81.65, Z:-3.28 [[ 7.15793530e-01 -6.98311553e-01 -7.73645413e-04 1.95492320e+02] [ 6.98311134e-01 7.15793948e-01 -7.64958257e-04 8.16541400e+01] [ 1.08794989e-03 7.30696501e-06 9.99999408e-01 -3.28350512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28 meters 0.013201704928008762 Centerline is valid? [True, True] Translation: X:195.54, Y:81.69, Z:-3.29 [[ 7.16294401e-01 -6.97797494e-01 -9.93832574e-04 1.95536735e+02] [ 6.97796798e-01 7.16295091e-01 -9.85864528e-04 8.16935355e+01] [ 1.39981119e-03 1.26760542e-05 9.99999020e-01 -3.28508240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34 meters 0.013097724974212051 Centerline is valid? [True, True] Translation: X:195.58, Y:81.73, Z:-3.28 [[ 7.16552635e-01 -6.97532983e-01 2.41232973e-04 1.95584164e+02] [ 6.97532944e-01 7.16552676e-01 2.32949504e-04 8.17297235e+01] [-3.35346095e-04 1.34736488e-06 9.99999944e-01 -3.28385949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.4 meters 0.013084512423901627 Centerline is valid? [True, True] Translation: X:195.63, Y:81.76, Z:-3.28 [[ 7.16788608e-01 -6.97290079e-01 7.98852552e-04 1.95631029e+02] [ 6.97289639e-01 7.16789053e-01 7.83058118e-04 8.17649474e+01] [-1.11862742e-03 -4.25553074e-06 9.99999374e-01 -3.28339859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45999999999998 meters 0.013242584463122473 Centerline is valid? [True, True] Translation: X:195.68, Y:81.80, Z:-3.29 [[ 7.16628741e-01 -6.97454224e-01 9.23692806e-04 1.95675244e+02] [ 6.97453632e-01 7.16629336e-01 9.08750321e-04 8.18012520e+01] [-1.29575711e-03 -7.00369621e-06 9.99999160e-01 -3.28504335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51999999999998 meters 0.013265502813895984 Centerline is valid? [True, True] Translation: X:195.72, Y:81.84, Z:-3.29 [[ 7.16617406e-01 -6.97466250e-01 5.67834921e-04 1.95721296e+02] [ 6.97466029e-01 7.16617631e-01 5.56194437e-04 8.18386611e+01] [-7.94847365e-04 -2.53304692e-06 9.99999684e-01 -3.28662187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57999999999998 meters 0.013706282314943814 Centerline is valid? [True, True] Translation: X:195.77, Y:81.87, Z:-3.29 [[ 7.16818168e-01 -6.97260097e-01 -2.67971744e-04 1.95768008e+02] [ 6.97260045e-01 7.16818218e-01 -2.67786833e-04 8.18740300e+01] [ 3.78804101e-04 5.10847659e-06 9.99999928e-01 -3.28942106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64 meters 0.01384704009599897 Centerline is valid? [True, True] Translation: X:195.81, Y:81.91, Z:-3.29 [[ 7.16463863e-01 -6.97624039e-01 -4.82372062e-04 1.95812792e+02] [ 6.97623872e-01 7.16464025e-01 -4.83141626e-04 8.19108662e+01] [ 6.82653442e-04 9.63925050e-06 9.99999767e-01 -3.29103902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.7 meters 0.013372848006380682 Centerline is valid? [True, True] Translation: X:195.86, Y:81.94, Z:-3.29 [[ 7.15156620e-01 -6.98963877e-01 7.13136072e-04 1.95862481e+02] [ 6.98963526e-01 7.15156975e-01 7.00687874e-04 8.19445585e+01] [-9.99759749e-04 -2.64546852e-06 9.99999500e-01 -3.29001207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76 meters 0.013398737512874832 Centerline is valid? [True, True] Translation: X:195.91, Y:81.98, Z:-3.29 [[ 7.14492237e-01 -6.99641227e-01 1.73095018e-03 1.95908565e+02] [ 6.99639132e-01 7.14494334e-01 1.71217521e-03 8.19801276e+01] [-2.43466246e-03 -1.22954135e-05 9.99997036e-01 -3.28982819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82 meters 0.013546884225614802 Centerline is valid? [True, True] Translation: X:195.96, Y:82.02, Z:-3.29 [[ 7.15174256e-01 -6.98938741e-01 3.22799321e-03 1.95955373e+02] [ 6.98931442e-01 7.15181540e-01 3.19433228e-03 8.20152340e+01] [-4.54124374e-03 -2.83582565e-05 9.99989688e-01 -3.28922553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88 meters 0.013754751067695862 Centerline is valid? [True, True] Translation: X:196.00, Y:82.05, Z:-3.29 [[ 7.16566369e-01 -6.97505975e-01 4.24901513e-03 1.95999327e+02] [ 6.97493301e-01 7.16578965e-01 4.20511707e-03 8.20529895e+01] [-5.97784914e-03 -4.95858810e-05 9.99982131e-01 -3.28905099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94 meters 0.014079030975157546 Centerline is valid? [True, True] Translation: X:196.04, Y:82.09, Z:-3.29 [[ 7.18165290e-01 -6.95859352e-01 4.28690342e-03 1.96043374e+02] [ 6.95846404e-01 7.18178082e-01 4.24550094e-03 8.20925000e+01] [-6.03303161e-03 -6.59450857e-05 9.99981799e-01 -3.29025612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.0 meters 0.014182022733086363 Centerline is valid? [True, True] Translation: X:196.09, Y:82.13, Z:-3.29 [[ 7.17990556e-01 -6.96046629e-01 2.94126359e-03 1.96086161e+02] [ 6.96040536e-01 7.17996579e-01 2.91270060e-03 8.21327056e+01] [-4.13919263e-03 -4.40528365e-05 9.99991433e-01 -3.29290668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06 meters 0.013826035127616624 Centerline is valid? [True, True] Translation: X:196.12, Y:82.18, Z:-3.30 [[ 7.16113329e-01 -6.97981655e-01 1.81909339e-03 1.96124748e+02] [ 6.97979336e-01 7.16115639e-01 1.79965683e-03 8.21763846e+01] [-2.55880868e-03 -1.90686436e-05 9.99996726e-01 -3.29666081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12 meters 0.013826266074900858 Centerline is valid? [True, True] Translation: X:196.16, Y:82.22, Z:-3.30 [[ 7.15356036e-01 -6.98757960e-01 1.74773054e-03 1.96164575e+02] [ 6.98755813e-01 7.15358171e-01 1.73227687e-03 8.22176863e+01] [-2.46069557e-03 -1.79578437e-05 9.99996972e-01 -3.29828130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17999999999998 meters 0.013584140140360013 Centerline is valid? [True, True] Translation: X:196.21, Y:82.26, Z:-3.30 [[ 7.14817341e-01 -6.99304697e-01 3.01829395e-03 1.96206852e+02] [ 6.99298292e-01 7.14823712e-01 2.99324494e-03 8.22589630e+01] [-4.25073834e-03 -2.89355822e-05 9.99990965e-01 -3.29659147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23999999999998 meters 0.013350770241980503 Centerline is valid? [True, True] Translation: X:196.25, Y:82.30, Z:-3.29 [[ 7.14132429e-01 -6.99995277e-01 4.63524782e-03 1.96250154e+02] [ 6.99980152e-01 7.14147471e-01 4.60186884e-03 8.22991128e+01] [-6.53153696e-03 -4.17622990e-05 9.99978668e-01 -3.29459227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29999999999998 meters 0.013186047604365425 Centerline is valid? [True, True] Translation: X:196.29, Y:82.34, Z:-3.29 [[ 7.12271655e-01 -7.01867438e-01 7.15463063e-03 1.96293025e+02] [ 7.01831430e-01 7.12307587e-01 7.10960679e-03 8.23399331e+01] [-1.00862992e-02 -4.26267522e-05 9.99949131e-01 -3.29416974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35999999999999 meters 0.013026529160480384 Centerline is valid? [True, True] Translation: X:196.34, Y:82.38, Z:-3.30 [[ 7.10582887e-01 -7.03571489e-01 7.68898243e-03 1.96335388e+02] [ 7.03529956e-01 7.10624486e-01 7.64465884e-03 8.23805960e+01] [-1.08425432e-02 -2.27342844e-05 9.99941218e-01 -3.29582413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42 meters 0.013046427978249132 Centerline is valid? [True, True] Translation: X:196.38, Y:82.42, Z:-3.30 [[ 7.09174130e-01 -7.04997671e-01 7.09487741e-03 1.96378758e+02] [ 7.04962348e-01 7.09209619e-01 7.05721895e-03 8.24199068e+01] [-1.00070782e-02 -3.17566982e-06 9.99949928e-01 -3.29603945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48 meters 0.013041693843820224 Centerline is valid? [True, True] Translation: X:196.42, Y:82.46, Z:-3.30 [[ 7.09348165e-01 -7.04833044e-01 5.96322706e-03 1.96420832e+02] [ 7.04808061e-01 7.09373230e-01 5.93439906e-03 8.24612157e+01] [-8.41291420e-03 -6.62458579e-06 9.99964611e-01 -3.29800484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54 meters 0.013272389414133407 Centerline is valid? [True, True] Translation: X:196.46, Y:82.50, Z:-3.30 [[ 7.09738865e-01 -7.04453348e-01 4.02802499e-03 1.96461466e+02] [ 7.04441941e-01 7.09750295e-01 4.00886573e-03 8.25039439e+01] [-5.68295080e-03 -7.73807089e-06 9.99983852e-01 -3.30228446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.6 meters 0.013212599225868576 Centerline is valid? [True, True] Translation: X:196.50, Y:82.54, Z:-3.30 [[ 7.08078617e-01 -7.06127156e-01 3.01861610e-03 1.96504589e+02] [ 7.06120765e-01 7.08085051e-01 3.00434264e-03 8.25444969e+01] [-4.25888486e-03 4.19672798e-06 9.99990931e-01 -3.30429943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66 meters 0.013666815069825864 Centerline is valid? [True, True] Translation: X:196.55, Y:82.58, Z:-3.30 [[ 7.02785219e-01 -7.11386651e-01 4.68706852e-03 1.96549773e+02] [ 7.11371316e-01 7.02800847e-01 4.67133327e-03 8.25803950e+01] [-6.61719986e-03 5.13021202e-05 9.99978105e-01 -3.30191033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72 meters 0.01421442591560223 Centerline is valid? [True, True] Translation: X:196.59, Y:82.62, Z:-3.30 [[ 6.98702574e-01 -7.15382584e-01 6.51709023e-03 1.96594876e+02] [ 7.15353082e-01 6.98732956e-01 6.49801700e-03 8.26192550e+01] [-9.20227391e-03 1.21839380e-04 9.99957651e-01 -3.30021209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78 meters 0.015263472837863352 Centerline is valid? [True, True] Translation: X:196.64, Y:82.66, Z:-3.30 [[ 6.95331831e-01 -7.18644514e-01 7.98171899e-03 1.96638724e+02] [ 7.18600407e-01 6.95377613e-01 7.96435926e-03 8.26578242e+01] [-1.12738518e-02 1.97794008e-04 9.99936429e-01 -3.29962499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84 meters 0.01609775511560969 Centerline is valid? [True, True] Translation: X:196.68, Y:82.70, Z:-3.30 [[ 6.92639063e-01 -7.21235594e-01 8.38730626e-03 1.96682329e+02] [ 7.21187070e-01 6.92689797e-01 8.36990988e-03 8.26974873e+01] [-1.18464784e-02 2.51490297e-04 9.99929796e-01 -3.30046098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.9 meters 0.01606034988830932 Centerline is valid? [True, True] Translation: X:196.72, Y:82.74, Z:-3.30 [[ 6.93255742e-01 -7.20652241e-01 7.53812397e-03 1.96722950e+02] [ 7.20612978e-01 6.93296691e-01 7.52563006e-03 8.27395068e+01] [-1.06495186e-02 2.14883703e-04 9.99943269e-01 -3.30257124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95999999999998 meters 0.014475396378232449 Centerline is valid? [True, True] Translation: X:196.76, Y:82.79, Z:-3.30 [[ 6.96770400e-01 -7.17275933e-01 5.12304683e-03 1.96760743e+02] [ 7.17257702e-01 6.96789225e-01 5.11524216e-03 8.27851002e+01] [-7.23872392e-03 1.10395473e-04 9.99973794e-01 -3.30478833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01999999999998 meters 0.013913019750107534 Centerline is valid? [True, True] Translation: X:196.80, Y:82.83, Z:-3.31 [[ 6.99754115e-01 -7.14370152e-01 4.41190531e-03 1.96799986e+02] [ 7.14356563e-01 6.99768020e-01 4.40667611e-03 8.28294025e+01] [-6.23530812e-03 6.80837720e-05 9.99980558e-01 -3.30650246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07999999999998 meters 0.013462073359428114 Centerline is valid? [True, True] Translation: X:196.84, Y:82.87, Z:-3.31 [[ 7.02905831e-01 -7.11266873e-01 4.77783079e-03 1.96837636e+02] [ 7.11250846e-01 7.02922068e-01 4.77503311e-03 8.28746421e+01] [-6.75476557e-03 4.18375655e-05 9.99977185e-01 -3.30817007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14 meters 0.013436754625049655 Centerline is valid? [True, True] Translation: X:196.88, Y:82.92, Z:-3.31 [[ 7.03141774e-01 -7.11025968e-01 5.80669510e-03 1.96878249e+02] [ 7.11002254e-01 7.03165749e-01 5.80733412e-03 8.29169980e+01] [-8.21223448e-03 4.51940860e-05 9.99966278e-01 -3.30794239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.2 meters 0.01353293607741229 Centerline is valid? [True, True] Translation: X:196.92, Y:82.96, Z:-3.31 [[ 7.01916561e-01 -7.12226928e-01 6.77824025e-03 1.96920186e+02] [ 7.12194632e-01 7.01949285e-01 6.78293282e-03 8.29576353e+01] [-9.58896830e-03 6.63734433e-05 9.99954023e-01 -3.30701603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26 meters 0.013744940068030813 Centerline is valid? [True, True] Translation: X:196.96, Y:83.00, Z:-3.31 [[ 6.99911527e-01 -7.14176275e-01 8.72367557e-03 1.96962425e+02] [ 7.14122846e-01 6.99965881e-01 8.73648704e-03 8.29987932e+01] [-1.23456670e-02 1.15008038e-04 9.99923783e-01 -3.30622636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32 meters 0.013787672930604842 Centerline is valid? [True, True] Translation: X:197.00, Y:83.04, Z:-3.31 [[ 6.99812742e-01 -7.14271403e-01 8.85941094e-03 1.97003384e+02] [ 7.14216246e-01 6.99868809e-01 8.87711373e-03 8.30404738e+01] [-1.25410939e-02 1.15217922e-04 9.99921351e-01 -3.30685395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38 meters 0.013724011596125976 Centerline is valid? [True, True] Translation: X:197.04, Y:83.08, Z:-3.31 [[ 7.01468108e-01 -7.12666478e-01 6.99897668e-03 1.97041471e+02] [ 7.12631938e-01 7.01503020e-01 7.01669952e-03 8.30830389e+01] [-9.91036981e-03 6.57033744e-05 9.99950889e-01 -3.31032103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44 meters 0.013674722066193743 Centerline is valid? [True, True] Translation: X:197.08, Y:83.13, Z:-3.31 [[ 7.03426478e-01 -7.10749867e-01 5.08109152e-03 1.97079969e+02] [ 7.10731620e-01 7.03444828e-01 5.09299423e-03 8.31261357e+01] [-7.19411252e-03 2.87454170e-05 9.99974122e-01 -3.31391232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.5 meters 0.013688506109518472 Centerline is valid? [True, True] Translation: X:197.12, Y:83.17, Z:-3.32 [[ 7.06222768e-01 -7.07985202e-01 2.52094881e-03 1.97119483e+02] [ 7.07980697e-01 7.06227268e-01 2.52573042e-03 8.31702554e+01] [-3.56854255e-03 1.05476249e-06 9.99993633e-01 -3.31774465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56 meters 0.01382582593277339 Centerline is valid? [True, True] Translation: X:197.16, Y:83.21, Z:-3.32 [[ 7.06957622e-01 -7.07253736e-01 1.75317950e-03 1.97160523e+02] [ 7.07251557e-01 7.06959796e-01 1.75577681e-03 8.32123763e+01] [-2.48120713e-03 -1.32086466e-06 9.99996922e-01 -3.31968443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62 meters 0.013814973371797969 Centerline is valid? [True, True] Translation: X:197.20, Y:83.25, Z:-3.32 [[ 7.06500544e-01 -7.07707187e-01 2.74215191e-03 1.97203613e+02] [ 7.07701841e-01 7.06505865e-01 2.75067937e-03 8.32529854e+01] [-3.88402197e-03 -2.73051900e-06 9.99992457e-01 -3.31965216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67999999999998 meters 0.013728928486834296 Centerline is valid? [True, True] Translation: X:197.25, Y:83.29, Z:-3.32 [[ 7.06012365e-01 -7.08188817e-01 3.89092350e-03 1.97246744e+02] [ 7.08178039e-01 7.06023087e-01 3.90711593e-03 8.32934385e+01] [-5.51405763e-03 -3.00558549e-06 9.99984797e-01 -3.31847855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73999999999998 meters 0.013672467740491901 Centerline is valid? [True, True] Translation: X:197.29, Y:83.34, Z:-3.32 [[ 7.07094586e-01 -7.07094911e-01 5.83387770e-03 1.97286986e+02] [ 7.07070589e-01 7.07118651e-01 5.86482328e-03 8.33352238e+01] [-8.27223042e-03 -2.20214516e-05 9.99965784e-01 -3.31757018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79999999999998 meters 0.013754035609269648 Centerline is valid? [True, True] Translation: X:197.33, Y:83.38, Z:-3.32 [[ 7.08060567e-01 -7.06127692e-01 5.82375284e-03 1.97327219e+02] [ 7.06103417e-01 7.08084516e-01 5.85511705e-03 8.33775640e+01] [-8.25816951e-03 -3.36057155e-05 9.99965900e-01 -3.31914498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85999999999999 meters 0.014050949627757698 Centerline is valid? [True, True] Translation: X:197.37, Y:83.42, Z:-3.32 [[ 7.09485873e-01 -7.04701416e-01 5.07048655e-03 1.97368057e+02] [ 7.04682961e-01 7.09503990e-01 5.10027873e-03 8.34204374e+01] [-7.19170408e-03 -4.54902367e-05 9.99974138e-01 -3.32138924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92 meters 0.01426013307041657 Centerline is valid? [True, True] Translation: X:197.41, Y:83.46, Z:-3.32 [[ 7.11583554e-01 -7.02588753e-01 4.22961864e-03 1.97408286e+02] [ 7.02575868e-01 7.11596122e-01 4.25554085e-03 8.34632991e+01] [-5.99967536e-03 -5.65448984e-05 9.99982000e-01 -3.32263336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98 meters 0.014590826343242436 Centerline is valid? [True, True] Translation: X:197.45, Y:83.51, Z:-3.32 [[ 7.12713257e-01 -7.01444777e-01 3.87793247e-03 1.97448901e+02] [ 7.01433920e-01 7.12723804e-01 3.90318221e-03 8.35065793e+01] [-5.50176156e-03 -6.17363316e-05 9.99984863e-01 -3.32391590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04 meters 0.014470861390049224 Centerline is valid? [True, True] Translation: X:197.49, Y:83.55, Z:-3.32 [[ 7.12328452e-01 -7.01833792e-01 4.18376995e-03 1.97489913e+02] [ 7.01821150e-01 7.12340736e-01 4.21298791e-03 8.35473608e+01] [-5.93708704e-03 -6.47729186e-05 9.99982373e-01 -3.32406722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.1 meters 0.014343855896685513 Centerline is valid? [True, True] Translation: X:197.53, Y:83.59, Z:-3.32 [[ 7.10943505e-01 -7.03235675e-01 4.34941014e-03 1.97531172e+02] [ 7.03222006e-01 7.10956807e-01 4.38507716e-03 8.35874772e+01] [-6.17598544e-03 -5.89412003e-05 9.99980927e-01 -3.32459939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16 meters 0.014155519834974642 Centerline is valid? [True, True] Translation: X:197.57, Y:83.63, Z:-3.33 [[ 7.08825158e-01 -7.05369851e-01 4.50217840e-03 1.97574060e+02] [ 7.05355254e-01 7.08839454e-01 4.53801317e-03 8.36277191e+01] [-6.39229935e-03 -4.10227177e-05 9.99979568e-01 -3.32604411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22 meters 0.013972453074308971 Centerline is valid? [True, True] Translation: X:197.62, Y:83.67, Z:-3.33 [[ 7.05641315e-01 -7.08559274e-01 3.75371737e-03 1.97618158e+02] [ 7.08549170e-01 7.05651298e-01 3.78399957e-03 8.36664358e+01] [-5.33000353e-03 -1.04531062e-05 9.99985795e-01 -3.32746022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28 meters 0.014039143837125973 Centerline is valid? [True, True] Translation: X:197.66, Y:83.71, Z:-3.33 [[ 7.03377380e-01 -7.10804142e-01 4.21102228e-03 1.97659727e+02] [ 7.10791435e-01 7.03389986e-01 4.25018119e-03 8.37052159e+01] [-5.98303729e-03 3.67725536e-06 9.99982101e-01 -3.32806565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34 meters 0.014174241538884993 Centerline is valid? [True, True] Translation: X:197.70, Y:83.74, Z:-3.33 [[ 7.00504658e-01 -7.13629000e-01 5.18411505e-03 1.97702354e+02] [ 7.13609815e-01 7.00523839e-01 5.23281282e-03 8.37446158e+01] [-7.36588316e-03 3.38256234e-05 9.99972871e-01 -3.32790302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.4 meters 0.014167652843189842 Centerline is valid? [True, True] Translation: X:197.74, Y:83.79, Z:-3.33 [[ 6.99817394e-01 -7.14305045e-01 4.89066173e-03 1.97743459e+02] [ 7.14287970e-01 6.99834482e-01 4.93905231e-03 8.37860582e+01] [-6.95064370e-03 3.69061265e-05 9.99975843e-01 -3.32959375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45999999999998 meters 0.014148161884435984 Centerline is valid? [True, True] Translation: X:197.78, Y:83.83, Z:-3.33 [[ 7.01413995e-01 -7.12743436e-01 3.89891884e-03 1.97783556e+02] [ 7.12732555e-01 7.01424831e-01 3.93853180e-03 8.38287441e+01] [-5.54196118e-03 1.63450617e-05 9.99984643e-01 -3.33136378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51999999999998 meters 0.014129279976044967 Centerline is valid? [True, True] Translation: X:197.82, Y:83.87, Z:-3.33 [[ 7.03338679e-01 -7.10848526e-01 3.01248185e-03 1.97822950e+02] [ 7.10842008e-01 7.03345131e-01 3.04403755e-03 8.38728136e+01] [-4.28266405e-03 4.09297372e-07 9.99990829e-01 -3.33432083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57999999999998 meters 0.014217463239612465 Centerline is valid? [True, True] Translation: X:197.86, Y:83.92, Z:-3.34 [[ 7.04735769e-01 -7.09466024e-01 2.33608171e-03 1.97863143e+02] [ 7.09462097e-01 7.04739641e-01 2.36056801e-03 8.39161110e+01] [-3.32107218e-03 -6.21528073e-06 9.99994485e-01 -3.33626330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64 meters 0.014212216153708346 Centerline is valid? [True, True] Translation: X:197.91, Y:83.96, Z:-3.33 [[ 7.05430090e-01 -7.08767242e-01 4.16957896e-03 1.97905008e+02] [ 7.08754683e-01 7.05442412e-01 4.21942438e-03 8.39577501e+01] [-5.93198762e-03 -2.13003052e-05 9.99982405e-01 -3.33474525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.7 meters 0.014233193970932085 Centerline is valid? [True, True] Translation: X:197.95, Y:84.00, Z:-3.33 [[ 7.05762306e-01 -7.08427893e-01 5.43029284e-03 1.97946562e+02] [ 7.08406549e-01 7.05783196e-01 5.49921858e-03 8.39986719e+01] [-7.72840926e-03 -3.42861728e-05 9.99970135e-01 -3.33325879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76 meters 0.014397245460889321 Centerline is valid? [True, True] Translation: X:197.99, Y:84.04, Z:-3.33 [[ 7.06000515e-01 -7.08184397e-01 6.17515440e-03 1.97985823e+02] [ 7.08156740e-01 7.06027519e-01 6.25893207e-03 8.40397278e+01] [-8.79230697e-03 -4.58320575e-05 9.99961346e-01 -3.33466556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82 meters 0.01436148876162685 Centerline is valid? [True, True] Translation: X:198.03, Y:84.08, Z:-3.34 [[ 7.05530331e-01 -7.08647149e-01 6.79490723e-03 1.98026709e+02] [ 7.08613669e-01 7.05563049e-01 6.88855788e-03 8.40807453e+01] [-9.67579237e-03 -4.51223742e-05 9.99953187e-01 -3.33515924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88 meters 0.01430466016346068 Centerline is valid? [True, True] Translation: X:198.07, Y:84.12, Z:-3.34 [[ 7.03815310e-01 -7.10342735e-01 7.56363917e-03 1.98069650e+02] [ 7.10301292e-01 7.03855950e-01 7.67309366e-03 8.41218070e+01] [-1.07742388e-02 -2.79781207e-05 9.99941956e-01 -3.33583321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94 meters 0.014379551365113114 Centerline is valid? [True, True] Translation: X:198.11, Y:84.16, Z:-3.34 [[ 7.01601302e-01 -7.12527989e-01 7.71218427e-03 1.98112307e+02] [ 7.12484992e-01 7.01643688e-01 7.82760030e-03 8.41613881e+01] [-1.09885897e-02 2.96098902e-06 9.99939624e-01 -3.33692417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.0 meters 0.014459878323083444 Centerline is valid? [True, True] Translation: X:198.15, Y:84.20, Z:-3.34 [[ 6.98838881e-01 -7.15236914e-01 7.77022179e-03 1.98154767e+02] [ 7.15193375e-01 6.98882076e-01 7.89181062e-03 8.42000658e+01] [-1.10749830e-02 4.21070504e-05 9.99938670e-01 -3.33842839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06 meters 0.014477062095004193 Centerline is valid? [True, True] Translation: X:198.20, Y:84.24, Z:-3.34 [[ 6.97640372e-01 -7.16415409e-01 6.84638276e-03 1.98195935e+02] [ 7.16381653e-01 6.97673963e-01 6.95473048e-03 8.42415493e+01] [-9.75901908e-03 5.27222361e-05 9.99952378e-01 -3.34159175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12 meters 0.014472390262449092 Centerline is valid? [True, True] Translation: X:198.24, Y:84.28, Z:-3.34 [[ 6.96598228e-01 -7.17440691e-01 5.45561882e-03 1.98237399e+02] [ 7.17419275e-01 6.96619590e-01 5.54361283e-03 8.42839163e+01] [-7.77770436e-03 5.22952190e-05 9.99969752e-01 -3.34485292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17999999999998 meters 0.014470518451951651 Centerline is valid? [True, True] Translation: X:198.28, Y:84.33, Z:-3.35 [[ 6.96083956e-01 -7.17939229e-01 5.51277100e-03 1.98278352e+02] [ 7.17917357e-01 6.96105783e-01 5.60424306e-03 8.43257151e+01] [-7.86097771e-03 5.66903075e-05 9.99969100e-01 -3.34583287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23999999999998 meters 0.01436827515352941 Centerline is valid? [True, True] Translation: X:198.32, Y:84.37, Z:-3.35 [[ 6.95587970e-01 -7.18412038e-01 6.44357746e-03 1.98318563e+02] [ 7.18382134e-01 6.95617810e-01 6.55526617e-03 8.43679056e+01] [-9.19164937e-03 6.91866404e-05 9.99957754e-01 -3.34641003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29999999999998 meters 0.014178214161071744 Centerline is valid? [True, True] Translation: X:198.36, Y:84.41, Z:-3.35 [[ 6.95668614e-01 -7.18326892e-01 7.18712923e-03 1.98358683e+02] [ 7.18289634e-01 6.95705735e-01 7.31655611e-03 8.44097317e+01] [-1.02558060e-02 7.25419758e-05 9.99947405e-01 -3.34543619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35999999999999 meters 0.014017050041045608 Centerline is valid? [True, True] Translation: X:198.40, Y:84.45, Z:-3.35 [[ 6.96398604e-01 -7.17611928e-01 7.88068829e-03 1.98398810e+02] [ 7.17567024e-01 6.96443190e-01 8.02805733e-03 8.44523736e+01] [-1.12494814e-02 6.41941260e-05 9.99936721e-01 -3.34591564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42 meters 0.013917530621106443 Centerline is valid? [True, True] Translation: X:198.44, Y:84.49, Z:-3.35 [[ 6.97803009e-01 -7.16251829e-01 7.36741242e-03 1.98437844e+02] [ 7.16212465e-01 6.97841899e-01 7.50925520e-03 8.44944416e+01] [-1.05198069e-02 3.66517359e-05 9.99944665e-01 -3.34786384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48 meters 0.013850527380789273 Centerline is valid? [True, True] Translation: X:198.48, Y:84.54, Z:-3.35 [[ 7.00233684e-01 -7.13875929e-01 7.34478290e-03 1.98475583e+02] [ 7.13836661e-01 7.00272203e-01 7.48756346e-03 8.45385668e+01] [-1.04885386e-02 -6.88497626e-08 9.99944994e-01 -3.34881269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54 meters 0.01386007096415183 Centerline is valid? [True, True] Translation: X:198.51, Y:84.58, Z:-3.35 [[ 7.01585412e-01 -7.12538874e-01 8.14021291e-03 1.98514294e+02] [ 7.12490487e-01 7.01632634e-01 8.30382719e-03 8.45822897e+01] [-1.16282387e-02 -2.60197552e-05 9.99932389e-01 -3.34865903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.6 meters 0.013932179684517354 Centerline is valid? [True, True] Translation: X:198.55, Y:84.62, Z:-3.35 [[ 7.02643762e-01 -7.11491102e-01 8.49441249e-03 1.98553629e+02] [ 7.11438273e-01 7.02695104e-01 8.67032509e-03 8.46248744e+01] [-1.21378412e-02 -4.88996850e-05 9.99926332e-01 -3.34935638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66 meters 0.013967846679760015 Centerline is valid? [True, True] Translation: X:198.59, Y:84.67, Z:-3.35 [[ 7.02691864e-01 -7.11447203e-01 8.18666203e-03 1.98594639e+02] [ 7.11398077e-01 7.02739549e-01 8.36075077e-03 8.46660722e+01] [-1.17013239e-02 -5.10559149e-05 9.99931536e-01 -3.35081220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72 meters 0.01405766531232835 Centerline is valid? [True, True] Translation: X:198.64, Y:84.71, Z:-3.35 [[ 7.01841702e-01 -7.12289821e-01 7.83809372e-03 1.98636684e+02] [ 7.12244794e-01 7.01885467e-01 8.00903448e-03 8.47065452e+01] [-1.12061978e-02 -3.84329409e-05 9.99937208e-01 -3.35212296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78 meters 0.013944894352342767 Centerline is valid? [True, True] Translation: X:198.68, Y:84.75, Z:-3.35 [[ 7.00463738e-01 -7.13644414e-01 7.88683906e-03 1.98679278e+02] [ 7.13598859e-01 7.00508137e-01 8.06341190e-03 8.47458215e+01] [-1.12792038e-02 -2.00882866e-05 9.99936388e-01 -3.35347533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84 meters 0.013935389626507942 Centerline is valid? [True, True] Translation: X:198.72, Y:84.79, Z:-3.35 [[ 6.99850360e-01 -7.14247606e-01 7.73512123e-03 1.98720270e+02] [ 7.14203767e-01 6.99893105e-01 7.91337600e-03 8.47857305e+01] [-1.10658679e-02 -1.37263207e-05 9.99938771e-01 -3.35488623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.9 meters 0.013945289523895414 Centerline is valid? [True, True] Translation: X:198.76, Y:84.83, Z:-3.36 [[ 6.99744767e-01 -7.14358238e-01 7.04057917e-03 1.98762742e+02] [ 7.14321914e-01 6.99780186e-01 7.20384118e-03 8.48257017e+01] [-1.00729811e-02 -1.16101784e-05 9.99949266e-01 -3.35625742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95999999999998 meters 0.014021697045956863 Centerline is valid? [True, True] Translation: X:198.80, Y:84.87, Z:-3.36 [[ 6.99787358e-01 -7.14320655e-01 6.60722438e-03 1.98803512e+02] [ 7.14288631e-01 6.99818549e-01 6.76386947e-03 8.48668844e+01] [-9.45542985e-03 -1.38050826e-05 9.99955296e-01 -3.35726739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01999999999998 meters 0.014050292982469697 Centerline is valid? [True, True] Translation: X:198.84, Y:84.91, Z:-3.36 [[ 7.00265149e-01 -7.13852075e-01 6.62845570e-03 1.98844372e+02] [ 7.13819787e-01 7.00296519e-01 6.78946977e-03 8.49076697e+01] [-9.48856154e-03 -2.29062175e-05 9.99954982e-01 -3.35769788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07999999999998 meters 0.014013956523266615 Centerline is valid? [True, True] Translation: X:198.88, Y:84.95, Z:-3.36 [[ 7.00835312e-01 -7.13289818e-01 6.89215633e-03 1.98884745e+02] [ 7.13254841e-01 7.00869200e-01 7.06380839e-03 8.49491992e+01] [-9.86904269e-03 -3.47024909e-05 9.99951299e-01 -3.35799742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14 meters 0.014075612908463826 Centerline is valid? [True, True] Translation: X:198.93, Y:84.99, Z:-3.36 [[ 7.01466294e-01 -7.12661771e-01 7.63144708e-03 1.98925240e+02] [ 7.12618794e-01 7.01507803e-01 7.82662344e-03 8.49913225e+01] [-1.09312550e-02 -5.17999167e-05 9.99940251e-01 -3.35844887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.2 meters 0.014016581088213742 Centerline is valid? [True, True] Translation: X:198.97, Y:85.03, Z:-3.36 [[ 7.01932520e-01 -7.12193261e-01 8.45554728e-03 1.98966530e+02] [ 7.12140399e-01 7.01983443e-01 8.67738591e-03 8.50322677e+01] [-1.21156300e-02 -6.94025410e-05 9.99926601e-01 -3.35847053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26 meters 0.014005173504280415 Centerline is valid? [True, True] Translation: X:199.01, Y:85.07, Z:-3.36 [[ 7.01674104e-01 -7.12445155e-01 8.68054666e-03 1.99007318e+02] [ 7.12389397e-01 7.01727793e-01 8.91359654e-03 8.50733545e+01] [-1.24418295e-02 -7.05104669e-05 9.99922595e-01 -3.35929292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32 meters 0.013967058263785559 Centerline is valid? [True, True] Translation: X:199.05, Y:85.11, Z:-3.36 [[ 7.01469633e-01 -7.12655369e-01 7.91704172e-03 1.99047950e+02] [ 7.12608954e-01 7.01514306e-01 8.13369462e-03 8.51142628e+01] [-1.13504392e-02 -6.37849609e-05 9.99935580e-01 -3.36075707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38 meters 0.013783987535829626 Centerline is valid? [True, True] Translation: X:199.09, Y:85.16, Z:-3.36 [[ 7.01014137e-01 -7.13099111e-01 8.29681306e-03 1.99088508e+02] [ 7.13048106e-01 7.01063231e-01 8.52906724e-03 8.51557639e+01] [-1.18986608e-02 -6.29698722e-05 9.99929206e-01 -3.36126901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44 meters 0.013720469399592322 Centerline is valid? [True, True] Translation: X:199.13, Y:85.20, Z:-3.36 [[ 7.00403944e-01 -7.13681389e-01 9.65350998e-03 1.99128751e+02] [ 7.13612301e-01 7.00470464e-01 9.93039173e-03 8.51976612e+01] [-1.38491344e-02 -6.64220672e-05 9.99904094e-01 -3.36165873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.5 meters 0.013766567639809916 Centerline is valid? [True, True] Translation: X:199.17, Y:85.24, Z:-3.36 [[ 6.99964992e-01 -7.14116752e-01 9.28842858e-03 1.99169506e+02] [ 7.14052760e-01 7.00026615e-01 9.56004015e-03 8.52395210e+01] [-1.33291320e-02 -5.92653679e-05 9.99911161e-01 -3.36230204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56 meters 0.013687803187167254 Centerline is valid? [True, True] Translation: X:199.21, Y:85.28, Z:-3.36 [[ 6.99321959e-01 -7.14758416e-01 8.31898489e-03 1.99209439e+02] [ 7.14707079e-01 6.99371436e-01 8.56656244e-03 8.52811417e+01] [-1.19410830e-02 -4.51478354e-05 9.99928702e-01 -3.36440295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62 meters 0.013755700018788737 Centerline is valid? [True, True] Translation: X:199.25, Y:85.32, Z:-3.37 [[ 6.99300887e-01 -7.14786144e-01 7.68361873e-03 1.99248851e+02] [ 7.14742307e-01 6.99343096e-01 7.91634385e-03 8.53235783e+01] [-1.10319786e-02 -4.40988977e-05 9.99939145e-01 -3.36689995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67999999999998 meters 0.013841315973662453 Centerline is valid? [True, True] Translation: X:199.29, Y:85.37, Z:-3.37 [[ 6.99770210e-01 -7.14332462e-01 7.12655896e-03 1.99288137e+02] [ 7.14294689e-01 6.99806496e-01 7.34608781e-03 8.53662822e+01] [-1.02347612e-02 -5.01101928e-05 9.99947622e-01 -3.36890864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73999999999998 meters 0.013980574642106645 Centerline is valid? [True, True] Translation: X:199.33, Y:85.41, Z:-3.37 [[ 7.00941931e-01 -7.13196189e-01 5.62180660e-03 1.99327738e+02] [ 7.13172629e-01 7.00964473e-01 5.79733976e-03 8.54105050e+01] [-8.07532732e-03 -5.42799333e-05 9.99967393e-01 -3.37138101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79999999999998 meters 0.014037447543171069 Centerline is valid? [True, True] Translation: X:199.37, Y:85.45, Z:-3.37 [[ 7.01236528e-01 -7.12911623e-01 4.93449793e-03 1.99368001e+02] [ 7.12893451e-01 7.01253888e-01 5.09051310e-03 8.54540842e+01] [-7.08942181e-03 -5.18824766e-05 9.99974868e-01 -3.37309086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85999999999999 meters 0.013878797164629446 Centerline is valid? [True, True] Translation: X:199.41, Y:85.50, Z:-3.37 [[ 7.00481719e-01 -7.13653052e-01 4.96819661e-03 1.99408435e+02] [ 7.13634633e-01 7.00499336e-01 5.12743223e-03 8.54952832e+01] [-7.13942609e-03 -4.61953763e-05 9.99974513e-01 -3.37317556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92 meters 0.013883263206821907 Centerline is valid? [True, True] Translation: X:199.45, Y:85.54, Z:-3.37 [[ 6.99490744e-01 -7.14621513e-01 5.36578975e-03 1.99448315e+02] [ 7.14600013e-01 6.99511323e-01 5.54354178e-03 8.55366071e+01] [-7.71496491e-03 -4.32627414e-05 9.99970238e-01 -3.37426038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98 meters 0.013714989152008913 Centerline is valid? [True, True] Translation: X:199.49, Y:85.58, Z:-3.37 [[ 6.97790984e-01 -7.16280086e-01 5.53012033e-03 1.99490564e+02] [ 7.16257304e-01 6.97812896e-01 5.71283741e-03 8.55771931e+01] [-7.95098096e-03 -2.53773597e-05 9.99968390e-01 -3.37376047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04 meters 0.013558965641195584 Centerline is valid? [True, True] Translation: X:199.53, Y:85.62, Z:-3.37 [[ 6.96933921e-01 -7.17109852e-01 6.04738689e-03 1.99531462e+02] [ 7.17082611e-01 6.96960157e-01 6.25046881e-03 8.56185809e+01] [-8.69706047e-03 -1.96877493e-05 9.99962180e-01 -3.37361953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.1 meters 0.01360461566657631 Centerline is valid? [True, True] Translation: X:199.57, Y:85.66, Z:-3.37 [[ 6.96684034e-01 -7.17354517e-01 5.81843874e-03 1.99570321e+02] [ 7.17329274e-01 6.96708330e-01 6.01799039e-03 8.56607981e+01] [-8.37078733e-03 -1.89013843e-05 9.99964964e-01 -3.37468466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16 meters 0.013553709156856898 Centerline is valid? [True, True] Translation: X:199.61, Y:85.70, Z:-3.38 [[ 6.97089635e-01 -7.16960841e-01 5.76142022e-03 1.99609563e+02] [ 7.16936065e-01 6.97113443e-01 5.96040328e-03 8.57037557e+01] [-8.28973923e-03 -2.43653999e-05 9.99965639e-01 -3.37580453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22 meters 0.013613960452656164 Centerline is valid? [True, True] Translation: X:199.65, Y:85.75, Z:-3.38 [[ 6.97626203e-01 -7.16440887e-01 5.48973715e-03 1.99648553e+02] [ 7.16418353e-01 6.97647802e-01 5.68229073e-03 8.57474999e+01] [-7.90092846e-03 -3.11664584e-05 9.99968787e-01 -3.37719843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28 meters 0.013691508089738316 Centerline is valid? [True, True] Translation: X:199.69, Y:85.79, Z:-3.38 [[ 6.98275543e-01 -7.15809067e-01 5.35209866e-03 1.99687470e+02] [ 7.15787598e-01 6.98296053e-01 5.54413356e-03 8.57897573e+01] [-7.70589044e-03 -4.03670271e-05 9.99970308e-01 -3.37815828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34 meters 0.013875646691477728 Centerline is valid? [True, True] Translation: X:199.73, Y:85.83, Z:-3.38 [[ 7.00237622e-01 -7.13891945e-01 5.05609806e-03 1.99726354e+02] [ 7.13872730e-01 7.00255873e-01 5.23806693e-03 8.58345237e+01] [-7.27997615e-03 -5.84810014e-05 9.99973499e-01 -3.37834420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39999999999998 meters 0.01421896859878508 Centerline is valid? [True, True] Translation: X:199.77, Y:85.88, Z:-3.38 [[ 7.02159489e-01 -7.12003118e-01 4.85929104e-03 1.99765183e+02] [ 7.11985308e-01 7.02176299e-01 5.03649315e-03 8.58786165e+01] [-6.99807782e-03 -7.66776314e-05 9.99975510e-01 -3.37918570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45999999999998 meters 0.014963046731373005 Centerline is valid? [True, True] Translation: X:199.80, Y:85.92, Z:-3.38 [[ 7.03737426e-01 -7.10447476e-01 4.24476004e-03 1.99802374e+02] [ 7.10433842e-01 7.03750223e-01 4.40229773e-03 8.59223665e+01] [-6.11485214e-03 -8.24404861e-05 9.99981301e-01 -3.38115995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51999999999998 meters 0.014789852461745797 Centerline is valid? [True, True] Translation: X:199.84, Y:85.96, Z:-3.38 [[ 7.03423305e-01 -7.10755804e-01 4.67347443e-03 1.99841598e+02] [ 7.10739281e-01 7.03438824e-01 4.84726666e-03 8.59646705e+01] [-6.73272627e-03 -8.80584749e-05 9.99977331e-01 -3.38209261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57999999999998 meters 0.014104531886103068 Centerline is valid? [True, True] Translation: X:199.88, Y:86.01, Z:-3.38 [[ 7.01373651e-01 -7.12772989e-01 5.44683113e-03 1.99884592e+02] [ 7.12750568e-01 7.01394796e-01 5.65400786e-03 8.60056924e+01] [-7.85040309e-03 -8.33401503e-05 9.99969182e-01 -3.38099811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64 meters 0.013313126500255375 Centerline is valid? [True, True] Translation: X:199.93, Y:86.04, Z:-3.38 [[ 6.96048614e-01 -7.17959176e-01 7.13780341e-03 1.99928624e+02] [ 7.17920895e-01 6.96085210e-01 7.41410403e-03 8.60446240e+01] [-1.02915434e-02 -3.61986235e-05 9.99947040e-01 -3.37947160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.7 meters 0.013317198361528775 Centerline is valid? [True, True] Translation: X:199.97, Y:86.08, Z:-3.38 [[ 6.91451127e-01 -7.22380598e-01 7.84929867e-03 1.99971344e+02] [ 7.22334536e-01 6.91495677e-01 8.15763322e-03 8.60846827e+01] [-1.13206721e-02 2.92148315e-05 9.99935919e-01 -3.38033070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76 meters 0.013745017342976376 Centerline is valid? [True, True] Translation: X:200.01, Y:86.12, Z:-3.38 [[ 6.86965286e-01 -7.26649459e-01 7.69802650e-03 2.00014498e+02] [ 7.26605371e-01 6.87008409e-01 8.00505581e-03 8.61248375e+01] [-1.11054784e-02 9.42319503e-05 9.99938328e-01 -3.38132640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82 meters 0.014541459955789017 Centerline is valid? [True, True] Translation: X:200.06, Y:86.16, Z:-3.38 [[ 6.82142177e-01 -7.31189077e-01 6.67721369e-03 2.00057644e+02] [ 7.31156085e-01 6.82174841e-01 6.94737791e-03 8.61644678e+01] [-9.63487403e-03 1.42985931e-04 9.99953573e-01 -3.38319551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88 meters 0.015865418638561325 Centerline is valid? [True, True] Translation: X:200.10, Y:86.20, Z:-3.39 [[ 6.77755190e-01 -7.35265392e-01 5.71887520e-03 2.00101332e+02] [ 7.35241339e-01 6.77779296e-01 5.94982920e-03 8.62047418e+01] [-8.25083870e-03 1.72225840e-04 9.99965946e-01 -3.38578135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94 meters 0.016698812756945233 Centerline is valid? [True, True] Translation: X:200.14, Y:86.25, Z:-3.39 [[ 6.73440557e-01 -7.39226171e-01 4.74176162e-03 2.00143177e+02] [ 7.39209722e-01 6.73457226e-01 4.93474126e-03 8.62458845e+01] [-6.84126351e-03 1.81901388e-04 9.99976582e-01 -3.38794076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.0 meters 0.017036631073023684 Centerline is valid? [True, True] Translation: X:200.18, Y:86.29, Z:-3.39 [[ 6.72471287e-01 -7.40113771e-01 3.73816823e-03 2.00183750e+02] [ 7.40103559e-01 6.72481660e-01 3.89092434e-03 8.62881715e+01] [-5.39357627e-03 1.50096714e-04 9.99985443e-01 -3.39020642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06 meters 0.017122093815823396 Centerline is valid? [True, True] Translation: X:200.22, Y:86.33, Z:-3.39 [[ 6.72859164e-01 -7.39761920e-01 3.58422886e-03 2.00224726e+02] [ 7.39752518e-01 6.72868696e-01 3.73239391e-03 8.63309092e+01] [-5.17279829e-03 1.40066874e-04 9.99986611e-01 -3.39181329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12 meters 0.015768378795167882 Centerline is valid? [True, True] Translation: X:200.26, Y:86.38, Z:-3.39 [[ 6.76826348e-01 -7.36132533e-01 3.87147442e-03 2.00262145e+02] [ 7.36121480e-01 6.76837410e-01 4.03567180e-03 8.63772139e+01] [-5.59114802e-03 1.18426470e-04 9.99984362e-01 -3.39204681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17999999999998 meters 0.014767786220070628 Centerline is valid? [True, True] Translation: X:200.30, Y:86.42, Z:-3.39 [[ 6.80296307e-01 -7.32925518e-01 4.13762994e-03 2.00299128e+02] [ 7.32912836e-01 6.80308883e-01 4.31267344e-03 8.64231077e+01] [-5.97573482e-03 9.86262770e-05 9.99982140e-01 -3.39274564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23999999999998 meters 0.013576250812228685 Centerline is valid? [True, True] Translation: X:200.34, Y:86.47, Z:-3.39 [[ 6.84694104e-01 -7.28808838e-01 5.62693062e-03 2.00335794e+02] [ 7.28785203e-01 6.84717220e-01 5.86998644e-03 8.64702722e+01] [-8.13095429e-03 8.16786681e-05 9.99966940e-01 -3.39152757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29999999999998 meters 0.013407489535868148 Centerline is valid? [True, True] Translation: X:200.37, Y:86.51, Z:-3.39 [[ 6.86895773e-01 -7.26725290e-01 6.67454621e-03 2.00373487e+02] [ 7.26691884e-01 6.86928198e-01 6.96828662e-03 8.65137843e+01] [-9.64896411e-03 6.38519287e-05 9.99953446e-01 -3.39136572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35999999999999 meters 0.01313706357137447 Centerline is valid? [True, True] Translation: X:200.41, Y:86.56, Z:-3.39 [[ 6.88871100e-01 -7.24848657e-01 7.14370148e-03 2.00410372e+02] [ 7.24810284e-01 6.88908139e-01 7.45847656e-03 8.65606408e+01] [-1.03276208e-02 3.98993446e-05 9.99946668e-01 -3.39177122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42 meters 0.013090401954621052 Centerline is valid? [True, True] Translation: X:200.45, Y:86.60, Z:-3.39 [[ 6.88968684e-01 -7.24758422e-01 6.88352733e-03 2.00448341e+02] [ 7.24722758e-01 6.89003069e-01 7.18996221e-03 8.66041014e+01] [-9.95375712e-03 3.49901104e-05 9.99950460e-01 -3.39392559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48 meters 0.013189309640063191 Centerline is valid? [True, True] Translation: X:200.49, Y:86.65, Z:-3.40 [[ 6.87404808e-01 -7.26250414e-01 5.91324748e-03 2.00489176e+02] [ 7.26224125e-01 6.87430239e-01 6.17945676e-03 8.66463779e+01] [-8.55277816e-03 4.65546964e-05 9.99963423e-01 -3.39621663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54 meters 0.013313811333751294 Centerline is valid? [True, True] Translation: X:200.53, Y:86.69, Z:-3.40 [[ 6.86067315e-01 -7.27515776e-01 5.69526455e-03 2.00530271e+02] [ 7.27491410e-01 6.86090951e-01 5.95442090e-03 8.66883687e+01] [-8.23940461e-03 5.81224789e-05 9.99966054e-01 -3.39739408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.6 meters 0.013263628431546392 Centerline is valid? [True, True] Translation: X:200.57, Y:86.73, Z:-3.40 [[ 6.85966666e-01 -7.27610443e-01 5.72505799e-03 2.00569728e+02] [ 7.27585802e-01 6.85990554e-01 5.98830359e-03 8.67304237e+01] [-8.28448793e-03 5.76942615e-05 9.99965681e-01 -3.39830098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66 meters 0.013087560050378566 Centerline is valid? [True, True] Translation: X:200.61, Y:86.77, Z:-3.40 [[ 6.87648463e-01 -7.26023704e-01 5.40106077e-03 2.00609234e+02] [ 7.26001703e-01 6.87669673e-01 5.65226355e-03 8.67735766e+01] [-7.81782302e-03 3.44089714e-05 9.99969440e-01 -3.39940262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72 meters 0.013036632290520928 Centerline is valid? [True, True] Translation: X:200.65, Y:86.82, Z:-3.40 [[ 6.91023772e-01 -7.22819395e-01 4.27424082e-03 2.00648039e+02] [ 7.22805546e-01 6.91036991e-01 4.47427800e-03 8.68169899e+01] [-6.18775343e-03 -2.38749178e-06 9.99980856e-01 -3.40146296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78 meters 0.013299468130066895 Centerline is valid? [True, True] Translation: X:200.69, Y:86.86, Z:-3.40 [[ 6.93320528e-01 -7.20618251e-01 3.99764882e-03 2.00687637e+02] [ 7.20606086e-01 6.93332053e-01 4.18723154e-03 8.68604876e+01] [-5.78909354e-03 -2.23635149e-05 9.99983243e-01 -3.40331074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84 meters 0.013525388704656006 Centerline is valid? [True, True] Translation: X:200.73, Y:86.90, Z:-3.40 [[ 6.95539072e-01 -7.18475401e-01 4.30090994e-03 2.00727981e+02] [ 7.18461263e-01 6.95552368e-01 4.50740407e-03 8.69040460e+01] [-6.22996704e-03 -4.50384521e-05 9.99980593e-01 -3.40371333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89999999999998 meters 0.013887122216972895 Centerline is valid? [True, True] Translation: X:200.77, Y:86.95, Z:-3.40 [[ 6.97518614e-01 -7.16546588e-01 5.36372835e-03 2.00769094e+02] [ 7.16524510e-01 6.97539232e-01 5.62544862e-03 8.69463551e+01] [-7.77230697e-03 -8.06122921e-05 9.99969792e-01 -3.40283419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95999999999998 meters 0.013973620569164498 Centerline is valid? [True, True] Translation: X:200.81, Y:86.99, Z:-3.40 [[ 6.97278795e-01 -7.16772882e-01 6.23842568e-03 2.00810556e+02] [ 7.16742990e-01 6.97306695e-01 6.54668010e-03 8.69865916e+01] [-9.04257876e-03 -9.35133370e-05 9.99959111e-01 -3.40245670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01999999999998 meters 0.013650749680867203 Centerline is valid? [True, True] Translation: X:200.86, Y:87.03, Z:-3.40 [[ 6.94842598e-01 -7.19122950e-01 7.47974080e-03 2.00855109e+02] [ 7.19080050e-01 6.94882851e-01 7.85531211e-03 8.70258696e+01] [-1.08464788e-02 -7.96730848e-05 9.99941172e-01 -3.40282456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07999999999998 meters 0.01344638567797245 Centerline is valid? [True, True] Translation: X:200.90, Y:87.07, Z:-3.40 [[ 6.92940423e-01 -7.20955619e-01 7.52104776e-03 2.00899060e+02] [ 7.20912307e-01 6.92981236e-01 7.90268188e-03 8.70656928e+01] [-1.09094279e-02 -5.40718377e-05 9.99940489e-01 -3.40374524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14 meters 0.013365943506266414 Centerline is valid? [True, True] Translation: X:200.94, Y:87.11, Z:-3.41 [[ 6.90930709e-01 -7.22885666e-01 7.14619731e-03 2.00942243e+02] [ 7.22846634e-01 6.90967664e-01 7.51203035e-03 8.71052973e+01] [-1.03681303e-02 -2.46877829e-05 9.99946249e-01 -3.40541120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.2 meters 0.013374417468924472 Centerline is valid? [True, True] Translation: X:200.99, Y:87.14, Z:-3.41 [[ 6.88093613e-01 -7.25598223e-01 5.86501171e-03 2.00985827e+02] [ 7.25572010e-01 6.88118608e-01 6.16764228e-03 8.71440377e+01] [-8.51105397e-03 1.15730717e-05 9.99963780e-01 -3.40816716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26 meters 0.013594866928431919 Centerline is valid? [True, True] Translation: X:201.03, Y:87.18, Z:-3.41 [[ 6.85819105e-01 -7.27752004e-01 5.40145692e-03 2.01028921e+02] [ 7.27729804e-01 6.85840374e-01 5.68455117e-03 8.71830141e+01] [-7.84148075e-03 3.22273905e-05 9.99969255e-01 -3.40999244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32 meters 0.013783094189920566 Centerline is valid? [True, True] Translation: X:201.07, Y:87.22, Z:-3.41 [[ 6.83464662e-01 -7.29963062e-01 5.47574544e-03 2.01071229e+02] [ 7.29940316e-01 6.83486594e-01 5.76291089e-03 8.72236302e+01] [-7.94931068e-03 5.82214115e-05 9.99968402e-01 -3.41003608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38 meters 0.013829878939162259 Centerline is valid? [True, True] Translation: X:201.11, Y:87.27, Z:-3.41 [[ 6.81864585e-01 -7.31453697e-01 6.01480525e-03 2.01110968e+02] [ 7.31426277e-01 6.81891108e-01 6.33384491e-03 8.72669292e+01] [-8.73435649e-03 8.05620862e-05 9.99961852e-01 -3.41074155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44 meters 0.014103113075818631 Centerline is valid? [True, True] Translation: X:201.15, Y:87.31, Z:-3.41 [[ 6.80659378e-01 -7.32570620e-01 6.56488569e-03 2.01150830e+02] [ 7.32537960e-01 6.80691029e-01 6.91816199e-03 8.73092688e+01] [-9.53670101e-03 1.00116137e-04 9.99954520e-01 -3.41136699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.5 meters 0.014426437492814569 Centerline is valid? [True, True] Translation: X:201.19, Y:87.35, Z:-3.41 [[ 6.78943512e-01 -7.34145483e-01 8.13128208e-03 2.01190780e+02] [ 7.34095461e-01 6.78992185e-01 8.57124191e-03 8.73525752e+01] [-1.18136155e-02 1.49748189e-04 9.99930206e-01 -3.41092159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56 meters 0.01521179083220397 Centerline is valid? [True, True] Translation: X:201.23, Y:87.39, Z:-3.41 [[ 6.77821798e-01 -7.35178572e-01 8.37121671e-03 2.01230964e+02] [ 7.35125570e-01 6.77873468e-01 8.82940124e-03 8.73937778e+01] [-1.21658123e-02 1.69134834e-04 9.99925979e-01 -3.41149245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62 meters 0.014794109609358745 Centerline is valid? [True, True] Translation: X:201.27, Y:87.44, Z:-3.41 [[ 6.77166123e-01 -7.35784049e-01 8.23863862e-03 2.01269003e+02] [ 7.35732747e-01 6.77216215e-01 8.69034267e-03 8.74386135e+01] [-1.19735552e-02 1.76630567e-04 9.99928299e-01 -3.41271075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67999999999998 meters 0.014614109403153391 Centerline is valid? [True, True] Translation: X:201.31, Y:87.48, Z:-3.41 [[ 6.77754277e-01 -7.35248290e-01 7.68711996e-03 2.01306495e+02] [ 7.35203553e-01 6.77797852e-01 8.11217977e-03 8.74844766e+01] [-1.11747797e-02 1.53533373e-04 9.99937548e-01 -3.41426137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73999999999998 meters 0.014411823514472143 Centerline is valid? [True, True] Translation: X:201.34, Y:87.53, Z:-3.42 [[ 6.78102088e-01 -7.34930068e-01 7.43996258e-03 2.01344944e+02] [ 7.34888103e-01 6.78142887e-01 7.85501502e-03 8.75279055e+01] [-1.08182444e-02 1.41037892e-04 9.99941471e-01 -3.41512716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79999999999998 meters 0.014141317684817066 Centerline is valid? [True, True] Translation: X:201.38, Y:87.57, Z:-3.42 [[ 6.79433113e-01 -7.33703394e-01 7.06927945e-03 2.01382183e+02] [ 7.33665396e-01 6.79469880e-01 7.46792617e-03 8.75731804e+01] [-1.02826052e-02 1.12529384e-04 9.99947126e-01 -3.41649446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85999999999999 meters 0.014087216820114544 Centerline is valid? [True, True] Translation: X:201.42, Y:87.62, Z:-3.42 [[ 6.80031060e-01 -7.33146629e-01 7.33331911e-03 2.01420758e+02] [ 7.33105663e-01 6.80070591e-01 7.75095614e-03 8.76176555e+01] [-1.06697620e-02 1.05206850e-04 9.99943071e-01 -3.41833951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92 meters 0.013859180178666382 Centerline is valid? [True, True] Translation: X:201.46, Y:87.66, Z:-3.42 [[ 6.80969699e-01 -7.32272652e-01 7.55198438e-03 2.01459535e+02] [ 7.32229107e-01 6.81011568e-01 7.98626406e-03 8.76622765e+01] [-1.09911115e-02 9.13789391e-05 9.99939592e-01 -3.41908997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98 meters 0.013706248683095137 Centerline is valid? [True, True] Translation: X:201.50, Y:87.71, Z:-3.42 [[ 6.81657024e-01 -7.31636859e-01 7.15593377e-03 2.01498192e+02] [ 7.31597693e-01 6.81694580e-01 7.57067182e-03 8.77054361e+01] [-1.04171438e-02 7.46630055e-05 9.99945737e-01 -3.41997855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04 meters 0.013420732988937164 Centerline is valid? [True, True] Translation: X:201.54, Y:87.75, Z:-3.42 [[ 6.83177575e-01 -7.30227679e-01 5.99476334e-03 2.01535965e+02] [ 7.30200116e-01 6.83203875e-01 6.34478937e-03 8.77489776e+01] [-8.72878636e-03 4.27590676e-05 9.99961903e-01 -3.42251026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.1 meters 0.013404249331428255 Centerline is valid? [True, True] Translation: X:201.58, Y:87.79, Z:-3.42 [[ 6.83986893e-01 -7.29470416e-01 5.90274153e-03 2.01575075e+02] [ 7.29443634e-01 6.84012361e-01 6.25088394e-03 8.77917415e+01] [-8.59738309e-03 3.01945506e-05 9.99963041e-01 -3.42417511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16 meters 0.013367110754073317 Centerline is valid? [True, True] Translation: X:201.61, Y:87.83, Z:-3.43 [[ 6.84420920e-01 -7.29064165e-01 5.78334999e-03 2.01614380e+02] [ 7.29038405e-01 6.84445354e-01 6.12872036e-03 8.78333895e+01] [-8.42661743e-03 2.16598208e-05 9.99964495e-01 -3.42508030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22 meters 0.013379048573430207 Centerline is valid? [True, True] Translation: X:201.65, Y:87.87, Z:-3.42 [[ 6.84618393e-01 -7.28875922e-01 6.12749990e-03 2.01654937e+02] [ 7.28846981e-01 6.84645813e-01 6.49533349e-03 8.78747135e+01] [-8.92945934e-03 1.91850289e-05 9.99960131e-01 -3.42469960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28 meters 0.013309503925070128 Centerline is valid? [True, True] Translation: X:201.70, Y:87.92, Z:-3.43 [[ 6.84691778e-01 -7.28807531e-01 6.06227493e-03 2.01696120e+02] [ 7.28779168e-01 6.84718616e-01 6.42979816e-03 8.79162968e+01] [-8.83703782e-03 1.56297406e-05 9.99960952e-01 -3.42529259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34 meters 0.013328026030352082 Centerline is valid? [True, True] Translation: X:201.74, Y:87.96, Z:-3.43 [[ 6.85926087e-01 -7.27650811e-01 5.44988786e-03 2.01735805e+02] [ 7.27627830e-01 6.85947737e-01 5.78300810e-03 8.79590118e+01] [-7.94634877e-03 -1.22603669e-06 9.99968427e-01 -3.42778434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39999999999998 meters 0.013383399472106674 Centerline is valid? [True, True] Translation: X:201.78, Y:88.00, Z:-3.43 [[ 6.87136815e-01 -7.26511302e-01 4.93201822e-03 2.01776149e+02] [ 7.26492432e-01 6.87154515e-01 5.23632155e-03 8.80023061e+01] [-7.19330537e-03 -1.49954051e-05 9.99974128e-01 -3.42959697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45999999999998 meters 0.013553454514227136 Centerline is valid? [True, True] Translation: X:201.82, Y:88.04, Z:-3.43 [[ 6.89103902e-01 -7.24650773e-01 4.13145514e-03 2.01816672e+02] [ 7.24637490e-01 6.89116286e-01 4.38762569e-03 8.80448539e+01] [-6.02654937e-03 -2.97226971e-05 9.99981840e-01 -3.43082298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51999999999998 meters 0.013657669666360296 Centerline is valid? [True, True] Translation: X:201.86, Y:88.09, Z:-3.43 [[ 6.90011272e-01 -7.23788923e-01 3.74687670e-03 2.01857705e+02] [ 7.23777977e-01 6.90021445e-01 3.98071585e-03 8.80867274e+01] [-5.46662331e-03 -3.48319706e-05 9.99985057e-01 -3.43142024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57999999999998 meters 0.013755767826702967 Centerline is valid? [True, True] Translation: X:201.90, Y:88.13, Z:-3.43 [[ 6.90491069e-01 -7.23329297e-01 4.10029747e-03 2.01898209e+02] [ 7.23316167e-01 6.90503242e-01 4.35842074e-03 8.81286850e+01] [-5.98384210e-03 -4.36391466e-05 9.99982096e-01 -3.43188359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64 meters 0.013764610987724525 Centerline is valid? [True, True] Translation: X:201.94, Y:88.17, Z:-3.43 [[ 6.90885442e-01 -7.22953566e-01 3.93030234e-03 2.01940959e+02] [ 7.22941482e-01 6.90896619e-01 4.18029290e-03 8.81695047e+01] [-5.73759026e-03 -4.67249089e-05 9.99983539e-01 -3.43197091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.7 meters 0.013851182964339206 Centerline is valid? [True, True] Translation: X:201.98, Y:88.21, Z:-3.43 [[ 6.90479381e-01 -7.23337770e-01 4.54924793e-03 2.01982497e+02] [ 7.23321555e-01 6.90494365e-01 4.84363233e-03 8.82100498e+01] [-6.64481227e-03 -5.38591681e-05 9.99977922e-01 -3.43242027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76 meters 0.013612490250157148 Centerline is valid? [True, True] Translation: X:202.03, Y:88.25, Z:-3.43 [[ 6.90075253e-01 -7.23713240e-01 5.94067173e-03 2.02025244e+02] [ 7.23685597e-01 6.90100820e-01 6.32575830e-03 8.82503103e+01] [-8.67769747e-03 -6.60706984e-05 9.99962346e-01 -3.43075414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82 meters 0.01356973060756067 Centerline is valid? [True, True] Translation: X:202.07, Y:88.29, Z:-3.43 [[ 6.89662380e-01 -7.24097198e-01 7.00347597e-03 2.02065307e+02] [ 7.24058752e-01 6.89697935e-01 7.46198047e-03 8.82917866e+01] [-1.02334821e-02 -7.53191356e-05 9.99947634e-01 -3.43031776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88 meters 0.013372667073428093 Centerline is valid? [True, True] Translation: X:202.10, Y:88.34, Z:-3.43 [[ 6.88485413e-01 -7.25228739e-01 5.57778082e-03 2.02102875e+02] [ 7.25204373e-01 6.88508005e-01 5.94505645e-03 8.83364738e+01] [-8.15187255e-03 -4.80536040e-05 9.99966772e-01 -3.43372973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94 meters 0.01332086533065075 Centerline is valid? [True, True] Translation: X:202.14, Y:88.38, Z:-3.44 [[ 6.87791092e-01 -7.25893930e-01 4.62769376e-03 2.02140731e+02] [ 7.25877161e-01 6.87806660e-01 4.93424524e-03 8.83805321e+01] [-6.76469726e-03 -3.45927141e-05 9.99977119e-01 -3.43634697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.0 meters 0.013362613938280515 Centerline is valid? [True, True] Translation: X:202.18, Y:88.42, Z:-3.44 [[ 6.87550324e-01 -7.26124603e-01 4.19670272e-03 2.02180145e+02] [ 7.26110804e-01 6.87563131e-01 4.47673632e-03 8.84234318e+01] [-6.13616645e-03 -3.07103196e-05 9.99981173e-01 -3.43721188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06 meters 0.013539052337346626 Centerline is valid? [True, True] Translation: X:202.22, Y:88.47, Z:-3.44 [[ 6.87303120e-01 -7.26362843e-01 3.38255472e-03 2.02219291e+02] [ 7.26353867e-01 6.87311443e-01 3.61116658e-03 8.84654601e+01] [-4.94788579e-03 -2.50343533e-05 9.99987759e-01 -3.43862786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12 meters 0.013334748807223617 Centerline is valid? [True, True] Translation: X:202.26, Y:88.51, Z:-3.44 [[ 6.85709654e-01 -7.27869993e-01 2.74652429e-03 2.02258876e+02] [ 7.27864096e-01 6.85715154e-01 2.93010639e-03 8.85073853e+01] [-4.01606984e-03 -1.01058187e-05 9.99991936e-01 -3.44045915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17999999999998 meters 0.013369367106775646 Centerline is valid? [True, True] Translation: X:202.30, Y:88.55, Z:-3.44 [[ 6.82617922e-01 -7.30771312e-01 2.46217608e-03 2.02300030e+02] [ 7.30766588e-01 6.82622363e-01 2.62759470e-03 8.85488737e+01] [-3.60090728e-03 5.63277567e-06 9.99993517e-01 -3.44175098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23999999999998 meters 0.013695870514205342 Centerline is valid? [True, True] Translation: X:202.34, Y:88.59, Z:-3.44 [[ 6.76907691e-01 -7.36062790e-01 2.74698615e-03 2.02344771e+02] [ 7.36056931e-01 6.76913264e-01 2.93719331e-03 8.85870441e+01] [-4.02143006e-03 3.37294509e-05 9.99991913e-01 -3.44045041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29999999999998 meters 0.014534166302508044 Centerline is valid? [True, True] Translation: X:202.39, Y:88.63, Z:-3.44 [[ 6.73089024e-01 -7.39553949e-01 3.33509606e-03 2.02387767e+02] [ 7.39545349e-01 6.73097283e-01 3.56713042e-03 8.86264148e+01] [-4.88292949e-03 6.54584543e-05 9.99988076e-01 -3.44085882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35999999999999 meters 0.015237741216830983 Centerline is valid? [True, True] Translation: X:202.43, Y:88.67, Z:-3.44 [[ 6.70223553e-01 -7.42150237e-01 3.66268089e-03 2.02429275e+02] [ 7.42139898e-01 6.70233554e-01 3.91841320e-03 8.86674309e+01] [-5.36290292e-03 9.20088075e-05 9.99985615e-01 -3.44191675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42 meters 0.015751923933569154 Centerline is valid? [True, True] Translation: X:202.47, Y:88.71, Z:-3.44 [[ 6.66859905e-01 -7.45177227e-01 2.96084720e-03 2.02469292e+02] [ 7.45170503e-01 6.66866472e-01 3.16712269e-03 8.87101233e+01] [-4.33455743e-03 9.43088576e-05 9.99990601e-01 -3.44299405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48 meters 0.016595156392511183 Centerline is valid? [True, True] Translation: X:202.51, Y:88.75, Z:-3.44 [[ 6.64814313e-01 -7.47006186e-01 1.92032647e-03 2.02510826e+02] [ 7.47003372e-01 6.64817083e-01 2.05147332e-03 8.87515365e+01] [-2.80912910e-03 7.06415232e-05 9.99996052e-01 -3.44411337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54 meters 0.017555048692026894 Centerline is valid? [True, True] Translation: X:202.55, Y:88.79, Z:-3.44 [[ 6.61776033e-01 -7.49698595e-01 2.12133899e-03 2.02551835e+02] [ 7.49695169e-01 6.61779427e-01 2.26798282e-03 8.87939053e+01] [-3.10416203e-03 8.94609202e-05 9.99995178e-01 -3.44355403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.6 meters 0.01805215238139762 Centerline is valid? [True, True] Translation: X:202.59, Y:88.84, Z:-3.44 [[ 6.60848749e-01 -7.50511039e-01 3.48003683e-03 2.02591002e+02] [ 7.50501808e-01 6.60857895e-01 3.72544405e-03 8.88372525e+01] [-5.09579670e-03 1.49818894e-04 9.99987005e-01 -3.44323902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66 meters 0.0175940288682662 Centerline is valid? [True, True] Translation: X:202.63, Y:88.88, Z:-3.44 [[ 6.60663227e-01 -7.50671524e-01 4.04508190e-03 2.02628687e+02] [ 7.50659035e-01 6.60675588e-01 4.33374530e-03 8.88809813e+01] [-5.92570605e-03 1.73331118e-04 9.99982428e-01 -3.44278488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72 meters 0.017625062567584473 Centerline is valid? [True, True] Translation: X:202.67, Y:88.93, Z:-3.44 [[ 6.62989649e-01 -7.48610962e-01 5.13340501e-03 2.02665276e+02] [ 7.48590735e-01 6.63009495e-01 5.50653350e-03 8.89256194e+01] [-7.52574761e-03 1.92044712e-04 9.99971663e-01 -3.44303320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78 meters 0.015726686778190082 Centerline is valid? [True, True] Translation: X:202.70, Y:88.97, Z:-3.44 [[ 6.65950813e-01 -7.45977305e-01 5.23213823e-03 2.02700707e+02] [ 7.45956212e-01 6.65971345e-01 5.61216594e-03 8.89729232e+01] [-7.67100256e-03 1.65519547e-04 9.99970564e-01 -3.44261146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84 meters 0.014496357892571478 Centerline is valid? [True, True] Translation: X:202.73, Y:89.02, Z:-3.45 [[ 6.72357963e-01 -7.40214500e-01 4.15495293e-03 2.02732676e+02] [ 7.40201069e-01 6.72370797e-01 4.45971541e-03 8.90215553e+01] [-6.09481502e-03 7.69754262e-05 9.99981423e-01 -3.44567446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.89999999999998 meters 0.013839212504074683 Centerline is valid? [True, True] Translation: X:202.77, Y:89.07, Z:-3.45 [[ 6.77096885e-01 -7.35889362e-01 2.57983098e-03 2.02767822e+02] [ 7.35884162e-01 6.77101800e-01 2.76644938e-03 8.90694679e+01] [-3.78260887e-03 2.53024991e-05 9.99992846e-01 -3.44930728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95999999999998 meters 0.01370292455951956 Centerline is valid? [True, True] Translation: X:202.80, Y:89.12, Z:-3.45 [[ 6.82737483e-01 -7.30663508e-01 6.06546932e-04 2.02803560e+02] [ 7.30663219e-01 6.82737752e-01 6.49866205e-04 8.91158432e+01] [-8.88946010e-04 -5.06482828e-07 9.99999605e-01 -3.45306598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01999999999998 meters 0.013911705864305372 Centerline is valid? [True, True] Translation: X:202.84, Y:89.16, Z:-3.45 [[ 6.84892135e-01 -7.28644371e-01 3.80262585e-04 2.02843090e+02] [ 7.28644259e-01 6.84892240e-01 4.03350142e-04 8.91599532e+01] [-5.54337705e-04 8.24809843e-07 9.99999846e-01 -3.45348713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07999999999998 meters 0.014069034121157623 Centerline is valid? [True, True] Translation: X:202.88, Y:89.20, Z:-3.45 [[ 6.86673924e-01 -7.26959514e-01 2.96416065e-03 2.02882660e+02] [ 7.26952546e-01 6.86680321e-01 3.18315560e-03 8.92039566e+01] [-4.34945603e-03 -3.09858179e-05 9.99990541e-01 -3.45243382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14 meters 0.014104383011614213 Centerline is valid? [True, True] Translation: X:202.92, Y:89.25, Z:-3.45 [[ 6.87614224e-01 -7.26061276e-01 4.65851244e-03 2.02923072e+02] [ 7.26044008e-01 6.87630002e-01 5.00781195e-03 8.92459829e+01] [-6.83931125e-03 -6.11576844e-05 9.99976610e-01 -3.45051439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.2 meters 0.01431484110040377 Centerline is valid? [True, True] Translation: X:202.96, Y:89.29, Z:-3.45 [[ 6.88739740e-01 -7.24985261e-01 5.82607960e-03 2.02963879e+02] [ 7.24958170e-01 6.88764374e-01 6.26810445e-03 8.92876770e+01] [-8.55707941e-03 -9.34286234e-05 9.99963383e-01 -3.44923571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26 meters 0.014956541515221458 Centerline is valid? [True, True] Translation: X:203.00, Y:89.33, Z:-3.45 [[ 6.90298526e-01 -7.23501834e-01 5.74812563e-03 2.03003168e+02] [ 7.23475365e-01 6.90322449e-01 6.18972908e-03 8.93295915e+01] [-8.44634050e-03 -1.14133575e-04 9.99964323e-01 -3.45126213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32 meters 0.015093294748166935 Centerline is valid? [True, True] Translation: X:203.04, Y:89.37, Z:-3.45 [[ 6.91413612e-01 -7.22443818e-01 4.70593710e-03 2.03043966e+02] [ 7.22426063e-01 6.91429619e-01 5.06607637e-03 8.93722457e+01] [-6.91377986e-03 -1.03062555e-04 9.99976094e-01 -3.45313401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38 meters 0.015217069234856832 Centerline is valid? [True, True] Translation: X:203.09, Y:89.41, Z:-3.46 [[ 6.91586631e-01 -7.22291476e-01 1.71902188e-03 2.03085520e+02] [ 7.22289105e-01 6.91588767e-01 1.85095756e-03 8.94131339e+01] [-2.52578709e-03 -3.84667299e-05 9.99996809e-01 -3.45785790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44 meters 0.014722554264658587 Centerline is valid? [True, True] Translation: X:203.13, Y:89.45, Z:-3.46 [[ 6.89212619e-01 -7.24559152e-01 3.80104308e-05 2.03128826e+02] [ 7.24559151e-01 6.89212620e-01 3.45383577e-05 8.94523577e+01] [-5.12223519e-05 3.73653347e-06 9.99999999e-01 -3.46041269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.5 meters 0.013962951648062164 Centerline is valid? [True, True] Translation: X:203.18, Y:89.49, Z:-3.46 [[ 6.80975650e-01 -7.32305827e-01 -5.83244102e-04 2.03179324e+02] [ 7.32305554e-01 6.80975899e-01 -6.32029729e-04 8.94865780e+01] [ 8.60014230e-04 3.28395966e-06 9.99999630e-01 -3.46054670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56 meters 0.014392150515105742 Centerline is valid? [True, True] Translation: X:203.23, Y:89.52, Z:-3.46 [[ 6.73168062e-01 -7.39488336e-01 1.32756854e-03 2.03227021e+02] [ 7.39486960e-01 6.73169370e-01 1.42673925e-03 8.95223105e+01] [-1.94873552e-03 2.12843275e-05 9.99998101e-01 -3.45850635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62 meters 0.015101416933359046 Centerline is valid? [True, True] Translation: X:203.27, Y:89.56, Z:-3.46 [[ 6.67939693e-01 -7.44200203e-01 4.75656350e-03 2.03270337e+02] [ 7.44182520e-01 6.67956619e-01 5.13139952e-03 8.95625717e+01] [-6.99596664e-03 1.12285999e-04 9.99975522e-01 -3.45513235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67999999999998 meters 0.016871886246989615 Centerline is valid? [True, True] Translation: X:203.31, Y:89.60, Z:-3.45 [[ 6.61355182e-01 -7.50043612e-01 6.62593215e-03 2.03312772e+02] [ 7.50009533e-01 6.61388330e-01 7.15383964e-03 8.96031143e+01] [-9.74800592e-03 2.38283365e-04 9.99952459e-01 -3.45366990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73999999999998 meters 0.01834484878007558 Centerline is valid? [True, True] Translation: X:203.35, Y:89.64, Z:-3.45 [[ 6.56807116e-01 -7.54034176e-01 6.07244317e-03 2.03353736e+02] [ 7.54005698e-01 6.56835130e-01 6.55892575e-03 8.96447175e+01] [-8.93424817e-03 2.70707643e-04 9.99960052e-01 -3.45468520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79999999999998 meters 0.020115103071496377 Centerline is valid? [True, True] Translation: X:203.39, Y:89.69, Z:-3.46 [[ 6.50628057e-01 -7.59382344e-01 4.64627806e-03 2.03392614e+02] [ 7.59365797e-01 6.50644594e-01 5.01985442e-03 8.96890129e+01] [-6.83506451e-03 2.62166518e-04 9.99976606e-01 -3.45774021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85999999999999 meters 0.0221141702505284 Centerline is valid? [True, True] Translation: X:203.43, Y:89.73, Z:-3.46 [[ 6.47533433e-01 -7.62030006e-01 3.27469666e-03 2.03429755e+02] [ 7.62021813e-01 6.47541681e-01 3.53942038e-03 8.97326507e+01] [-4.81764711e-03 2.03497253e-04 9.99988374e-01 -3.46022104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92 meters 0.02183112181016517 Centerline is valid? [True, True] Translation: X:203.47, Y:89.78, Z:-3.46 [[ 6.45460393e-01 -7.63786889e-01 3.23570334e-03 2.03465439e+02] [ 7.63778911e-01 6.45468468e-01 3.49740142e-03 8.97802140e+01] [-4.75981383e-03 2.13927877e-04 9.99988649e-01 -3.46051695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98 meters 0.021581637155435034 Centerline is valid? [True, True] Translation: X:203.50, Y:89.83, Z:-3.46 [[ 6.45540919e-01 -7.63717509e-01 3.53379906e-03 2.03499826e+02] [ 7.63707981e-01 6.45550550e-01 3.82191521e-03 8.98292145e+01] [-5.20010949e-03 2.31587891e-04 9.99986453e-01 -3.46001492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04 meters 0.021383368498338644 Centerline is valid? [True, True] Translation: X:203.53, Y:89.88, Z:-3.46 [[ 6.47526362e-01 -7.62028949e-01 4.63590257e-03 2.03534823e+02] [ 7.62012480e-01 6.47542895e-01 5.01789566e-03 8.98766185e+01] [-6.82572753e-03 2.83395897e-04 9.99976664e-01 -3.46039253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.1 meters 0.017565280538982406 Centerline is valid? [True, True] Translation: X:203.56, Y:89.93, Z:-3.46 [[ 6.55291064e-01 -7.55350605e-01 6.25176521e-03 2.03562000e+02] [ 7.55320295e-01 6.55320824e-01 6.77276214e-03 8.99317193e+01] [-9.21272191e-03 2.83954637e-04 9.99957522e-01 -3.46041921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16 meters 0.01631410137895713 Centerline is valid? [True, True] Translation: X:203.59, Y:89.98, Z:-3.46 [[ 6.62201715e-01 -7.49298262e-01 6.40331812e-03 2.03594586e+02] [ 7.49266137e-01 6.62232643e-01 6.94131048e-03 8.99803833e+01] [-9.44159817e-03 2.01241726e-04 9.99955407e-01 -3.46147291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22 meters 0.013691382658949865 Centerline is valid? [True, True] Translation: X:203.62, Y:90.03, Z:-3.46 [[ 6.72839653e-01 -7.39769517e-01 5.27860161e-03 2.03622328e+02] [ 7.39747385e-01 6.72860357e-01 5.72255806e-03 9.00342668e+01] [-7.78513577e-03 5.44677537e-05 9.99969694e-01 -3.46397808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28 meters 0.013336876254113311 Centerline is valid? [True, True] Translation: X:203.65, Y:90.08, Z:-3.47 [[ 6.79260197e-01 -7.33882700e-01 4.66546624e-03 2.03654048e+02] [ 7.33865261e-01 6.79276219e-01 5.05924515e-03 9.00840328e+01] [-6.88203276e-03 -1.27202501e-05 9.99976318e-01 -3.46655019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34 meters 0.014191347696926124 Centerline is valid? [True, True] Translation: X:203.68, Y:90.13, Z:-3.47 [[ 6.85630583e-01 -7.27943637e-01 2.96036707e-03 2.03684643e+02] [ 7.27936551e-01 6.85636973e-01 3.21236866e-03 9.01341299e+01] [-4.36816044e-03 -4.75388051e-05 9.99990458e-01 -3.47097011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39999999999998 meters 0.014165620025882253 Centerline is valid? [True, True] Translation: X:203.72, Y:90.18, Z:-3.47 [[ 6.86559680e-01 -7.27067878e-01 2.84707180e-03 2.03723493e+02] [ 7.27061324e-01 6.86565582e-01 3.08765369e-03 9.01783847e+01] [-4.19963532e-03 -4.98627413e-05 9.99991180e-01 -3.47180961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45999999999998 meters 0.014264006665116444 Centerline is valid? [True, True] Translation: X:203.76, Y:90.22, Z:-3.47 [[ 6.85769722e-01 -7.27811618e-01 3.18391087e-03 2.03763162e+02] [ 7.27803410e-01 6.85777111e-01 3.45700818e-03 9.02207736e+01] [-4.69950391e-03 -5.34503499e-05 9.99988956e-01 -3.47277161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51999999999998 meters 0.013592372858300103 Centerline is valid? [True, True] Translation: X:203.81, Y:90.26, Z:-3.47 [[ 6.82638939e-01 -7.30742307e-01 4.44516688e-03 2.03805991e+02] [ 7.30726360e-01 6.82653410e-01 4.82789695e-03 9.02609572e+01] [-6.56245689e-03 -4.75098341e-05 9.99978466e-01 -3.47175326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57999999999998 meters 0.013447471633588993 Centerline is valid? [True, True] Translation: X:203.85, Y:90.30, Z:-3.47 [[ 6.81445404e-01 -7.31856186e-01 4.32258896e-03 2.03846522e+02] [ 7.31841117e-01 6.81459112e-01 4.69653941e-03 9.03030619e+01] [-6.38285905e-03 -3.69868627e-05 9.99979629e-01 -3.47259250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64 meters 0.013318496738336245 Centerline is valid? [True, True] Translation: X:203.89, Y:90.34, Z:-3.47 [[ 6.78912475e-01 -7.34209659e-01 3.74539358e-03 2.03888283e+02] [ 7.34198373e-01 6.78922806e-01 4.07092675e-03 9.03433442e+01] [-5.53174686e-03 -1.39410808e-05 9.99984700e-01 -3.47463499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.7 meters 0.013425766033025787 Centerline is valid? [True, True] Translation: X:203.93, Y:90.38, Z:-3.48 [[ 6.75937552e-01 -7.36956003e-01 2.06770404e-03 2.03931992e+02] [ 7.36952570e-01 6.75940715e-01 2.24941662e-03 9.03816649e+01] [-3.05536643e-03 3.33464750e-06 9.99995332e-01 -3.47772018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76 meters 0.013610354440274303 Centerline is valid? [True, True] Translation: X:203.98, Y:90.42, Z:-3.48 [[ 6.71985720e-01 -7.40561839e-01 1.83141349e-03 2.03976829e+02] [ 7.40559167e-01 6.71988216e-01 1.98946950e-03 9.04204867e+01] [-2.70401348e-03 1.93749484e-05 9.99996344e-01 -3.47731989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82 meters 0.014203931294317268 Centerline is valid? [True, True] Translation: X:204.02, Y:90.46, Z:-3.48 [[ 6.67866668e-01 -7.44278500e-01 1.90496032e-03 2.04021453e+02] [ 7.44275620e-01 6.67869384e-01 2.07071351e-03 9.04590727e+01] [-2.81345222e-03 3.48549931e-05 9.99996042e-01 -3.47730930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88 meters 0.015395231783113123 Centerline is valid? [True, True] Translation: X:204.07, Y:90.50, Z:-3.48 [[ 6.63000924e-01 -7.48613452e-01 2.77031637e-03 2.04066863e+02] [ 7.48607382e-01 6.63006708e-01 3.01547531e-03 9.04972806e+01] [-4.09416372e-03 7.46163689e-05 9.99991616e-01 -3.47644745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94 meters 0.01735423756591949 Centerline is valid? [True, True] Translation: X:204.11, Y:90.53, Z:-3.47 [[ 6.54941271e-01 -7.55660810e-01 5.35461793e-03 2.04114105e+02] [ 7.55638303e-01 6.54963121e-01 5.83643761e-03 9.05340880e+01] [-7.91744445e-03 2.23630539e-04 9.99968632e-01 -3.47301316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.0 meters 0.01831131647617037 Centerline is valid? [True, True] Translation: X:204.16, Y:90.57, Z:-3.47 [[ 6.50801290e-01 -7.59217043e-01 6.86755405e-03 2.04156507e+02] [ 7.59180160e-01 6.50837435e-01 7.49116723e-03 9.05746657e+01] [-1.01570831e-02 3.38449487e-04 9.99948358e-01 -3.47204446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06 meters 0.01951894104883222 Centerline is valid? [True, True] Translation: X:204.20, Y:90.62, Z:-3.47 [[ 6.49034806e-01 -7.60716083e-01 8.05361179e-03 2.04197684e+02] [ 7.60665404e-01 6.49084635e-01 8.79089895e-03 9.06158044e+01] [-1.19148539e-02 4.20504463e-04 9.99928927e-01 -3.47196264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12 meters 0.018472002824129086 Centerline is valid? [True, True] Translation: X:204.24, Y:90.66, Z:-3.47 [[ 6.50297404e-01 -7.59638756e-01 7.88972130e-03 2.04235613e+02] [ 7.59590031e-01 6.50345144e-01 8.61267367e-03 9.06612323e+01] [-1.16735626e-02 3.92154319e-04 9.99931785e-01 -3.47385618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17999999999998 meters 0.017647726495563537 Centerline is valid? [True, True] Translation: X:204.27, Y:90.71, Z:-3.48 [[ 6.52920842e-01 -7.57398278e-01 6.49794962e-03 2.04272860e+02] [ 7.57365091e-01 6.52953111e-01 7.09595626e-03 9.07066828e+01] [-9.61732148e-03 2.88222473e-04 9.99953711e-01 -3.47664653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23999999999998 meters 0.016213547394367082 Centerline is valid? [True, True] Translation: X:204.31, Y:90.75, Z:-3.48 [[ 6.58434824e-01 -7.52621802e-01 4.89962087e-03 2.04307657e+02] [ 7.52602791e-01 6.58453033e-01 5.35183221e-03 9.07549126e+01] [-7.25407582e-03 1.63635644e-04 9.99973675e-01 -3.48063200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29999999999998 meters 0.014494007706593167 Centerline is valid? [True, True] Translation: X:204.34, Y:90.80, Z:-3.48 [[ 6.63814106e-01 -7.47884667e-01 4.39972803e-03 2.04341757e+02] [ 7.47869211e-01 6.63828679e-01 4.80924352e-03 9.08040082e+01] [-6.51742513e-03 9.79774458e-05 9.99978757e-01 -3.48241186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35999999999999 meters 0.013935146435284646 Centerline is valid? [True, True] Translation: X:204.38, Y:90.85, Z:-3.48 [[ 6.66180218e-01 -7.45774815e-01 4.88289135e-03 2.04378799e+02] [ 7.45755719e-01 6.66198107e-01 5.33751107e-03 9.08498642e+01] [-7.23355430e-03 8.56998623e-05 9.99973834e-01 -3.48314720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42 meters 0.013883892262955059 Centerline is valid? [True, True] Translation: X:204.42, Y:90.89, Z:-3.48 [[ 6.67015114e-01 -7.45018662e-01 6.16693944e-03 2.04417546e+02] [ 7.44988111e-01 6.67043615e-01 6.74760788e-03 9.08933807e+01] [-9.14071137e-03 9.35401230e-05 9.99958218e-01 -3.48307109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48 meters 0.013819635177743225 Centerline is valid? [True, True] Translation: X:204.46, Y:90.94, Z:-3.48 [[ 6.66778997e-01 -7.45212538e-01 8.00260639e-03 2.04457785e+02] [ 7.45161088e-01 6.66827007e-01 8.75755397e-03 9.09370752e+01] [-1.18625931e-02 1.23877832e-04 9.99929629e-01 -3.48212027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54 meters 0.013791488666574626 Centerline is valid? [True, True] Translation: X:204.50, Y:90.98, Z:-3.48 [[ 6.67225133e-01 -7.44811962e-01 8.10950288e-03 2.04496696e+02] [ 7.44759045e-01 6.67274403e-01 8.87894644e-03 9.09797420e+01] [-1.20244092e-02 1.15369406e-04 9.99927698e-01 -3.48346111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.6 meters 0.013635166083591796 Centerline is valid? [True, True] Translation: X:204.54, Y:91.02, Z:-3.49 [[ 6.70450806e-01 -7.41927495e-01 6.26968812e-03 2.04535330e+02] [ 7.41895712e-01 6.70480120e-01 6.86742389e-03 9.10236776e+01] [-9.29883184e-03 4.71848471e-05 9.99956764e-01 -3.48739514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66 meters 0.013685978663665183 Centerline is valid? [True, True] Translation: X:204.57, Y:91.07, Z:-3.49 [[ 6.73818819e-01 -7.38884734e-01 4.18912038e-03 2.04572938e+02] [ 7.38870474e-01 6.73831841e-01 4.59057307e-03 9.10671080e+01] [-6.21466705e-03 2.00283460e-06 9.99980689e-01 -3.49134638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72 meters 0.013930557736581705 Centerline is valid? [True, True] Translation: X:204.61, Y:91.11, Z:-3.49 [[ 6.77485731e-01 -7.35532996e-01 2.07264013e-03 2.04611816e+02] [ 7.35529499e-01 6.77488901e-01 2.26823294e-03 9.11112969e+01] [-3.07255085e-03 -1.22074973e-05 9.99995280e-01 -3.49411568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78 meters 0.014551014448659532 Centerline is valid? [True, True] Translation: X:204.65, Y:91.15, Z:-3.50 [[ 6.81734499e-01 -7.31599260e-01 7.71660779e-04 2.04652422e+02] [ 7.31598772e-01 6.81734936e-01 8.44690470e-04 9.11532380e+01] [-1.14404303e-03 -1.13085557e-05 9.99999346e-01 -3.49506750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84 meters 0.014812887948021483 Centerline is valid? [True, True] Translation: X:204.69, Y:91.19, Z:-3.49 [[ 6.82880924e-01 -7.30529267e-01 7.95859110e-04 2.04694758e+02] [ 7.30528752e-01 6.82881388e-01 8.68012842e-04 9.11949443e+01] [-1.17758616e-03 -1.13514498e-05 9.99999307e-01 -3.49445754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.89999999999998 meters 0.015097979165835822 Centerline is valid? [True, True] Translation: X:204.74, Y:91.23, Z:-3.49 [[ 6.83543422e-01 -7.29905688e-01 2.46516987e-03 2.04739021e+02] [ 7.29900688e-01 6.83547865e-01 2.70204630e-03 9.12340241e+01] [-3.65730056e-03 -4.76367926e-05 9.99993311e-01 -3.49251683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95999999999998 meters 0.01527251813675238 Centerline is valid? [True, True] Translation: X:204.78, Y:91.27, Z:-3.49 [[ 6.83644904e-01 -7.29808956e-01 2.92122010e-03 2.04782129e+02] [ 7.29801925e-01 6.83651142e-01 3.20402229e-03 9.12739589e+01] [-4.33541962e-03 -5.85014620e-05 9.99990600e-01 -3.49158346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01999999999998 meters 0.015634463185807478 Centerline is valid? [True, True] Translation: X:204.83, Y:91.31, Z:-3.49 [[ 6.85220295e-01 -7.28329563e-01 3.03242694e-03 2.04825527e+02] [ 7.28321960e-01 6.85227001e-01 3.32864106e-03 9.13136060e+01] [-4.50224851e-03 -7.22692819e-05 9.99989862e-01 -3.49089697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07999999999998 meters 0.01604032476502402 Centerline is valid? [True, True] Translation: X:204.87, Y:91.36, Z:-3.49 [[ 6.86749600e-01 -7.26891139e-01 2.06395048e-03 2.04867085e+02] [ 7.26887612e-01 6.86752699e-01 2.26488111e-03 9.13557335e+01] [-3.06374557e-03 -5.51461649e-05 9.99995305e-01 -3.49209605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14 meters 0.015933460120509352 Centerline is valid? [True, True] Translation: X:204.91, Y:91.39, Z:-3.50 [[ 6.85440235e-01 -7.28128887e-01 -9.04313560e-05 2.04911196e+02] [ 7.28128880e-01 6.85440240e-01 -1.05212502e-04 9.13947018e+01] [ 1.38593552e-04 6.27119983e-06 9.99999990e-01 -3.49507549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.2 meters 0.015448926849510948 Centerline is valid? [True, True] Translation: X:204.95, Y:91.43, Z:-3.50 [[ 6.82613908e-01 -7.30778338e-01 -1.12812433e-03 2.04954959e+02] [ 7.30777273e-01 6.82614840e-01 -1.24794932e-03 9.14344442e+01] [ 1.68204874e-03 2.74599388e-05 9.99998585e-01 -3.49708031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26 meters 0.014888367510557594 Centerline is valid? [True, True] Translation: X:205.00, Y:91.48, Z:-3.50 [[ 6.79139203e-01 -7.34009367e-01 -4.38621781e-04 2.04997925e+02] [ 7.34009204e-01 6.79139345e-01 -4.88876026e-04 9.14754613e+01] [ 6.56724891e-04 1.00624504e-05 9.99999784e-01 -3.49638405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32 meters 0.014484155071655189 Centerline is valid? [True, True] Translation: X:205.04, Y:91.52, Z:-3.50 [[ 6.76627921e-01 -7.36324637e-01 8.27852559e-04 2.05037907e+02] [ 7.36324079e-01 6.76628427e-01 9.06933568e-04 9.15188363e+01] [-1.22794611e-03 -4.08880164e-06 9.99999246e-01 -3.49544539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38 meters 0.014212896415121492 Centerline is valid? [True, True] Translation: X:205.08, Y:91.56, Z:-3.50 [[ 6.72877267e-01 -7.39752016e-01 1.77183402e-03 2.05078259e+02] [ 7.39749449e-01 6.72879600e-01 1.94857917e-03 9.15611020e+01] [-2.63369634e-03 -4.41382685e-07 9.99996532e-01 -3.49543417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44 meters 0.014170589679299888 Centerline is valid? [True, True] Translation: X:205.12, Y:91.60, Z:-3.49 [[ 6.70432788e-01 -7.41965890e-01 2.54869542e-03 2.05119055e+02] [ 7.41960581e-01 6.70437632e-01 2.80672605e-03 9.16033394e+01] [-3.79123631e-03 9.31035934e-06 9.99992813e-01 -3.49494905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.5 meters 0.01511859108168071 Centerline is valid? [True, True] Translation: X:205.16, Y:91.64, Z:-3.49 [[ 6.61949253e-01 -7.49542430e-01 3.05504779e-03 2.05164757e+02] [ 7.49534860e-01 6.61956300e-01 3.36902738e-03 9.16399834e+01] [-4.54753709e-03 5.97396631e-05 9.99989658e-01 -3.49441643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56 meters 0.017042914062609413 Centerline is valid? [True, True] Translation: X:205.21, Y:91.68, Z:-3.50 [[ 6.53710711e-01 -7.56740218e-01 2.55931984e-03 2.05205486e+02] [ 7.56734967e-01 6.53715714e-01 2.82040639e-03 9.16822872e+01] [-3.80738254e-03 9.29969482e-05 9.99992748e-01 -3.49603360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62 meters 0.01902493835854476 Centerline is valid? [True, True] Translation: X:205.25, Y:91.72, Z:-3.50 [[ 6.47917563e-01 -7.61707748e-01 2.03428050e-03 2.05245854e+02] [ 7.61704449e-01 6.47920749e-01 2.24392444e-03 9.17242159e+01] [-3.02726718e-03 9.56424539e-05 9.99995413e-01 -3.49768331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67999999999998 meters 0.020144114133335646 Centerline is valid? [True, True] Translation: X:205.29, Y:91.77, Z:-3.50 [[ 6.42257322e-01 -7.66486650e-01 1.93598744e-03 2.05286085e+02] [ 7.66483688e-01 6.42260230e-01 2.13383126e-03 9.17672439e+01] [-2.87896091e-03 1.13434042e-04 9.99995849e-01 -3.49792505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73999999999998 meters 0.02631368055761364 Centerline is valid? [True, True] Translation: X:205.33, Y:91.80, Z:-3.50 [[ 6.37223074e-01 -7.70677160e-01 1.86264575e-03 2.05330061e+02] [ 7.70674429e-01 6.37225784e-01 2.05546310e-03 9.18045880e+01] [-2.77102437e-03 1.25704937e-04 9.99996153e-01 -3.50027939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79999999999998 meters 0.021942207304019943 Centerline is valid? [True, True] Translation: X:205.36, Y:91.85, Z:-3.50 [[ 6.38423386e-01 -7.69683915e-01 1.50063621e-03 2.05362016e+02] [ 7.69682143e-01 6.38425142e-01 1.65443607e-03 9.18548542e+01] [-2.23143672e-03 9.87822220e-05 9.99997505e-01 -3.50050667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85999999999999 meters 0.019303806203205667 Centerline is valid? [True, True] Translation: X:205.40, Y:91.90, Z:-3.50 [[ 6.43188843e-01 -7.65706575e-01 1.24597451e-03 2.05395072e+02] [ 7.65705347e-01 6.43190046e-01 1.37316632e-03 9.19037484e+01] [-1.85284088e-03 7.08440931e-05 9.99998281e-01 -3.50129384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92 meters 0.015996950881563218 Centerline is valid? [True, True] Translation: X:205.43, Y:91.96, Z:-3.50 [[ 6.54748611e-01 -7.55843651e-01 2.15213038e-03 2.05425378e+02] [ 7.55839915e-01 6.54752144e-01 2.37742679e-03 9.19554693e+01] [-3.20607492e-03 7.00491557e-05 9.99994858e-01 -3.50118481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98 meters 0.014067846402733177 Centerline is valid? [True, True] Translation: X:205.46, Y:92.01, Z:-3.50 [[ 6.63429496e-01 -7.48235195e-01 2.32314383e-03 2.05457429e+02] [ 7.48230788e-01 6.63433563e-01 2.56809956e-03 9.20062245e+01] [-3.46279407e-03 3.44947431e-05 9.99994004e-01 -3.50231414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04 meters 0.013856201149594951 Centerline is valid? [True, True] Translation: X:205.49, Y:92.06, Z:-3.50 [[ 6.75367631e-01 -7.37477306e-01 2.40554194e-03 2.05487046e+02] [ 7.37472507e-01 6.75371914e-01 2.66075435e-03 9.20588472e+01] [-3.58688142e-03 -2.29663143e-05 9.99993567e-01 -3.50396379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.1 meters 0.01493958969958945 Centerline is valid? [True, True] Translation: X:205.52, Y:92.11, Z:-3.50 [[ 6.81107694e-01 -7.32176423e-01 3.16151885e-03 2.05522087e+02] [ 7.32168058e-01 6.81115028e-01 3.50046743e-03 9.21064994e+01] [-4.71631772e-03 -6.94321856e-05 9.99988876e-01 -3.50446366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16 meters 0.01636723280207984 Centerline is valid? [True, True] Translation: X:205.56, Y:92.15, Z:-3.51 [[ 6.85569738e-01 -7.27998752e-01 3.45709726e-03 2.05558175e+02] [ 7.27988681e-01 6.85578446e-01 3.83072510e-03 9.21529888e+01] [-5.15887446e-03 -1.09501527e-04 9.99986687e-01 -3.50527038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22 meters 0.016958957923660232 Centerline is valid? [True, True] Translation: X:205.60, Y:92.20, Z:-3.51 [[ 6.87150805e-01 -7.26506155e-01 3.54640445e-03 2.05597042e+02] [ 7.26495531e-01 6.87159946e-01 3.93103767e-03 9.21973001e+01] [-5.29287015e-03 -1.24768719e-04 9.99985985e-01 -3.50670033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28 meters 0.01760199701274222 Centerline is valid? [True, True] Translation: X:205.64, Y:92.24, Z:-3.51 [[ 6.87856465e-01 -7.25840476e-01 3.01439397e-03 2.05636799e+02] [ 7.25832778e-01 6.87863061e-01 3.34477057e-03 9.22400316e+01] [-4.50126012e-03 -1.12776112e-04 9.99989863e-01 -3.50872516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34 meters 0.01722021535828555 Centerline is valid? [True, True] Translation: X:205.68, Y:92.28, Z:-3.51 [[ 6.87022194e-01 -7.26632071e-01 2.51735294e-03 2.05678898e+02] [ 7.26626718e-01 6.87026801e-01 2.79066464e-03 9.22815924e+01] [-3.75727536e-03 -8.80726388e-05 9.99992938e-01 -3.51008640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39999999999998 meters 0.016872600466602928 Centerline is valid? [True, True] Translation: X:205.72, Y:92.32, Z:-3.51 [[ 6.85279044e-01 -7.28278471e-01 1.76066221e-03 2.05721870e+02] [ 7.28275859e-01 6.85281304e-01 1.95116310e-03 9.23223771e+01] [-2.62753898e-03 -5.48434016e-05 9.99996547e-01 -3.51132873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45999999999998 meters 0.016067751126564323 Centerline is valid? [True, True] Translation: X:205.77, Y:92.36, Z:-3.51 [[ 6.82068415e-01 -7.31288362e-01 9.58650603e-05 2.05767310e+02] [ 7.31288355e-01 6.82068421e-01 1.01011457e-04 9.23604656e+01] [-1.39255033e-04 1.20827791e-06 9.99999990e-01 -3.51350378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51999999999998 meters 0.014940426929949796 Centerline is valid? [True, True] Translation: X:205.81, Y:92.40, Z:-3.51 [[ 6.78176423e-01 -7.34899055e-01 -3.45022832e-04 2.05814061e+02] [ 7.34898951e-01 6.78176511e-01 -3.89524466e-04 9.23976360e+01] [ 5.20247542e-04 1.06093917e-05 9.99999865e-01 -3.51387427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57999999999998 meters 0.01450651981928881 Centerline is valid? [True, True] Translation: X:205.86, Y:92.44, Z:-3.51 [[ 6.74939948e-01 -7.37872662e-01 -1.48479905e-05 2.05858439e+02] [ 7.37872662e-01 6.74939949e-01 -2.21171175e-05 9.24373271e+01] [ 2.63411182e-05 3.97179989e-06 1.00000000e+00 -3.51428695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64 meters 0.014316337523658932 Centerline is valid? [True, True] Translation: X:205.90, Y:92.48, Z:-3.51 [[ 6.71732466e-01 -7.40793408e-01 7.87802334e-04 2.05902031e+02] [ 7.40792891e-01 6.71732928e-01 8.75060688e-04 9.24763455e+01] [-1.17743196e-03 -4.20830475e-06 9.99999307e-01 -3.51481365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.7 meters 0.01395890986738787 Centerline is valid? [True, True] Translation: X:205.95, Y:92.51, Z:-3.51 [[ 6.67627554e-01 -7.44491475e-01 2.42763254e-03 2.05947654e+02] [ 7.44486584e-01 6.67631968e-01 2.69844917e-03 9.25145332e+01] [-3.62973749e-03 5.78083793e-06 9.99993412e-01 -3.51227096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76 meters 0.013925478749137762 Centerline is valid? [True, True] Translation: X:205.99, Y:92.56, Z:-3.51 [[ 6.66220997e-01 -7.45743883e-01 3.95512524e-03 2.05988301e+02] [ 7.45730894e-01 6.66232737e-01 4.40154822e-03 9.25559351e+01] [-5.91746158e-03 1.70552338e-05 9.99982492e-01 -3.51167029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82 meters 0.013835229514773324 Centerline is valid? [True, True] Translation: X:206.03, Y:92.60, Z:-3.51 [[ 6.66994847e-01 -7.45042567e-01 5.42654397e-03 2.06026000e+02] [ 7.45018046e-01 6.67016921e-01 6.04469277e-03 9.26010694e+01] [-8.12315007e-03 1.10942587e-05 9.99967007e-01 -3.51071023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88 meters 0.013942751612220403 Centerline is valid? [True, True] Translation: X:206.06, Y:92.65, Z:-3.51 [[ 6.68644923e-01 -7.43567409e-01 4.63407255e-03 2.06063986e+02] [ 7.43549479e-01 6.68660982e-01 5.16374262e-03 9.26466374e+01] [-6.93821422e-03 -7.04805666e-06 9.99975930e-01 -3.51254105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94 meters 0.01412209087907725 Centerline is valid? [True, True] Translation: X:206.10, Y:92.69, Z:-3.52 [[ 6.71097907e-01 -7.41360190e-01 3.55921180e-03 2.06101142e+02] [ 7.41349578e-01 6.71107344e-01 3.96673010e-03 9.26924925e+01] [-5.32938897e-03 -2.34440979e-05 9.99985798e-01 -3.51537375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.0 meters 0.014580217880562291 Centerline is valid? [True, True] Translation: X:206.14, Y:92.74, Z:-3.52 [[ 6.75033926e-01 -7.37782336e-01 2.53441812e-03 2.06136970e+02] [ 7.37776931e-01 6.75038683e-01 2.82433640e-03 9.27392575e+01] [-3.79457578e-03 -3.66876666e-05 9.99992800e-01 -3.51703607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06 meters 0.015001626209952715 Centerline is valid? [True, True] Translation: X:206.17, Y:92.79, Z:-3.52 [[ 6.76998125e-01 -7.35979587e-01 2.75446271e-03 2.06173962e+02] [ 7.35973179e-01 6.77003726e-01 3.07157633e-03 9.27852646e+01] [-4.12539899e-03 -5.22407368e-05 9.99991489e-01 -3.51764703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12 meters 0.015460087185787915 Centerline is valid? [True, True] Translation: X:206.21, Y:92.83, Z:-3.52 [[ 6.78416012e-01 -7.34669375e-01 3.55307698e-03 2.06210544e+02] [ 7.34658663e-01 6.78425311e-01 3.96819575e-03 9.28301824e+01] [-5.32580925e-03 -8.17887552e-05 9.99985814e-01 -3.51712175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17999999999998 meters 0.015330386406600971 Centerline is valid? [True, True] Translation: X:206.25, Y:92.87, Z:-3.52 [[ 6.77865864e-01 -7.35172060e-01 4.46239029e-03 2.06250222e+02] [ 7.35155169e-01 6.77880544e-01 4.98450370e-03 9.28743127e+01] [-6.68943541e-03 -9.82756186e-05 9.99977621e-01 -3.51722448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23999999999998 meters 0.014654421800742291 Centerline is valid? [True, True] Translation: X:206.29, Y:92.92, Z:-3.52 [[ 6.76209463e-01 -7.36694447e-01 4.69611901e-03 2.06292035e+02] [ 7.36675775e-01 6.76225764e-01 5.24587359e-03 9.29157919e+01] [-7.04024261e-03 -8.77922491e-05 9.99975213e-01 -3.51701024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29999999999998 meters 0.014377739891522676 Centerline is valid? [True, True] Translation: X:206.33, Y:92.96, Z:-3.52 [[ 6.75590371e-01 -7.37262887e-01 4.59193430e-03 2.06332049e+02] [ 7.37245033e-01 6.75605972e-01 5.13148987e-03 9.29576040e+01] [-6.88559527e-03 -8.14043922e-05 9.99976291e-01 -3.51712999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35999999999999 meters 0.014702407205579115 Centerline is valid? [True, True] Translation: X:206.37, Y:93.00, Z:-3.52 [[ 6.75268837e-01 -7.37557790e-01 4.52812372e-03 2.06369316e+02] [ 7.37540408e-01 6.75284014e-01 5.06424538e-03 9.30003448e+01] [-6.79294320e-03 -8.00528670e-05 9.99976924e-01 -3.51876901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42 meters 0.014366841325934389 Centerline is valid? [True, True] Translation: X:206.41, Y:93.04, Z:-3.52 [[ 6.74699832e-01 -7.38079572e-01 4.32229578e-03 2.06408515e+02] [ 7.38063741e-01 6.74713673e-01 4.83461768e-03 9.30432872e+01] [-6.48464461e-03 -7.17859426e-05 9.99978972e-01 -3.52035265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48 meters 0.014240795939986983 Centerline is valid? [True, True] Translation: X:206.45, Y:93.09, Z:-3.52 [[ 6.74073701e-01 -7.38654760e-01 3.71354315e-03 2.06448046e+02] [ 7.38643076e-01 6.74083928e-01 4.15511612e-03 9.30860547e+01] [-5.57243606e-03 -5.78715691e-05 9.99984472e-01 -3.52268197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54 meters 0.013681320924260665 Centerline is valid? [True, True] Translation: X:206.49, Y:93.13, Z:-3.53 [[ 6.70001920e-01 -7.42356344e-01 2.11800337e-03 2.06489542e+02] [ 7.42352564e-01 6.70005267e-01 2.36905670e-03 9.31273451e+01] [-3.17775768e-03 -1.49673089e-05 9.99994951e-01 -3.52559515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.6 meters 0.013651076549117283 Centerline is valid? [True, True] Translation: X:206.53, Y:93.17, Z:-3.53 [[ 6.65894986e-01 -7.46044212e-01 1.37878066e-03 2.06532042e+02] [ 7.46042622e-01 6.65896413e-01 1.54036259e-03 9.31668364e+01] [-2.06730369e-03 2.90940868e-06 9.99997863e-01 -3.52735068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66 meters 0.01376595743546396 Centerline is valid? [True, True] Translation: X:206.57, Y:93.21, Z:-3.53 [[ 6.64354869e-01 -7.47416714e-01 9.29178868e-04 2.06572450e+02] [ 7.47415995e-01 6.64355519e-01 1.03734549e-03 9.32092672e+01] [-1.39263447e-03 5.31762031e-06 9.99999030e-01 -3.52855070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72 meters 0.013824953518383473 Centerline is valid? [True, True] Translation: X:206.61, Y:93.25, Z:-3.53 [[ 6.61733271e-01 -7.49737557e-01 1.63546216e-03 2.06610799e+02] [ 7.49735321e-01 6.61735291e-01 1.83097114e-03 9.32510554e+01] [-2.45499086e-03 1.45492313e-05 9.99996986e-01 -3.52948343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78 meters 0.0136523611847124 Centerline is valid? [True, True] Translation: X:206.65, Y:93.30, Z:-3.53 [[ 6.60806538e-01 -7.50550193e-01 3.02092233e-03 2.06650443e+02] [ 7.50542543e-01 6.60813443e-01 3.38888848e-03 9.32953825e+01] [-4.53979699e-03 2.79310661e-05 9.99989695e-01 -3.52755615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84 meters 0.01360401287191298 Centerline is valid? [True, True] Translation: X:206.69, Y:93.34, Z:-3.53 [[ 6.60694533e-01 -7.50643752e-01 4.08541432e-03 2.06689038e+02] [ 7.50629738e-01 6.60707163e-01 4.58700491e-03 9.33378453e+01] [-6.14246908e-03 3.60244159e-05 9.99981134e-01 -3.52673993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89999999999998 meters 0.013616568220530582 Centerline is valid? [True, True] Translation: X:206.73, Y:93.38, Z:-3.53 [[ 6.60921816e-01 -7.50442692e-01 4.25661528e-03 2.06726347e+02] [ 7.50427463e-01 6.60935522e-01 4.78100563e-03 9.33825964e+01] [-6.40121898e-03 3.44100766e-05 9.99979511e-01 -3.52784027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95999999999998 meters 0.013489737714502088 Centerline is valid? [True, True] Translation: X:206.76, Y:93.43, Z:-3.53 [[ 6.62621849e-01 -7.48943197e-01 4.04638752e-03 2.06760973e+02] [ 7.48929386e-01 6.62634203e-01 4.54836158e-03 9.34282041e+01] [-6.08773923e-03 1.66147632e-05 9.99981469e-01 -3.52970361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01999999999998 meters 0.013600150898435597 Centerline is valid? [True, True] Translation: X:206.80, Y:93.47, Z:-3.53 [[ 6.63534032e-01 -7.48137799e-01 3.52454297e-03 2.06797397e+02] [ 7.48127308e-01 6.63543393e-01 3.96193762e-03 9.34721225e+01] [-5.30276249e-03 7.92639610e-06 9.99985940e-01 -3.53114844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07999999999998 meters 0.01353085042275732 Centerline is valid? [True, True] Translation: X:206.83, Y:93.52, Z:-3.53 [[ 6.64680422e-01 -7.47122126e-01 2.90948856e-03 2.06834650e+02] [ 7.47114965e-01 6.64686790e-01 3.27105887e-03 9.35177611e+01] [-4.37777907e-03 -4.86342511e-07 9.99990417e-01 -3.53070449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14 meters 0.013571018758270619 Centerline is valid? [True, True] Translation: X:206.87, Y:93.56, Z:-3.53 [[ 6.65261611e-01 -7.46602734e-01 3.36843712e-03 2.06871779e+02] [ 7.46593118e-01 6.65270139e-01 3.78937229e-03 9.35623076e+01] [-5.07007634e-03 -6.07194669e-06 9.99987147e-01 -3.53155519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.2 meters 0.01364770476760074 Centerline is valid? [True, True] Translation: X:206.91, Y:93.61, Z:-3.53 [[ 6.65725867e-01 -7.46184217e-01 4.26428020e-03 2.06909251e+02] [ 7.46168769e-01 6.65739524e-01 4.80156267e-03 9.36066330e+01] [-6.42175015e-03 -1.46517579e-05 9.99979380e-01 -3.52990860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26 meters 0.013748856954524585 Centerline is valid? [True, True] Translation: X:206.95, Y:93.65, Z:-3.53 [[ 6.65689916e-01 -7.46211271e-01 5.06708230e-03 2.06946985e+02] [ 7.46189423e-01 6.65709200e-01 5.71011682e-03 9.36509425e+01] [-7.63415683e-03 -2.01639670e-05 9.99970859e-01 -3.52963772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32 meters 0.013829967075517374 Centerline is valid? [True, True] Translation: X:206.98, Y:93.70, Z:-3.53 [[ 6.65891447e-01 -7.46026328e-01 5.77056056e-03 2.06983874e+02] [ 7.45997945e-01 6.65916449e-01 6.50755360e-03 9.36955578e+01] [-8.69751751e-03 -2.84979555e-05 9.99962175e-01 -3.53015709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38 meters 0.013947156537847604 Centerline is valid? [True, True] Translation: X:207.02, Y:93.74, Z:-3.53 [[ 6.67114891e-01 -7.44932862e-01 5.72305757e-03 2.07020108e+02] [ 7.44904870e-01 6.67139438e-01 6.45797469e-03 9.37424636e+01] [-8.62883497e-03 -4.50776272e-05 9.99962770e-01 -3.53123629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44 meters 0.014274231390829348 Centerline is valid? [True, True] Translation: X:207.06, Y:93.79, Z:-3.53 [[ 6.68842791e-01 -7.43391714e-01 4.25213588e-03 2.07055725e+02] [ 7.43376216e-01 6.68856306e-01 4.80043943e-03 9.37875011e+01] [-6.41267479e-03 -4.98026331e-05 9.99979437e-01 -3.53372027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.5 meters 0.014584497988842595 Centerline is valid? [True, True] Translation: X:207.09, Y:93.83, Z:-3.54 [[ 6.69833897e-01 -7.42502951e-01 3.45231351e-03 2.07093266e+02] [ 7.42492728e-01 6.69842792e-01 3.89665423e-03 9.38333299e+01] [-5.20578459e-03 -4.67934094e-05 9.99986449e-01 -3.53615973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56 meters 0.014967944548828119 Centerline is valid? [True, True] Translation: X:207.13, Y:93.88, Z:-3.54 [[ 6.71095433e-01 -7.41364049e-01 3.20422330e-03 2.07130727e+02] [ 7.41355222e-01 6.71103080e-01 3.61810189e-03 9.38788505e+01] [-4.83269480e-03 -5.26239811e-05 9.99988321e-01 -3.53832872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62 meters 0.015070267479480834 Centerline is valid? [True, True] Translation: X:207.17, Y:93.92, Z:-3.54 [[ 6.71455259e-01 -7.41038036e-01 3.23481708e-03 2.07170194e+02] [ 7.41029027e-01 6.71463049e-01 3.65453395e-03 9.39232157e+01] [-4.88020881e-03 -5.67626870e-05 9.99988090e-01 -3.53932307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67999999999998 meters 0.015355709967105653 Centerline is valid? [True, True] Translation: X:207.21, Y:93.97, Z:-3.54 [[ 6.71551483e-01 -7.40948443e-01 3.74314069e-03 2.07209137e+02] [ 7.40936364e-01 6.71561911e-01 4.23136044e-03 9.39661101e+01] [-5.64897065e-03 -6.81473283e-05 9.99984042e-01 -3.53977846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73999999999998 meters 0.015597082023326995 Centerline is valid? [True, True] Translation: X:207.25, Y:94.01, Z:-3.54 [[ 6.72421553e-01 -7.40154532e-01 4.53035858e-03 2.07249681e+02] [ 7.40136789e-01 6.72436807e-01 5.12585610e-03 9.40093069e+01] [-6.84030548e-03 -9.36510640e-05 9.99976600e-01 -3.53938493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79999999999998 meters 0.015682256957025555 Centerline is valid? [True, True] Translation: X:207.29, Y:94.05, Z:-3.54 [[ 6.73084749e-01 -7.39548062e-01 5.05812665e-03 2.07289742e+02] [ 7.39525900e-01 6.73103744e-01 5.72645474e-03 9.40531374e+01] [-7.63963249e-03 -1.13773686e-04 9.99970811e-01 -3.53963333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85999999999999 meters 0.016536813692054595 Centerline is valid? [True, True] Translation: X:207.33, Y:94.10, Z:-3.54 [[ 6.75565206e-01 -7.37278394e-01 5.67642689e-03 2.07327908e+02] [ 7.37250368e-01 6.75589035e-01 6.43042636e-03 9.40976684e+01] [-8.57594618e-03 -1.59224496e-04 9.99963213e-01 -3.54008493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92 meters 0.017148760764098683 Centerline is valid? [True, True] Translation: X:207.37, Y:94.14, Z:-3.54 [[ 6.76314506e-01 -7.36596275e-01 4.96149152e-03 2.07365015e+02] [ 7.36574818e-01 6.76332688e-01 5.62432738e-03 9.41414248e+01] [-7.49847750e-03 -1.49304483e-04 9.99971875e-01 -3.54195560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98 meters 0.017561862728066348 Centerline is valid? [True, True] Translation: X:207.40, Y:94.19, Z:-3.54 [[ 6.76829185e-01 -7.36130230e-01 3.81302163e-03 2.07403482e+02] [ 7.36117558e-01 6.76839916e-01 4.32080298e-03 9.41859551e+01] [-5.76147892e-03 -1.17613387e-04 9.99983396e-01 -3.54365838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04 meters 0.017365157989774546 Centerline is valid? [True, True] Translation: X:207.44, Y:94.23, Z:-3.54 [[ 6.77709409e-01 -7.35325628e-01 2.48565336e-03 2.07443908e+02] [ 7.35320240e-01 6.77713962e-01 2.81598077e-03 9.42290419e+01] [-3.75522482e-03 -8.06654404e-05 9.99992946e-01 -3.54437303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.1 meters 0.01791371907077706 Centerline is valid? [True, True] Translation: X:207.48, Y:94.27, Z:-3.55 [[ 6.77921086e-01 -7.35132822e-01 1.65389530e-03 2.07481809e+02] [ 7.35130431e-01 6.77923101e-01 1.87586073e-03 9.42725189e+01] [-2.50022062e-03 -5.58567824e-05 9.99996873e-01 -3.54614831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16 meters 0.0179269240474486 Centerline is valid? [True, True] Translation: X:207.52, Y:94.32, Z:-3.55 [[ 6.78290471e-01 -7.34793864e-01 -1.19921698e-04 2.07521309e+02] [ 7.34793850e-01 6.78290482e-01 -1.41961957e-04 9.43158373e+01] [ 1.85654521e-04 8.17371593e-06 9.99999983e-01 -3.54788159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22 meters 0.01829443616639706 Centerline is valid? [True, True] Translation: X:207.56, Y:94.36, Z:-3.55 [[ 6.78284175e-01 -7.34799557e-01 -4.34574740e-04 2.07560307e+02] [ 7.34799388e-01 6.78284314e-01 -4.99598663e-04 9.43596068e+01] [ 6.61870106e-04 1.95446143e-05 9.99999781e-01 -3.54819993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28 meters 0.01763163291024995 Centerline is valid? [True, True] Translation: X:207.60, Y:94.40, Z:-3.55 [[ 6.77977482e-01 -7.35082640e-01 -2.14878922e-04 2.07600230e+02] [ 7.35082597e-01 6.77977516e-01 -2.51024005e-04 9.44020410e+01] [ 3.30206466e-04 1.22348663e-05 9.99999945e-01 -3.54681407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34 meters 0.01768644966390214 Centerline is valid? [True, True] Translation: X:207.64, Y:94.45, Z:-3.55 [[ 6.77352741e-01 -7.35658384e-01 7.97818663e-05 2.07639965e+02] [ 7.35658379e-01 6.77352745e-01 8.54623389e-05 9.44462118e+01] [-1.16911552e-04 8.04048996e-07 9.99999993e-01 -3.54696052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39999999999998 meters 0.01739119655069435 Centerline is valid? [True, True] Translation: X:207.68, Y:94.49, Z:-3.55 [[ 6.76448509e-01 -7.36489787e-01 4.56918161e-04 2.07679750e+02] [ 7.36489607e-01 6.76448663e-01 5.14399262e-04 9.44894764e+01] [-6.87931482e-04 -1.14491368e-05 9.99999763e-01 -3.54675738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45999999999998 meters 0.016732227037996473 Centerline is valid? [True, True] Translation: X:207.72, Y:94.53, Z:-3.55 [[ 6.74413548e-01 -7.38353786e-01 2.29250559e-04 2.07720936e+02] [ 7.38353742e-01 6.74413587e-01 2.55349135e-04 9.45318825e+01] [-3.43147693e-04 -2.94290743e-06 9.99999941e-01 -3.54689082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51999999999998 meters 0.016330577376585033 Centerline is valid? [True, True] Translation: X:207.76, Y:94.58, Z:-3.55 [[ 6.74149034e-01 -7.38595281e-01 -3.01647506e-04 2.07760368e+02] [ 7.38595198e-01 6.74149101e-01 -3.49584102e-04 9.45753016e+01] [ 4.61556563e-04 1.28763851e-05 9.99999893e-01 -3.54744971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57999999999998 meters 0.016782942954293088 Centerline is valid? [True, True] Translation: X:207.80, Y:94.62, Z:-3.55 [[ 6.74906312e-01 -7.37902602e-01 -1.10424368e-03 2.07796852e+02] [ 7.37901526e-01 6.74907215e-01 -1.26059387e-03 9.46206732e+01] [ 1.67545752e-03 3.59596586e-05 9.99998596e-01 -3.54956665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64 meters 0.01680226870801755 Centerline is valid? [True, True] Translation: X:207.83, Y:94.67, Z:-3.55 [[ 6.75923818e-01 -7.36969308e-01 -1.79788970e-03 2.07834127e+02] [ 7.36966443e-01 6.75926206e-01 -2.05602860e-03 9.46661832e+01] [ 2.73047074e-03 6.47343264e-05 9.99996270e-01 -3.55066206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.7 meters 0.017105638301049438 Centerline is valid? [True, True] Translation: X:207.87, Y:94.71, Z:-3.55 [[ 6.76831599e-01 -7.36134916e-01 -2.09090040e-03 2.07870543e+02] [ 7.36131036e-01 6.76834824e-01 -2.39137968e-03 9.47121193e+01] [ 3.17557229e-03 7.93846529e-05 9.99994955e-01 -3.55203764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76 meters 0.017169262441235556 Centerline is valid? [True, True] Translation: X:207.91, Y:94.76, Z:-3.55 [[ 6.76655444e-01 -7.36296371e-01 -2.25045775e-03 2.07908315e+02] [ 7.36291871e-01 6.76659181e-01 -2.57572248e-03 9.47565237e+01] [ 3.41928801e-03 8.58828860e-05 9.99994151e-01 -3.55246839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82 meters 0.017940927982909423 Centerline is valid? [True, True] Translation: X:207.94, Y:94.80, Z:-3.55 [[ 6.76225462e-01 -7.36693217e-01 -1.49294968e-03 2.07944455e+02] [ 7.36691239e-01 6.76227107e-01 -1.70819231e-03 9.48014642e+01] [ 2.26798673e-03 5.52801820e-05 9.99997427e-01 -3.55399543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88 meters 0.016454553195207437 Centerline is valid? [True, True] Translation: X:207.98, Y:94.84, Z:-3.55 [[ 6.75438436e-01 -7.37414953e-01 -1.45143703e-03 2.07984970e+02] [ 7.37413077e-01 6.75439993e-01 -1.66416080e-03 9.48437619e+01] [ 2.20753567e-03 5.37295215e-05 9.99997562e-01 -3.55252342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94 meters 0.016960456252389115 Centerline is valid? [True, True] Translation: X:208.02, Y:94.89, Z:-3.55 [[ 6.75829835e-01 -7.37055270e-01 -1.88789130e-03 2.08021824e+02] [ 7.37052109e-01 6.75832468e-01 -2.15938970e-03 9.48880396e+01] [ 2.86748780e-03 6.79057189e-05 9.99995886e-01 -3.55308442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.0 meters 0.016749349431196058 Centerline is valid? [True, True] Translation: X:208.06, Y:94.93, Z:-3.55 [[ 6.75955736e-01 -7.36940745e-01 -1.47692462e-03 2.08060046e+02] [ 7.36938797e-01 6.75957347e-01 -1.69532576e-03 9.49322505e+01] [ 2.24769268e-03 5.75621204e-05 9.99997472e-01 -3.55350852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06 meters 0.016908405542733485 Centerline is valid? [True, True] Translation: X:208.10, Y:94.98, Z:-3.55 [[ 6.75182120e-01 -7.37650714e-01 -7.27548649e-04 2.08098454e+02] [ 7.37650238e-01 6.75182511e-01 -8.37964606e-04 9.49774175e+01] [ 1.10935331e-03 2.91022849e-05 9.99999384e-01 -3.55472122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12 meters 0.016411627120897658 Centerline is valid? [True, True] Translation: X:208.14, Y:95.02, Z:-3.56 [[ 6.74663613e-01 -7.38125257e-01 -3.37434000e-04 2.08137948e+02] [ 7.38125153e-01 6.74663697e-01 -3.91997424e-04 9.50211194e+01] [ 5.16997669e-04 1.53978754e-05 9.99999866e-01 -3.55532580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17999999999998 meters 0.01615976181382633 Centerline is valid? [True, True] Translation: X:208.18, Y:95.06, Z:-3.56 [[ 6.73296874e-01 -7.39372059e-01 -5.27505648e-04 2.08177666e+02] [ 7.39371808e-01 6.73297080e-01 -6.09787361e-04 9.50649900e+01] [ 8.06027749e-04 2.05451194e-05 9.99999675e-01 -3.55790056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23999999999998 meters 0.015685090643792015 Centerline is valid? [True, True] Translation: X:208.22, Y:95.11, Z:-3.56 [[ 6.71831786e-01 -7.40703528e-01 -5.78713056e-04 2.08218020e+02] [ 7.40703227e-01 6.71832035e-01 -6.68772045e-04 9.51083923e+01] [ 8.84159783e-04 2.06476893e-05 9.99999609e-01 -3.55874703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29999999999998 meters 0.015544671916717854 Centerline is valid? [True, True] Translation: X:208.26, Y:95.15, Z:-3.56 [[ 6.70104395e-01 -7.42266857e-01 -1.13371073e-04 2.08257233e+02] [ 7.42266846e-01 6.70104404e-01 -1.31927228e-04 9.51508494e+01] [ 1.73895664e-04 4.25342661e-06 9.99999985e-01 -3.55986000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35999999999999 meters 0.01442685194101287 Centerline is valid? [True, True] Translation: X:208.30, Y:95.19, Z:-3.56 [[ 6.66643123e-01 -7.45375313e-01 1.60916738e-03 2.08298476e+02] [ 7.45373044e-01 6.66645065e-01 1.83908483e-03 9.51930637e+01] [-2.44355192e-03 -2.65832651e-05 9.99997014e-01 -3.55858090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42 meters 0.013730984800808017 Centerline is valid? [True, True] Translation: X:208.34, Y:95.23, Z:-3.56 [[ 6.63023677e-01 -7.48592231e-01 3.04538204e-03 2.08339840e+02] [ 7.48584108e-01 6.63030671e-01 3.48751358e-03 9.52349550e+01] [-4.62990727e-03 -3.25794850e-05 9.99989281e-01 -3.55752431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48 meters 0.01342767700692285 Centerline is valid? [True, True] Translation: X:208.38, Y:95.28, Z:-3.56 [[ 6.60385738e-01 -7.50917211e-01 3.74426144e-03 2.08379864e+02] [ 7.50904949e-01 6.60396352e-01 4.29138274e-03 9.52779997e+01] [-5.69516975e-03 -2.23835151e-05 9.99983782e-01 -3.55827236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54 meters 0.01330199971737901 Centerline is valid? [True, True] Translation: X:208.42, Y:95.32, Z:-3.56 [[ 6.58137076e-01 -7.52887388e-01 4.02128052e-03 2.08420254e+02] [ 7.52873262e-01 6.58149361e-01 4.61188375e-03 9.53216072e+01] [-6.11883231e-03 -7.73710498e-06 9.99981280e-01 -3.55937570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.6 meters 0.013216996563526946 Centerline is valid? [True, True] Translation: X:208.46, Y:95.36, Z:-3.56 [[ 6.55522158e-01 -7.55167433e-01 3.58447458e-03 2.08459425e+02] [ 7.55156241e-01 6.55531958e-01 4.11143469e-03 9.53643439e+01] [-5.45455922e-03 1.17017997e-05 9.99985124e-01 -3.56115637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66 meters 0.013233637997830046 Centerline is valid? [True, True] Translation: X:208.50, Y:95.41, Z:-3.56 [[ 6.54697559e-01 -7.55881907e-01 3.69451361e-03 2.08498321e+02] [ 7.55870013e-01 6.54707983e-01 4.24034823e-03 9.54077699e+01] [-5.62403005e-03 1.64264167e-05 9.99984185e-01 -3.56220899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72 meters 0.013199609500791357 Centerline is valid? [True, True] Translation: X:208.54, Y:95.45, Z:-3.56 [[ 6.55347643e-01 -7.55321774e-01 2.91268819e-03 2.08537989e+02] [ 7.55314371e-01 6.55354116e-01 3.34412364e-03 9.54511806e+01] [-4.43473159e-03 8.43170164e-06 9.99990166e-01 -3.56369446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78 meters 0.01324490660101343 Centerline is valid? [True, True] Translation: X:208.58, Y:95.50, Z:-3.56 [[ 6.57401552e-01 -7.53535995e-01 2.58935777e-03 2.08575329e+02] [ 7.53530129e-01 6.57406651e-01 2.97315222e-03 9.54952508e+01] [-3.94263824e-03 -3.39578928e-06 9.99992228e-01 -3.56443395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84 meters 0.013306312053739517 Centerline is valid? [True, True] Translation: X:208.61, Y:95.54, Z:-3.56 [[ 6.59866760e-01 -7.51375220e-01 3.33715645e-03 2.08611842e+02] [ 7.51365429e-01 6.59875199e-01 3.83593067e-03 9.55405321e+01] [-5.08433003e-03 -2.37791612e-05 9.99987074e-01 -3.56464193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89999999999998 meters 0.013763484126400917 Centerline is valid? [True, True] Translation: X:208.65, Y:95.59, Z:-3.56 [[ 6.63919997e-01 -7.47788742e-01 4.71535925e-03 2.08647904e+02] [ 7.47769058e-01 6.63936737e-01 5.42632069e-03 9.55868752e+01] [-7.18844176e-03 -7.66430724e-05 9.99974160e-01 -3.56451755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95999999999998 meters 0.01493171318359221 Centerline is valid? [True, True] Translation: X:208.68, Y:95.63, Z:-3.56 [[ 6.67903602e-01 -7.44229148e-01 5.26811395e-03 2.08683652e+02] [ 7.44204426e-01 6.67924365e-01 6.06746603e-03 9.56330650e+01] [-8.03428674e-03 -1.31928699e-04 9.99967716e-01 -3.56467345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01999999999998 meters 0.015245189983400105 Centerline is valid? [True, True] Translation: X:208.72, Y:95.68, Z:-3.57 [[ 6.69977312e-01 -7.42362687e-01 5.29549731e-03 2.08721046e+02] [ 7.42337647e-01 6.69998221e-01 6.09936823e-03 9.56786512e+01] [-8.07591717e-03 -1.55391325e-04 9.99967377e-01 -3.56505201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07999999999998 meters 0.01616712022341481 Centerline is valid? [True, True] Translation: X:208.76, Y:95.72, Z:-3.57 [[ 6.72471614e-01 -7.40108341e-01 4.64458604e-03 2.08757022e+02] [ 7.40088996e-01 6.72487633e-01 5.35356255e-03 9.57248767e+01] [-7.08564297e-03 -1.62711827e-04 9.99974883e-01 -3.56687186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14 meters 0.017449806965809264 Centerline is valid? [True, True] Translation: X:208.79, Y:95.77, Z:-3.57 [[ 6.74486346e-01 -7.38278843e-01 3.53825485e-03 2.08791894e+02] [ 7.38267590e-01 6.74495613e-01 4.07854058e-03 9.57712145e+01] [-5.39763759e-03 -1.38741059e-04 9.99985423e-01 -3.57028900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.2 meters 0.017383913749901187 Centerline is valid? [True, True] Translation: X:208.83, Y:95.82, Z:-3.57 [[ 6.74097030e-01 -7.38636393e-01 3.07781755e-03 2.08830074e+02] [ 7.38627894e-01 6.74104046e-01 3.54542686e-03 9.58152976e+01] [-4.69355058e-03 -1.16599822e-04 9.99988978e-01 -3.57181421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26 meters 0.01858878200211544 Centerline is valid? [True, True] Translation: X:208.87, Y:95.86, Z:-3.57 [[ 6.72828594e-01 -7.39793313e-01 2.74554700e-03 2.08866806e+02] [ 7.39786544e-01 6.72834188e-01 3.16613437e-03 9.58594381e+01] [-4.18958292e-03 -9.91470128e-05 9.99991219e-01 -3.57435248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32 meters 0.015832620090422165 Centerline is valid? [True, True] Translation: X:208.91, Y:95.90, Z:-3.57 [[ 6.69172089e-01 -7.43096688e-01 4.00344683e-03 2.08912357e+02] [ 7.43082345e-01 6.69184055e-01 4.61844543e-03 9.58983841e+01] [-6.11099428e-03 -1.15644117e-04 9.99981321e-01 -3.57143360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38 meters 0.014757324808015282 Centerline is valid? [True, True] Translation: X:208.96, Y:95.94, Z:-3.57 [[ 6.65420242e-01 -7.46454798e-01 4.59734816e-03 2.08955304e+02] [ 7.46435942e-01 6.65436116e-01 5.30661507e-03 9.59389737e+01] [-7.02038978e-03 -9.95031810e-05 9.99975352e-01 -3.57078600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44 meters 0.01377963942970882 Centerline is valid? [True, True] Translation: X:209.00, Y:95.98, Z:-3.57 [[ 6.58003984e-01 -7.52996832e-01 5.15046536e-03 2.08999363e+02] [ 7.52973336e-01 6.58024140e-01 5.94862338e-03 9.59772348e+01] [-7.86842510e-03 -3.60548058e-05 9.99969043e-01 -3.57068650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.5 meters 0.013775712906854481 Centerline is valid? [True, True] Translation: X:209.04, Y:96.02, Z:-3.57 [[ 6.51283116e-01 -7.58820025e-01 4.74050271e-03 2.09041700e+02] [ 7.58800256e-01 6.51300368e-01 5.47743770e-03 9.60173787e+01] [-7.24388057e-03 2.97319810e-05 9.99973762e-01 -3.57103231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56 meters 0.014084532616249226 Centerline is valid? [True, True] Translation: X:209.08, Y:96.06, Z:-3.57 [[ 6.48273378e-01 -7.61396123e-01 4.19187310e-03 2.09080559e+02] [ 7.61380702e-01 6.48286929e-01 4.84602745e-03 9.60614795e+01] [-6.40728305e-03 5.00607007e-05 9.99979472e-01 -3.57235286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62 meters 0.014633435601360332 Centerline is valid? [True, True] Translation: X:209.12, Y:96.11, Z:-3.57 [[ 6.44197621e-01 -7.64852189e-01 3.24867594e-03 2.09120293e+02] [ 7.64842969e-01 6.44205809e-01 3.75622053e-03 9.61051399e+01] [-4.96576941e-03 6.49786246e-05 9.99987668e-01 -3.57383961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67999999999998 meters 0.01625376296270856 Centerline is valid? [True, True] Translation: X:209.16, Y:96.15, Z:-3.57 [[ 6.37067737e-01 -7.70801604e-01 3.09618504e-03 2.09161908e+02] [ 7.70793292e-01 6.37075252e-01 3.58117584e-03 9.61466973e+01] [-4.73287894e-03 1.05067068e-04 9.99988794e-01 -3.57325871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73999999999998 meters 0.01915746407139138 Centerline is valid? [True, True] Translation: X:209.20, Y:96.19, Z:-3.57 [[ 6.32311462e-01 -7.74704155e-01 3.96080861e-03 2.09203395e+02] [ 7.74690602e-01 6.32323845e-01 4.58555415e-03 9.61877159e+01] [-6.05696157e-03 1.68902756e-04 9.99981642e-01 -3.57398787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79999999999998 meters 0.018296784661575586 Centerline is valid? [True, True] Translation: X:209.24, Y:96.24, Z:-3.57 [[ 6.28627829e-01 -7.77694406e-01 4.29689912e-03 2.09237762e+02] [ 7.77678494e-01 6.28642478e-01 4.97934583e-03 9.62352057e+01] [-6.57362271e-03 2.11450678e-04 9.99978371e-01 -3.57336703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85999999999999 meters 0.01811786797512712 Centerline is valid? [True, True] Translation: X:209.27, Y:96.28, Z:-3.57 [[ 6.28427820e-01 -7.77858951e-01 3.73185285e-03 2.09273563e+02] [ 7.77846958e-01 6.28438873e-01 4.32340194e-03 9.62807890e+01] [-5.70823830e-03 1.85864329e-04 9.99983691e-01 -3.57452337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92 meters 0.018081548990524055 Centerline is valid? [True, True] Translation: X:209.31, Y:96.33, Z:-3.58 [[ 6.30092610e-01 -7.76513135e-01 3.26403586e-03 2.09307336e+02] [ 7.76503920e-01 6.30101047e-01 3.78593877e-03 9.63278686e+01] [-4.99650359e-03 1.49044603e-04 9.99987506e-01 -3.57567641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98 meters 0.01781573727816496 Centerline is valid? [True, True] Translation: X:209.34, Y:96.38, Z:-3.58 [[ 6.31611566e-01 -7.75277222e-01 3.47260750e-03 2.09342030e+02] [ 7.75266781e-01 6.31621095e-01 4.02634391e-03 9.63753501e+01] [-5.31490487e-03 1.49111855e-04 9.99985865e-01 -3.57670074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04 meters 0.016756044527889594 Centerline is valid? [True, True] Translation: X:209.37, Y:96.42, Z:-3.58 [[ 6.36414684e-01 -7.71338043e-01 3.73817878e-03 2.09372917e+02] [ 7.71325850e-01 6.36425651e-01 4.33869548e-03 9.64240627e+01] [-5.72567374e-03 1.22144413e-04 9.99983601e-01 -3.57734569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.1 meters 0.015008890078225201 Centerline is valid? [True, True] Translation: X:209.40, Y:96.47, Z:-3.58 [[ 6.40507663e-01 -7.67938882e-01 4.45050139e-03 2.09404330e+02] [ 7.67921508e-01 6.40523116e-01 5.16681747e-03 9.64744799e+01] [-6.81844905e-03 1.08249555e-04 9.99976748e-01 -3.57667666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16 meters 0.014455678519070867 Centerline is valid? [True, True] Translation: X:209.44, Y:96.52, Z:-3.58 [[ 6.44995297e-01 -7.64168605e-01 5.23545956e-03 2.09436811e+02] [ 7.64144424e-01 6.45016540e-01 6.07969881e-03 9.65236939e+01] [-8.02287297e-03 7.92700926e-05 9.99967813e-01 -3.57815324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22 meters 0.01366609414754978 Centerline is valid? [True, True] Translation: X:209.47, Y:96.58, Z:-3.58 [[ 6.51348919e-01 -7.58755769e-01 5.85388342e-03 2.09465034e+02] [ 7.58725280e-01 6.51375224e-01 6.80200907e-03 9.65766262e+01] [-8.97413825e-03 1.10080824e-05 9.99959732e-01 -3.57879734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28 meters 0.013877300444331848 Centerline is valid? [True, True] Translation: X:209.50, Y:96.63, Z:-3.58 [[ 6.56024170e-01 -7.54725532e-01 4.65407572e-03 2.09495998e+02] [ 7.54706147e-01 6.56040677e-01 5.40934202e-03 9.66280743e+01] [-7.13583152e-03 -3.61995505e-05 9.99974539e-01 -3.58159751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34 meters 0.014106877186222075 Centerline is valid? [True, True] Translation: X:209.53, Y:96.68, Z:-3.58 [[ 6.57874540e-01 -7.53115805e-01 4.20407644e-03 2.09530443e+02] [ 7.53099942e-01 6.57887971e-01 4.88823738e-03 9.66761646e+01] [-6.44722015e-03 -4.97571916e-05 9.99979215e-01 -3.58375311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39999999999998 meters 0.014453705761635335 Centerline is valid? [True, True] Translation: X:209.57, Y:96.72, Z:-3.59 [[ 6.58978188e-01 -7.52155363e-01 3.17151232e-03 2.09565672e+02] [ 7.52146322e-01 6.58985818e-01 3.68806362e-03 9.67239173e+01] [-4.86397847e-03 -4.49121591e-05 9.99988170e-01 -3.58641740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45999999999998 meters 0.014613623926493173 Centerline is valid? [True, True] Translation: X:209.60, Y:96.77, Z:-3.59 [[ 6.59143600e-01 -7.52011749e-01 2.83621206e-03 2.09602033e+02] [ 7.52004504e-01 6.59149700e-01 3.30121579e-03 9.67687722e+01] [-4.35204139e-03 -4.31310161e-05 9.99990529e-01 -3.58773371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51999999999998 meters 0.0145845739984033 Centerline is valid? [True, True] Translation: X:209.64, Y:96.81, Z:-3.59 [[ 6.59045086e-01 -7.52099105e-01 2.55175674e-03 2.09639806e+02] [ 7.52093250e-01 6.59050025e-01 2.96793954e-03 9.68132724e+01] [-3.91392001e-03 -3.68469478e-05 9.99992340e-01 -3.58854812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57999999999998 meters 0.014550954077398282 Centerline is valid? [True, True] Translation: X:209.68, Y:96.86, Z:-3.59 [[ 6.58828693e-01 -7.52286167e-01 3.20563440e-03 2.09677808e+02] [ 7.52276910e-01 6.58836490e-01 3.73226404e-03 9.68576581e+01] [-4.91971952e-03 -4.73978992e-05 9.99987897e-01 -3.58837904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64 meters 0.01463553027581418 Centerline is valid? [True, True] Translation: X:209.72, Y:96.90, Z:-3.59 [[ 6.58407919e-01 -7.52650346e-01 4.05821114e-03 2.09716044e+02] [ 7.52635485e-01 6.58420423e-01 4.73002826e-03 9.69027722e+01] [-6.23206650e-03 -5.99343540e-05 9.99980579e-01 -3.58865604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.7 meters 0.0143651937244807 Centerline is valid? [True, True] Translation: X:209.76, Y:96.95, Z:-3.59 [[ 6.56552965e-01 -7.54269382e-01 3.98795078e-03 2.09755355e+02] [ 7.54255047e-01 6.56565074e-01 4.65041146e-03 9.69464593e+01] [-6.12601218e-03 -4.53094246e-05 9.99981235e-01 -3.58922276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76 meters 0.01421619785063811 Centerline is valid? [True, True] Translation: X:209.79, Y:96.99, Z:-3.59 [[ 6.54452838e-01 -7.56094245e-01 3.60211614e-03 2.09794341e+02] [ 7.56082556e-01 6.54462750e-01 4.20432798e-03 9.69887566e+01] [-5.53631903e-03 -2.80371949e-05 9.99984674e-01 -3.59051274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82 meters 0.014067516832424286 Centerline is valid? [True, True] Translation: X:209.83, Y:97.03, Z:-3.59 [[ 6.50184475e-01 -7.59769608e-01 3.20808228e-03 2.09834892e+02] [ 7.59760392e-01 6.50192389e-01 3.74209350e-03 9.70301733e+01] [-4.92899959e-03 4.32275515e-06 9.99987852e-01 -3.59205986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88 meters 0.014111556610376849 Centerline is valid? [True, True] Translation: X:209.87, Y:97.07, Z:-3.59 [[ 6.46388155e-01 -7.63000242e-01 3.60324887e-03 2.09874847e+02] [ 7.62988650e-01 6.46398198e-01 4.20588661e-03 9.70728942e+01] [-5.53822607e-03 3.06027051e-05 9.99984663e-01 -3.59157632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94 meters 0.01469896075645971 Centerline is valid? [True, True] Translation: X:209.92, Y:97.11, Z:-3.59 [[ 6.41121037e-01 -7.67423475e-01 5.00253399e-03 2.09917240e+02] [ 7.67401216e-01 6.41140547e-01 5.84566080e-03 9.71146373e+01] [-7.69342471e-03 9.11745486e-05 9.99970401e-01 -3.59036587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.0 meters 0.015027116226550133 Centerline is valid? [True, True] Translation: X:209.96, Y:97.16, Z:-3.59 [[ 6.38540296e-01 -7.69569710e-01 5.36203860e-03 2.09957348e+02] [ 7.69544183e-01 6.38562797e-01 6.26930451e-03 9.71581562e+01] [-8.24866522e-03 1.23122055e-04 9.99965972e-01 -3.58999986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06 meters 0.015116512415769917 Centerline is valid? [True, True] Translation: X:210.00, Y:97.20, Z:-3.59 [[ 6.37630810e-01 -7.70321440e-01 5.64175347e-03 2.09996306e+02] [ 7.70293177e-01 6.37655754e-01 6.60001254e-03 9.72027271e+01] [-8.68162773e-03 1.37432864e-04 9.99962305e-01 -3.59106492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12 meters 0.014860329440656921 Centerline is valid? [True, True] Translation: X:210.03, Y:97.25, Z:-3.59 [[ 6.38533562e-01 -7.69577203e-01 5.08124847e-03 2.10033031e+02] [ 7.69554235e-01 6.38553769e-01 5.94671718e-03 9.72486265e+01] [-7.82110833e-03 1.13117779e-04 9.99969408e-01 -3.59274137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17999999999998 meters 0.014378763033227403 Centerline is valid? [True, True] Translation: X:210.07, Y:97.29, Z:-3.59 [[ 6.42481142e-01 -7.66288303e-01 4.49645650e-03 2.10068066e+02] [ 7.66270209e-01 6.42496873e-01 5.26640450e-03 9.72943645e+01] [-6.92454341e-03 6.19350820e-05 9.99976023e-01 -3.59481312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23999999999998 meters 0.0141290059102122 Centerline is valid? [True, True] Translation: X:210.10, Y:97.34, Z:-3.60 [[ 6.45553085e-01 -7.63701541e-01 4.60116702e-03 2.10104040e+02] [ 7.63682534e-01 6.45569481e-01 5.38813904e-03 9.73406093e+01] [-7.08530309e-03 3.55011158e-05 9.99974898e-01 -3.59586573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29999999999998 meters 0.013926405089641297 Centerline is valid? [True, True] Translation: X:210.14, Y:97.39, Z:-3.60 [[ 6.48843702e-01 -7.60904446e-01 5.12580923e-03 2.10139252e+02] [ 7.60880732e-01 6.48863949e-01 6.00726461e-03 9.73868876e+01] [-7.89690717e-03 2.35367154e-06 9.99968819e-01 -3.59668417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35999999999999 meters 0.014366537663425626 Centerline is valid? [True, True] Translation: X:210.17, Y:97.44, Z:-3.60 [[ 6.55001904e-01 -7.55604492e-01 5.86158226e-03 2.10173917e+02] [ 7.55573254e-01 6.55028127e-01 6.87104202e-03 9.74350290e+01] [-9.03129146e-03 -7.16908251e-05 9.99959214e-01 -3.59647600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42 meters 0.015142722564100165 Centerline is valid? [True, True] Translation: X:210.21, Y:97.48, Z:-3.60 [[ 6.58928687e-01 -7.52182232e-01 5.90548779e-03 2.10210757e+02] [ 7.52150354e-01 6.58955139e-01 6.92609027e-03 9.74809318e+01] [-9.10113357e-03 -1.21984841e-04 9.99958576e-01 -3.59661265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48 meters 0.016313275672115896 Centerline is valid? [True, True] Translation: X:210.25, Y:97.53, Z:-3.60 [[ 6.64213136e-01 -7.47523161e-01 5.48031524e-03 2.10247773e+02] [ 7.47495514e-01 6.64235721e-01 6.43153038e-03 9.75260786e+01] [-8.44793907e-03 -1.75395909e-04 9.99964300e-01 -3.59743462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54 meters 0.01756061397918245 Centerline is valid? [True, True] Translation: X:210.28, Y:97.57, Z:-3.60 [[ 6.65980795e-01 -7.45955878e-01 4.40556289e-03 2.10284457e+02] [ 7.45937967e-01 6.65995348e-01 5.17157827e-03 9.75709145e+01] [-6.79185360e-03 -1.57895186e-04 9.99976923e-01 -3.60035397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.6 meters 0.018044618693122832 Centerline is valid? [True, True] Translation: X:210.33, Y:97.61, Z:-3.60 [[ 6.67661877e-01 -7.44458527e-01 3.01987335e-03 2.10325309e+02] [ 7.44450097e-01 6.67668696e-01 3.54486805e-03 9.76129192e+01] [-4.65528215e-03 -1.18628246e-04 9.99989157e-01 -3.60268899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66 meters 0.017793366842187193 Centerline is valid? [True, True] Translation: X:210.37, Y:97.65, Z:-3.60 [[ 6.66913341e-01 -7.45131748e-01 2.29661309e-03 2.10366600e+02] [ 7.45126888e-01 6.66917290e-01 2.69241188e-03 9.76546206e+01] [-3.53785255e-03 -8.43372415e-05 9.99993738e-01 -3.60378393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72 meters 0.01709520565102331 Centerline is valid? [True, True] Translation: X:210.41, Y:97.69, Z:-3.60 [[ 6.64202432e-01 -7.47549585e-01 2.17880785e-03 2.10411050e+02] [ 7.47545217e-01 6.64206002e-01 2.55648450e-03 9.76945810e+01] [-3.35827618e-03 -6.92658309e-05 9.99994359e-01 -3.60499850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78 meters 0.0166173989925377 Centerline is valid? [True, True] Translation: X:210.45, Y:97.73, Z:-3.61 [[ 6.61118538e-01 -7.50276446e-01 2.74463594e-03 2.10454147e+02] [ 7.50269528e-01 6.61124231e-01 3.22279733e-03 9.77338849e+01] [-4.23253426e-03 -7.14343495e-05 9.99991040e-01 -3.60568488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84 meters 0.015470630433169071 Centerline is valid? [True, True] Translation: X:210.50, Y:97.77, Z:-3.61 [[ 6.55521353e-01 -7.55169370e-01 3.31333481e-03 2.10501719e+02] [ 7.55159333e-01 6.55529725e-01 3.89392778e-03 9.77693228e+01] [-5.11256444e-03 -5.04570999e-05 9.99986929e-01 -3.60578710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89999999999998 meters 0.014694332473236702 Centerline is valid? [True, True] Translation: X:210.55, Y:97.81, Z:-3.61 [[ 6.50297892e-01 -7.59670904e-01 3.57340018e-03 2.10549954e+02] [ 7.59659280e-01 6.50307709e-01 4.20251841e-03 9.78056186e+01] [-5.51634064e-03 -1.83222481e-05 9.99984785e-01 -3.60587054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95999999999998 meters 0.014569798010165403 Centerline is valid? [True, True] Translation: X:210.59, Y:97.84, Z:-3.61 [[ 6.46720233e-01 -7.62719137e-01 3.52967931e-03 2.10594141e+02] [ 7.62707833e-01 6.46729865e-01 4.15254802e-03 9.78440622e+01] [-5.44997686e-03 6.57723177e-06 9.99985149e-01 -3.60634352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01999999999998 meters 0.014710516863589691 Centerline is valid? [True, True] Translation: X:210.64, Y:97.88, Z:-3.61 [[ 6.44075550e-01 -7.64954306e-01 3.40514643e-03 2.10637008e+02] [ 7.64943803e-01 6.44084551e-01 4.00864427e-03 9.78844654e+01] [-5.25963190e-03 2.28758907e-05 9.99986168e-01 -3.60692250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07999999999998 meters 0.014529669758791997 Centerline is valid? [True, True] Translation: X:210.67, Y:97.93, Z:-3.61 [[ 6.47229117e-01 -7.62285259e-01 3.95648116e-03 2.10672811e+02] [ 7.62271012e-01 6.47241210e-01 4.66061691e-03 9.79309222e+01] [-6.11351722e-03 -5.76074328e-07 9.99981312e-01 -3.60767776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14 meters 0.014674566501060572 Centerline is valid? [True, True] Translation: X:210.71, Y:97.98, Z:-3.61 [[ 6.49321769e-01 -7.60505134e-01 3.63058782e-03 2.10707705e+02] [ 7.60493090e-01 6.49331919e-01 4.28006879e-03 9.79758645e+01] [-5.61247084e-03 -1.81048918e-05 9.99984250e-01 -3.61006319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.2 meters 0.01467908424565352 Centerline is valid? [True, True] Translation: X:210.75, Y:98.02, Z:-3.61 [[ 6.50524527e-01 -7.59474343e-01 4.06976460e-03 2.10745102e+02] [ 7.59459184e-01 6.50537256e-01 4.79859007e-03 9.80205164e+01] [-6.29193954e-03 -3.07804324e-05 9.99980205e-01 -3.60886438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26 meters 0.014730757406642222 Centerline is valid? [True, True] Translation: X:210.78, Y:98.07, Z:-3.61 [[ 6.51164054e-01 -7.58918213e-01 5.34043074e-03 2.10780923e+02] [ 7.58892043e-01 6.51185951e-01 6.30268853e-03 9.80658570e+01] [-8.26083859e-03 -5.12738186e-05 9.99965877e-01 -3.60859688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32 meters 0.01499805846310638 Centerline is valid? [True, True] Translation: X:210.81, Y:98.11, Z:-3.61 [[ 6.52776105e-01 -7.57525070e-01 6.25493947e-03 2.10814922e+02] [ 7.57489050e-01 6.52806067e-01 7.38777008e-03 9.81138233e+01] [-9.67968348e-03 -8.45116263e-05 9.99953147e-01 -3.60856744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38 meters 0.015236811642308057 Centerline is valid? [True, True] Translation: X:210.85, Y:98.16, Z:-3.61 [[ 6.54300984e-01 -7.56217185e-01 5.07850075e-03 2.10850535e+02] [ 7.56193386e-01 6.54320687e-01 6.00021332e-03 9.81606590e+01] [-7.86043253e-03 -8.56168000e-05 9.99969103e-01 -3.61156674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44 meters 0.015550604817303188 Centerline is valid? [True, True] Translation: X:210.89, Y:98.21, Z:-3.62 [[ 6.55480627e-01 -7.55203825e-01 3.51143811e-03 2.10886516e+02] [ 7.55192423e-01 6.55490029e-01 4.15049764e-03 9.82067408e+01] [-5.43618436e-03 -6.87593417e-05 9.99985221e-01 -3.61533263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.5 meters 0.01567631670578797 Centerline is valid? [True, True] Translation: X:210.92, Y:98.25, Z:-3.62 [[ 6.55972889e-01 -7.54779391e-01 2.76399142e-03 2.10923438e+02] [ 7.54772329e-01 6.55978709e-01 3.26565239e-03 9.82521191e+01] [-4.27796665e-03 -5.59951887e-05 9.99990848e-01 -3.61855100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56 meters 0.015311483137890217 Centerline is valid? [True, True] Translation: X:210.96, Y:98.30, Z:-3.62 [[ 6.54741745e-01 -7.55840623e-01 4.26620382e-03 2.10962756e+02] [ 7.55823782e-01 6.54755639e-01 5.04624808e-03 9.82956528e+01] [-6.60748030e-03 -7.94909686e-05 9.99978167e-01 -3.61702349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62 meters 0.015152925803669276 Centerline is valid? [True, True] Translation: X:211.00, Y:98.34, Z:-3.62 [[ 6.53465823e-01 -7.56939285e-01 5.03351512e-03 2.11001250e+02] [ 7.56915827e-01 6.53485204e-01 5.95985029e-03 9.83386772e+01] [-7.80057248e-03 -8.46112170e-05 9.99969571e-01 -3.61734252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67999999999998 meters 0.014970293970190639 Centerline is valid? [True, True] Translation: X:211.04, Y:98.38, Z:-3.62 [[ 6.52246737e-01 -7.57986042e-01 5.59951866e-03 2.11041308e+02] [ 7.57957051e-01 6.52270768e-01 6.62987434e-03 9.83825759e+01] [-8.67775455e-03 -8.01192547e-05 9.99962344e-01 -3.61767965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73999999999998 meters 0.01493687066311654 Centerline is valid? [True, True] Translation: X:211.08, Y:98.43, Z:-3.62 [[ 6.51701216e-01 -7.58458399e-01 5.13638365e-03 2.11080446e+02] [ 7.58434003e-01 6.51721453e-01 6.08363618e-03 9.84254331e+01] [-7.96167637e-03 -6.91050866e-05 9.99968303e-01 -3.61842157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79999999999998 meters 0.015169027342224266 Centerline is valid? [True, True] Translation: X:211.12, Y:98.47, Z:-3.62 [[ 6.52477414e-01 -7.57794113e-01 4.61581166e-03 2.11116895e+02] [ 7.57774363e-01 6.52493737e-01 5.47157435e-03 9.84700228e+01] [-7.15811503e-03 -7.23349409e-05 9.99974378e-01 -3.62023344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85999999999999 meters 0.015614347914008642 Centerline is valid? [True, True] Translation: X:211.15, Y:98.52, Z:-3.62 [[ 6.55249700e-01 -7.55403004e-01 3.75938929e-03 2.11152371e+02] [ 7.55389870e-01 6.55260479e-01 4.45518031e-03 9.85175633e+01] [-5.82883582e-03 -7.94509725e-05 9.99983009e-01 -3.62305642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92 meters 0.015879234752357144 Centerline is valid? [True, True] Translation: X:211.19, Y:98.56, Z:-3.62 [[ 6.56245493e-01 -7.54540875e-01 3.14974474e-03 2.11189731e+02] [ 7.54531641e-01 6.56253048e-01 3.73364838e-03 9.85636759e+01] [-4.88421990e-03 -7.36078501e-05 9.99988069e-01 -3.62487272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98 meters 0.016016737020391004 Centerline is valid? [True, True] Translation: X:211.23, Y:98.61, Z:-3.63 [[ 6.56223138e-01 -7.54561423e-01 2.87259537e-03 2.11226459e+02] [ 7.54553730e-01 6.56229421e-01 3.40803015e-03 9.86080597e+01] [-4.45664968e-03 -6.89006883e-05 9.99990067e-01 -3.62615932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04 meters 0.015994762059625488 Centerline is valid? [True, True] Translation: X:211.26, Y:98.65, Z:-3.63 [[ 6.55868416e-01 -7.54871158e-01 2.48116731e-03 2.11264881e+02] [ 7.54865428e-01 6.55873106e-01 2.94174024e-03 9.86514571e+01] [-3.84796577e-03 -5.64470816e-05 9.99992595e-01 -3.62683419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.1 meters 0.015529537253084875 Centerline is valid? [True, True] Translation: X:211.31, Y:98.69, Z:-3.63 [[ 6.53195202e-01 -7.57184093e-01 2.87715698e-03 2.11305412e+02] [ 7.57176382e-01 6.53201536e-01 3.41749810e-03 9.86931809e+01] [-4.46703856e-03 -5.37780527e-05 9.99990021e-01 -3.62693908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16 meters 0.014785481495187295 Centerline is valid? [True, True] Translation: X:211.35, Y:98.73, Z:-3.63 [[ 6.49713265e-01 -7.60169728e-01 3.82854297e-03 2.11347721e+02] [ 7.60156132e-01 6.49724543e-01 4.54674162e-03 9.87348190e+01] [-5.94379368e-03 -4.37879241e-05 9.99982335e-01 -3.62610279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22 meters 0.01430841390376459 Centerline is valid? [True, True] Translation: X:211.39, Y:98.78, Z:-3.62 [[ 6.44205834e-01 -7.64828678e-01 5.99475919e-03 2.11390033e+02] [ 7.64795479e-01 6.44233726e-01 7.12619353e-03 9.87763638e+01] [-9.31234322e-03 -5.97071896e-06 9.99956639e-01 -3.62377562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28 meters 0.014335456984145137 Centerline is valid? [True, True] Translation: X:211.43, Y:98.82, Z:-3.62 [[ 6.41257855e-01 -7.67294249e-01 6.92082960e-03 2.11428038e+02] [ 7.67250084e-01 6.41295200e-01 8.23253257e-03 9.88191898e+01] [-1.07550697e-02 3.08309138e-05 9.99942162e-01 -3.62318378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34 meters 0.014620414637365667 Centerline is valid? [True, True] Translation: X:211.47, Y:98.86, Z:-3.62 [[ 6.36974619e-01 -7.70857230e-01 6.51661055e-03 2.11466494e+02] [ 7.70818234e-01 6.37007947e-01 7.75410182e-03 9.88635604e+01] [-1.01284382e-02 8.39561860e-05 9.99948703e-01 -3.62487986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39999999999998 meters 0.014759551362655561 Centerline is valid? [True, True] Translation: X:211.50, Y:98.91, Z:-3.63 [[ 6.34272376e-01 -7.73087024e-01 5.91667292e-03 2.11503576e+02] [ 7.73054939e-01 6.34299963e-01 7.04403187e-03 9.89086405e+01] [-9.19859504e-03 1.06078393e-04 9.99957686e-01 -3.62654528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45999999999998 meters 0.015270598041208507 Centerline is valid? [True, True] Translation: X:211.54, Y:98.95, Z:-3.63 [[ 6.31994309e-01 -7.74954726e-01 5.32601950e-03 2.11540823e+02] [ 7.74928780e-01 6.32016739e-01 6.34246688e-03 9.89534433e+01] [-8.28125816e-03 1.18882818e-04 9.99965703e-01 -3.62897992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51999999999998 meters 0.015626788182456552 Centerline is valid? [True, True] Translation: X:211.58, Y:99.00, Z:-3.63 [[ 6.29946087e-01 -7.76623312e-01 4.91504084e-03 2.11577494e+02] [ 7.76601265e-01 6.29965248e-01 5.85334690e-03 9.89996478e+01] [-7.64215058e-03 1.29733955e-04 9.99970790e-01 -3.63087993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57999999999998 meters 0.015503603105681118 Centerline is valid? [True, True] Translation: X:211.61, Y:99.05, Z:-3.63 [[ 6.29897976e-01 -7.76665674e-01 4.35554208e-03 2.11613522e+02] [ 7.76648351e-01 6.29913024e-01 5.18848876e-03 9.90451731e+01] [-6.77333380e-03 1.14506010e-04 9.99977054e-01 -3.63139752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64 meters 0.015069788096576027 Centerline is valid? [True, True] Translation: X:211.65, Y:99.09, Z:-3.63 [[ 6.31826373e-01 -7.75095834e-01 4.67797010e-03 2.11649132e+02] [ 7.75075778e-01 6.31843682e-01 5.57677727e-03 9.90926575e+01] [-7.27828268e-03 1.02226362e-04 9.99973508e-01 -3.63201452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.7 meters 0.01463453978402393 Centerline is valid? [True, True] Translation: X:211.68, Y:99.14, Z:-3.63 [[ 6.34255225e-01 -7.73107688e-01 4.98125282e-03 2.11684065e+02] [ 7.73084859e-01 6.34274780e-01 5.94172629e-03 9.91407408e+01] [-7.75307731e-03 8.23601895e-05 9.99969941e-01 -3.63346324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76 meters 0.014311333845544763 Centerline is valid? [True, True] Translation: X:211.72, Y:99.19, Z:-3.63 [[ 6.37809614e-01 -7.70177655e-01 5.02765139e-03 2.11718386e+02] [ 7.70154283e-01 6.37829427e-01 6.00019714e-03 9.91892060e+01] [-7.82800177e-03 4.50838333e-05 9.99969360e-01 -3.63497692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82 meters 0.014192277354850133 Centerline is valid? [True, True] Translation: X:211.75, Y:99.24, Z:-3.64 [[ 6.44617157e-01 -7.64486014e-01 5.46411395e-03 2.11749756e+02] [ 7.64458172e-01 6.44640314e-01 6.52451551e-03 9.92384312e+01] [-8.51028899e-03 -2.87280735e-05 9.99963786e-01 -3.63546782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88 meters 0.01513155386308136 Centerline is valid? [True, True] Translation: X:211.78, Y:99.29, Z:-3.64 [[ 6.50641618e-01 -7.59364006e-01 5.63836488e-03 2.11782091e+02] [ 7.59334127e-01 6.50666040e-01 6.73708628e-03 9.92882011e+01] [-8.78459338e-03 -1.02025842e-04 9.99961410e-01 -3.63687482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94 meters 0.015646600542779845 Centerline is valid? [True, True] Translation: X:211.82, Y:99.34, Z:-3.64 [[ 6.53059225e-01 -7.57281529e-01 6.19147724e-03 2.11817970e+02] [ 7.57245364e-01 6.53088558e-01 7.40230658e-03 9.93353016e+01] [-9.64921299e-03 -1.45677156e-04 9.99953435e-01 -3.63727131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.0 meters 0.01599169360827707 Centerline is valid? [True, True] Translation: X:211.86, Y:99.38, Z:-3.64 [[ 6.54156327e-01 -7.56330257e-01 6.63642450e-03 2.11855233e+02] [ 7.56288612e-01 6.54189966e-01 7.93874155e-03 9.93811460e+01] [-1.03457928e-02 -1.74125742e-04 9.99946466e-01 -3.63816457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06 meters 0.015796849499685246 Centerline is valid? [True, True] Translation: X:211.89, Y:99.42, Z:-3.64 [[ 6.53733483e-01 -7.56694168e-01 6.81688580e-03 2.11893454e+02] [ 7.56650204e-01 6.53769000e-01 8.15865573e-03 9.94244100e+01] [-1.06302758e-02 -1.75588398e-04 9.99943482e-01 -3.63860547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12 meters 0.015702103463261917 Centerline is valid? [True, True] Translation: X:211.93, Y:99.47, Z:-3.64 [[ 6.53449409e-01 -7.56943950e-01 6.30286585e-03 2.11931645e+02] [ 7.56906339e-01 6.53479786e-01 7.54735122e-03 9.94687824e+01] [-9.83171727e-03 -1.61133079e-04 9.99951655e-01 -3.63974380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17999999999998 meters 0.016180428102666136 Centerline is valid? [True, True] Translation: X:211.97, Y:99.51, Z:-3.64 [[ 6.54590757e-01 -7.55970550e-01 4.41237522e-03 2.11968281e+02] [ 7.55952070e-01 6.54605616e-01 5.28726545e-03 9.95138609e+01] [-6.88538257e-03 -1.25450909e-04 9.99976288e-01 -3.64351974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23999999999998 meters 0.01638750028745617 Centerline is valid? [True, True] Translation: X:212.01, Y:99.56, Z:-3.65 [[ 6.55831547e-01 -7.54901109e-01 3.04902369e-03 2.12005871e+02] [ 7.54892286e-01 6.55838628e-01 3.65096723e-03 9.95587793e+01] [-4.75578673e-03 -9.27350208e-05 9.99988687e-01 -3.64584391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29999999999998 meters 0.016617180498699074 Centerline is valid? [True, True] Translation: X:212.04, Y:99.60, Z:-3.65 [[ 6.56590386e-01 -7.54241646e-01 2.93315722e-03 2.12043738e+02] [ 7.54233458e-01 6.56596931e-01 3.51574409e-03 9.96031657e+01] [-4.57762265e-03 -9.61184560e-05 9.99989518e-01 -3.64661061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35999999999999 meters 0.016668051144662716 Centerline is valid? [True, True] Translation: X:212.08, Y:99.65, Z:-3.64 [[ 6.55764625e-01 -7.54955516e-01 3.86322026e-03 2.12084454e+02] [ 7.54941319e-01 6.55775994e-01 4.63144501e-03 9.96466070e+01] [-6.02994206e-03 -1.20633203e-04 9.99981812e-01 -3.64497794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42 meters 0.016294590001316802 Centerline is valid? [True, True] Translation: X:212.12, Y:99.69, Z:-3.64 [[ 6.53830131e-01 -7.56623554e-01 5.19206658e-03 2.12124507e+02] [ 7.56597925e-01 6.53850730e-01 6.22920911e-03 9.96894573e+01] [-8.10800286e-03 -1.44537808e-04 9.99967119e-01 -3.64405388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48 meters 0.015515885776137387 Centerline is valid? [True, True] Translation: X:212.17, Y:99.73, Z:-3.64 [[ 6.51538422e-01 -7.58589943e-01 6.24357555e-03 2.12165861e+02] [ 7.58552922e-01 6.51568320e-01 7.49589456e-03 9.97322366e+01] [-9.75442627e-03 -1.47780836e-04 9.99952414e-01 -3.64295590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54 meters 0.015089104965981332 Centerline is valid? [True, True] Translation: X:212.21, Y:99.77, Z:-3.64 [[ 6.48148102e-01 -7.61483835e-01 6.81231635e-03 2.12205892e+02] [ 7.61439874e-01 6.48183890e-01 8.18307629e-03 9.97749410e+01] [-1.06469140e-02 -1.16676060e-04 9.99943313e-01 -3.64386419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.6 meters 0.014883113943694034 Centerline is valid? [True, True] Translation: X:212.24, Y:99.82, Z:-3.65 [[ 6.46950758e-01 -7.62505158e-01 6.37184543e-03 2.12243979e+02] [ 7.62466715e-01 6.46982129e-01 7.65723107e-03 9.98188500e+01] [-9.96114831e-03 -9.55313958e-05 9.99950382e-01 -3.64545809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66 meters 0.014696371153328806 Centerline is valid? [True, True] Translation: X:212.28, Y:99.86, Z:-3.65 [[ 6.46493699e-01 -7.62899910e-01 5.44277231e-03 2.12281716e+02] [ 7.62871852e-01 6.46516605e-01 6.54351066e-03 9.98633031e+01] [-8.51088637e-03 -7.82006249e-05 9.99963779e-01 -3.64675050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72 meters 0.014896579178213857 Centerline is valid? [True, True] Translation: X:212.32, Y:99.91, Z:-3.65 [[ 6.46255692e-01 -7.63101268e-01 5.48048309e-03 2.12317590e+02] [ 7.63072780e-01 6.46278925e-01 6.59417354e-03 9.99078798e+01] [-8.57394290e-03 -7.95147133e-05 9.99963240e-01 -3.64828753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78 meters 0.014897885189375406 Centerline is valid? [True, True] Translation: X:212.35, Y:99.95, Z:-3.65 [[ 6.45706181e-01 -7.63567571e-01 5.30025161e-03 2.12354471e+02] [ 7.63540936e-01 6.45727930e-01 6.37796969e-03 9.99521992e+01] [-8.29253132e-03 -7.13353723e-05 9.99965614e-01 -3.64924214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84 meters 0.014644530494731918 Centerline is valid? [True, True] Translation: X:212.39, Y:100.00, Z:-3.65 [[ 6.44739453e-01 -7.64382825e-01 5.47130584e-03 2.12392161e+02] [ 7.64354440e-01 6.44762664e-01 6.58766701e-03 9.99962936e+01] [-8.56319325e-03 -6.53119093e-05 9.99963333e-01 -3.64996059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89999999999998 meters 0.014607481897994573 Centerline is valid? [True, True] Translation: X:212.43, Y:100.04, Z:-3.65 [[ 6.44278882e-01 -7.64770456e-01 5.55615717e-03 2.12429060e+02] [ 7.64741164e-01 6.44302837e-01 6.69381775e-03 1.00040613e+02] [-8.69908188e-03 -6.36633205e-05 9.99962160e-01 -3.65063157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95999999999998 meters 0.014432461757339135 Centerline is valid? [True, True] Translation: X:212.47, Y:100.09, Z:-3.65 [[ 6.42918074e-01 -7.65912505e-01 5.86385249e-03 2.12466309e+02] [ 7.65879881e-01 6.42944812e-01 7.06938113e-03 1.00085683e+02] [-9.18466095e-03 -5.40262493e-05 9.99957819e-01 -3.65183496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01999999999998 meters 0.014353302018266319 Centerline is valid? [True, True] Translation: X:212.50, Y:100.13, Z:-3.65 [[ 6.41885898e-01 -7.66780637e-01 5.47257935e-03 2.12504194e+02] [ 7.66752231e-01 6.41909225e-01 6.60024429e-03 1.00130366e+02] [-8.57383869e-03 -4.04913098e-05 9.99963243e-01 -3.65238222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07999999999998 meters 0.014307873244325985 Centerline is valid? [True, True] Translation: X:212.54, Y:100.17, Z:-3.65 [[ 6.41015136e-01 -7.67508327e-01 5.52839274e-03 2.12540472e+02] [ 7.67479328e-01 6.41038975e-01 6.67184039e-03 1.00173899e+02] [-8.66460827e-03 -3.38235361e-05 9.99962461e-01 -3.65373757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14 meters 0.014309688041250958 Centerline is valid? [True, True] Translation: X:212.58, Y:100.22, Z:-3.66 [[ 6.39210693e-01 -7.69012219e-01 5.46789165e-03 2.12578175e+02] [ 7.68983881e-01 6.39234079e-01 6.60180298e-03 1.00218128e+02] [-8.57212984e-03 -1.52225165e-05 9.99963259e-01 -3.65504068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.2 meters 0.014215000442691613 Centerline is valid? [True, True] Translation: X:212.62, Y:100.26, Z:-3.66 [[ 6.37303157e-01 -7.70588244e-01 6.20035255e-03 2.12615845e+02] [ 7.70551828e-01 6.37333318e-01 7.49146387e-03 1.00262244e+02] [-9.72452525e-03 3.35940986e-06 9.99952716e-01 -3.65537235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26 meters 0.014237101599209764 Centerline is valid? [True, True] Translation: X:212.65, Y:100.31, Z:-3.66 [[ 6.36297323e-01 -7.71415780e-01 6.58870174e-03 2.12653095e+02] [ 7.71374652e-01 6.36331434e-01 7.96568947e-03 1.00307470e+02] [-1.03374566e-02 1.38106273e-05 9.99946567e-01 -3.65621807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32 meters 0.014231019953576899 Centerline is valid? [True, True] Translation: X:212.69, Y:100.35, Z:-3.66 [[ 6.35601814e-01 -7.71991156e-01 6.32369266e-03 2.12689931e+02] [ 7.71953257e-01 6.35633271e-01 7.64943085e-03 1.00352195e+02] [-9.92484241e-03 1.96030190e-05 9.99950747e-01 -3.65796490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38 meters 0.014276666715865687 Centerline is valid? [True, True] Translation: X:212.73, Y:100.40, Z:-3.66 [[ 6.35287491e-01 -7.72259015e-01 5.08105078e-03 2.12726592e+02] [ 7.72234538e-01 6.35307809e-01 6.14858056e-03 1.00396949e+02] [-7.97632800e-03 1.76465872e-05 9.99968188e-01 -3.66063686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44 meters 0.014300469080755615 Centerline is valid? [True, True] Translation: X:212.76, Y:100.44, Z:-3.66 [[ 6.35949273e-01 -7.71719973e-01 4.09956462e-03 2.12762926e+02] [ 7.71704018e-01 6.35962486e-01 4.96239944e-03 1.00442477e+02] [-6.43675207e-03 7.81617090e-06 9.99979284e-01 -3.66216667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.5 meters 0.014240041664106898 Centerline is valid? [True, True] Translation: X:212.80, Y:100.49, Z:-3.66 [[ 6.36965905e-01 -7.70881222e-01 4.07158410e-03 2.12798524e+02] [ 7.70865450e-01 6.36978918e-01 4.93122989e-03 1.00488657e+02] [-6.39490576e-03 -2.38179394e-06 9.99979552e-01 -3.66289697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56 meters 0.014284246368834108 Centerline is valid? [True, True] Translation: X:212.83, Y:100.54, Z:-3.66 [[ 6.39133424e-01 -7.69079533e-01 5.01376961e-03 2.12832297e+02] [ 7.69055522e-01 6.39153088e-01 6.07729862e-03 1.00535893e+02] [-7.87849232e-03 -2.83374718e-05 9.99968964e-01 -3.66265089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62 meters 0.01449565795517334 Centerline is valid? [True, True] Translation: X:212.87, Y:100.58, Z:-3.66 [[ 6.40137243e-01 -7.68240797e-01 5.51259033e-03 2.12866608e+02] [ 7.68211697e-01 6.40160977e-01 6.68673690e-03 1.00582231e+02] [-8.66596929e-03 -4.55929532e-05 9.99962449e-01 -3.66377996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67999999999998 meters 0.01445778082057233 Centerline is valid? [True, True] Translation: X:212.90, Y:100.63, Z:-3.66 [[ 6.41425721e-01 -7.67164056e-01 5.68819726e-03 2.12902742e+02] [ 7.67132997e-01 6.41450938e-01 6.90348284e-03 1.00628407e+02] [-8.94480337e-03 -6.44676449e-05 9.99959992e-01 -3.66258717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73999999999998 meters 0.014591183913133186 Centerline is valid? [True, True] Translation: X:212.94, Y:100.67, Z:-3.66 [[ 6.41735540e-01 -7.66905563e-01 5.59945294e-03 2.12937567e+02] [ 7.66875418e-01 6.41759965e-01 6.80005026e-03 1.00674036e+02] [-8.80850109e-03 -6.97511140e-05 9.99961202e-01 -3.66406140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79999999999998 meters 0.014541439385832938 Centerline is valid? [True, True] Translation: X:212.97, Y:100.72, Z:-3.67 [[ 6.41391830e-01 -7.67194441e-01 5.40459568e-03 2.12974223e+02] [ 7.67166361e-01 6.41414597e-01 6.56422755e-03 1.00719732e+02] [-8.50262545e-03 -6.40179165e-05 9.99963850e-01 -3.66511618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85999999999999 meters 0.014502472388840991 Centerline is valid? [True, True] Translation: X:213.01, Y:100.76, Z:-3.67 [[ 6.40600473e-01 -7.67860534e-01 4.60805418e-03 2.13009750e+02] [ 7.67840120e-01 6.40617044e-01 5.59939982e-03 1.00763902e+02] [-7.25155618e-03 -4.87293009e-05 9.99973706e-01 -3.66716163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92 meters 0.014291829204670812 Centerline is valid? [True, True] Translation: X:213.05, Y:100.81, Z:-3.67 [[ 6.39465258e-01 -7.68810749e-01 3.77047043e-03 2.13047081e+02] [ 7.68797093e-01 6.39476373e-01 4.58252151e-03 1.00807832e+02] [-5.93421855e-03 -3.16365888e-05 9.99982392e-01 -3.66853618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98 meters 0.014209557869873522 Centerline is valid? [True, True] Translation: X:213.09, Y:100.85, Z:-3.67 [[ 6.37664278e-01 -7.70307939e-01 3.15388674e-03 2.13085241e+02] [ 7.70298397e-01 6.37672078e-01 3.83419076e-03 1.00851954e+02] [-4.96465310e-03 -1.54925819e-05 9.99987676e-01 -3.66950640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04 meters 0.014180097608122087 Centerline is valid? [True, True] Translation: X:213.12, Y:100.90, Z:-3.67 [[ 6.37361216e-01 -7.70559128e-01 3.05115316e-03 2.13121183e+02] [ 7.70550181e-01 6.37368519e-01 3.71335569e-03 1.00895680e+02] [-4.80606909e-03 -1.56822794e-05 9.99988451e-01 -3.67053193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.1 meters 0.014081980929121034 Centerline is valid? [True, True] Translation: X:213.16, Y:100.94, Z:-3.67 [[ 6.37366598e-01 -7.70550856e-01 3.89837106e-03 2.13157960e+02] [ 7.70536243e-01 6.37378520e-01 4.74564338e-03 1.00941188e+02] [-6.14149754e-03 -2.08783937e-05 9.99981141e-01 -3.66963734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16 meters 0.014262226107916652 Centerline is valid? [True, True] Translation: X:213.19, Y:100.99, Z:-3.67 [[ 6.38544966e-01 -7.69567350e-01 5.14007086e-03 2.13193662e+02] [ 7.69541872e-01 6.38565652e-01 6.26214512e-03 1.00987082e+02] [-8.10141513e-03 -4.31614874e-05 9.99967182e-01 -3.66841704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22 meters 0.014918443882305562 Centerline is valid? [True, True] Translation: X:213.23, Y:101.03, Z:-3.67 [[ 6.41151112e-01 -7.67397950e-01 5.06338669e-03 2.13227347e+02] [ 7.67373117e-01 6.41171102e-01 6.17395990e-03 1.01033984e+02] [-7.98438139e-03 -7.29344340e-05 9.99968122e-01 -3.66982898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28 meters 0.015198736683324717 Centerline is valid? [True, True] Translation: X:213.26, Y:101.08, Z:-3.67 [[ 6.43360241e-01 -7.65549157e-01 4.69979192e-03 2.13262984e+02] [ 7.65527714e-01 6.43377401e-01 5.73057036e-03 1.01081445e+02] [-7.41077322e-03 -8.90001618e-05 9.99972536e-01 -3.67128901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34 meters 0.015664975941430452 Centerline is valid? [True, True] Translation: X:213.30, Y:101.13, Z:-3.67 [[ 6.44849832e-01 -7.64299125e-01 3.94223408e-03 2.13297846e+02] [ 7.64283995e-01 6.44861876e-01 4.80986470e-03 1.01127355e+02] [-6.21837185e-03 -8.86540279e-05 9.99980662e-01 -3.67323538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39999999999998 meters 0.015572822679328135 Centerline is valid? [True, True] Translation: X:213.34, Y:101.17, Z:-3.67 [[ 6.44742707e-01 -7.64391103e-01 3.61715586e-03 2.13336307e+02] [ 7.64378373e-01 6.44752849e-01 4.41212747e-03 1.01171261e+02] [-5.70476253e-03 -7.98112958e-05 9.99983725e-01 -3.67334110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45999999999998 meters 0.015272205305542722 Centerline is valid? [True, True] Translation: X:213.38, Y:101.22, Z:-3.67 [[ 6.42860584e-01 -7.65972113e-01 4.12198920e-03 2.13376102e+02] [ 7.65955586e-01 6.42873795e-01 5.03235832e-03 1.01215196e+02] [-6.50456498e-03 -7.78441569e-05 9.99978842e-01 -3.67310377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51999999999998 meters 0.015031633331746562 Centerline is valid? [True, True] Translation: X:213.42, Y:101.26, Z:-3.67 [[ 6.39301347e-01 -7.68940224e-01 4.97189903e-03 2.13415827e+02] [ 7.68916233e-01 6.39320677e-01 6.07441040e-03 1.01258213e+02] [-7.84949635e-03 -6.04048852e-05 9.99969190e-01 -3.67403816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57999999999998 meters 0.014497847507227112 Centerline is valid? [True, True] Translation: X:213.46, Y:101.30, Z:-3.67 [[ 6.36944179e-01 -7.70892839e-01 5.13267895e-03 2.13456115e+02] [ 7.70867307e-01 6.36964857e-01 6.27420410e-03 1.01301738e+02] [-8.10607512e-03 -3.97033792e-05 9.99967144e-01 -3.67395612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64 meters 0.014435237699747586 Centerline is valid? [True, True] Translation: X:213.49, Y:101.34, Z:-3.67 [[ 6.34388324e-01 -7.72995902e-01 5.36573567e-03 2.13494902e+02] [ 7.72968045e-01 6.34411015e-01 6.56245155e-03 1.01344789e+02] [-8.47682997e-03 -1.56004335e-05 9.99964071e-01 -3.67455202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.7 meters 0.014303190288649376 Centerline is valid? [True, True] Translation: X:213.53, Y:101.39, Z:-3.68 [[ 6.29706201e-01 -7.76823342e-01 3.94919244e-03 2.13534982e+02] [ 7.76808307e-01 6.29718584e-01 4.83304920e-03 1.01387355e+02] [-6.24130530e-03 2.43644395e-05 9.99980523e-01 -3.67731204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76 meters 0.014510785189147567 Centerline is valid? [True, True] Translation: X:213.57, Y:101.43, Z:-3.68 [[ 6.26414780e-01 -7.79483051e-01 3.27054532e-03 2.13574437e+02] [ 7.79472782e-01 6.26423317e-01 4.00120558e-03 1.01431621e+02] [-5.16761778e-03 4.28867414e-05 9.99986647e-01 -3.67966179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82 meters 0.014410088420827579 Centerline is valid? [True, True] Translation: X:213.61, Y:101.48, Z:-3.68 [[ 6.25075126e-01 -7.80559061e-01 2.93918293e-03 2.13612010e+02] [ 7.80550775e-01 6.25082035e-01 3.59688681e-03 1.01477110e+02] [-4.64481303e-03 4.58570407e-05 9.99989212e-01 -3.68021982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88 meters 0.014570918430234414 Centerline is valid? [True, True] Translation: X:213.65, Y:101.52, Z:-3.68 [[ 6.24388986e-01 -7.81108549e-01 2.79806704e-03 2.13647921e+02] [ 7.81101040e-01 6.24395253e-01 3.42545181e-03 1.01523326e+02] [-4.42274947e-03 4.67586866e-05 9.99990219e-01 -3.68102898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94 meters 0.014492578311179121 Centerline is valid? [True, True] Translation: X:213.68, Y:101.57, Z:-3.68 [[ 6.24820202e-01 -7.80764832e-01 2.44798854e-03 2.13683115e+02] [ 7.80759079e-01 6.24824996e-01 2.99744132e-03 1.01569159e+02] [-3.86986119e-03 3.84273878e-05 9.99992511e-01 -3.68203960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.0 meters 0.014354512998471137 Centerline is valid? [True, True] Translation: X:213.72, Y:101.61, Z:-3.68 [[ 6.25912348e-01 -7.79891868e-01 1.55117690e-03 2.13717856e+02] [ 7.79889558e-01 6.25914270e-01 1.89853962e-03 1.01613924e+02] [-2.45155936e-03 2.14272756e-05 9.99996995e-01 -3.68353344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06 meters 0.014160325086434718 Centerline is valid? [True, True] Translation: X:213.75, Y:101.66, Z:-3.68 [[ 6.26850340e-01 -7.79137539e-01 1.82939882e-03 2.13754160e+02] [ 7.79134315e-01 6.26853009e-01 2.24144411e-03 1.01660959e+02] [-2.89315740e-03 2.02973930e-05 9.99995815e-01 -3.68378522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12 meters 0.013961637948929287 Centerline is valid? [True, True] Translation: X:213.79, Y:101.71, Z:-3.68 [[ 6.28922005e-01 -7.77465662e-01 2.06292615e-03 2.13788010e+02] [ 7.77461546e-01 6.28925388e-01 2.53001881e-03 1.01706836e+02] [-3.26442938e-03 1.26612440e-05 9.99994672e-01 -3.68470718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17999999999998 meters 0.013799483057663037 Centerline is valid? [True, True] Translation: X:213.82, Y:101.75, Z:-3.68 [[ 6.30586717e-01 -7.76116604e-01 1.84670081e-03 2.13823156e+02] [ 7.76113301e-01 6.30589421e-01 2.26428074e-03 1.01753193e+02] [-2.92185587e-03 5.42370090e-06 9.99995731e-01 -3.68448193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23999999999998 meters 0.0137979691594233 Centerline is valid? [True, True] Translation: X:213.86, Y:101.80, Z:-3.69 [[ 6.32797216e-01 -7.74316437e-01 1.31872629e-03 2.13858215e+02] [ 7.74314749e-01 6.32798590e-01 1.61666778e-03 1.01800041e+02] [-2.08630057e-03 -1.91365649e-06 9.99997824e-01 -3.68546443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29999999999998 meters 0.014020462135976236 Centerline is valid? [True, True] Translation: X:213.89, Y:101.85, Z:-3.69 [[ 6.35959739e-01 -7.71721999e-01 6.06604749e-04 2.13891626e+02] [ 7.71721643e-01 6.35960028e-01 7.40817530e-04 1.01848331e+02] [-9.57481558e-04 -3.00010925e-06 9.99999542e-01 -3.68773345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35999999999999 meters 0.01417526693855899 Centerline is valid? [True, True] Translation: X:213.93, Y:101.90, Z:-3.69 [[ 6.37102391e-01 -7.70779160e-01 1.70744680e-04 2.13927061e+02] [ 7.70779133e-01 6.37102414e-01 2.04373380e-04 1.01895397e+02] [-2.66308590e-04 1.39966693e-06 9.99999965e-01 -3.68901255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42 meters 0.014191233500144621 Centerline is valid? [True, True] Translation: X:213.96, Y:101.94, Z:-3.69 [[ 6.37180939e-01 -7.70714143e-01 4.01052905e-04 2.13963207e+02] [ 7.70713989e-01 6.37181065e-01 4.87423028e-04 1.01940460e+02] [-6.31207139e-04 -1.47957842e-06 9.99999801e-01 -3.68936532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48 meters 0.014225125786695625 Centerline is valid? [True, True] Translation: X:214.00, Y:101.98, Z:-3.69 [[ 6.36540348e-01 -7.71243296e-01 4.05737150e-04 2.14000229e+02] [ 7.71243137e-01 6.36540477e-01 4.94266156e-04 1.01983714e+02] [-6.39467578e-04 -1.69835835e-06 9.99999796e-01 -3.68963058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54 meters 0.014028292411699256 Centerline is valid? [True, True] Translation: X:214.04, Y:102.03, Z:-3.69 [[ 6.35864151e-01 -7.71800973e-01 2.00169408e-04 2.14037902e+02] [ 7.71800936e-01 6.35864182e-01 2.40201900e-04 1.02028028e+02] [-3.12668617e-04 1.75515875e-06 9.99999951e-01 -3.69034929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.6 meters 0.013934224189063921 Centerline is valid? [True, True] Translation: X:214.08, Y:102.07, Z:-3.69 [[ 6.34562372e-01 -7.72871508e-01 -4.78190752e-04 2.14076782e+02] [ 7.72871277e-01 6.34562552e-01 -5.97145558e-04 1.02071774e+02] [ 7.64958731e-04 9.34620452e-06 9.99999707e-01 -3.69230081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66 meters 0.013841710310414554 Centerline is valid? [True, True] Translation: X:214.12, Y:102.11, Z:-3.69 [[ 6.31895934e-01 -7.75052913e-01 -7.14109598e-04 2.14117022e+02] [ 7.75052403e-01 6.31896338e-01 -8.88987970e-04 1.02114331e+02] [ 1.14025596e-03 8.27552346e-06 9.99999350e-01 -3.69219216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72 meters 0.01373085645348929 Centerline is valid? [True, True] Translation: X:214.16, Y:102.16, Z:-3.69 [[ 6.30021348e-01 -7.76577433e-01 -7.69210741e-04 2.14155583e+02] [ 7.76576842e-01 6.30021818e-01 -9.57518439e-04 1.02158092e+02] [ 1.22820676e-03 5.90580910e-06 9.99999246e-01 -3.69324482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78 meters 0.01375823341119558 Centerline is valid? [True, True] Translation: X:214.19, Y:102.20, Z:-3.69 [[ 6.28006128e-01 -7.78207812e-01 -9.50714555e-04 2.14193764e+02] [ 7.78206914e-01 6.28006848e-01 -1.18257075e-03 1.02201836e+02] [ 1.51734105e-03 2.80904105e-06 9.99998849e-01 -3.69396779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84 meters 0.013975050546446603 Centerline is valid? [True, True] Translation: X:214.23, Y:102.25, Z:-3.69 [[ 6.24541045e-01 -7.80991040e-01 -1.21602609e-03 2.14232950e+02] [ 7.80989579e-01 6.24542229e-01 -1.51053366e-03 1.02246169e+02] [ 1.93917289e-03 -6.31343405e-06 9.99998120e-01 -3.69398320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89999999999998 meters 0.014475023933911497 Centerline is valid? [True, True] Translation: X:214.27, Y:102.29, Z:-3.69 [[ 6.21042569e-01 -7.83776824e-01 -1.36932076e-04 2.14270864e+02] [ 7.83776804e-01 6.21042584e-01 -1.75575521e-04 1.02289050e+02] [ 2.22652674e-04 1.71568750e-06 9.99999975e-01 -3.69324176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95999999999998 meters 0.015366599421161947 Centerline is valid? [True, True] Translation: X:214.31, Y:102.33, Z:-3.69 [[ 6.15711662e-01 -7.87971007e-01 9.17658078e-04 2.14310644e+02] [ 7.87970196e-01 6.15712345e-01 1.13072056e-03 1.02332588e+02] [-1.45598842e-03 2.68893819e-05 9.99998940e-01 -3.69193508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01999999999998 meters 0.018220313029599707 Centerline is valid? [True, True] Translation: X:214.35, Y:102.37, Z:-3.69 [[ 6.06951780e-01 -7.94736294e-01 1.93878902e-03 2.14349859e+02] [ 7.94732680e-01 6.06954871e-01 2.39834939e-03 1.02374815e+02] [-3.08281275e-03 8.51365659e-05 9.99995244e-01 -3.69271802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07999999999998 meters 0.019069601134664625 Centerline is valid? [True, True] Translation: X:214.38, Y:102.42, Z:-3.69 [[ 6.00004185e-01 -7.99993698e-01 2.24978321e-03 2.14384453e+02] [ 7.99988862e-01 6.00008389e-01 2.78471348e-03 1.02421711e+02] [-3.57764204e-03 1.28961773e-04 9.99993592e-01 -3.69284187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14 meters 0.0200171528187837 Centerline is valid? [True, True] Translation: X:214.42, Y:102.47, Z:-3.69 [[ 5.95391004e-01 -8.03433246e-01 2.13807348e-03 2.14420552e+02] [ 8.03428906e-01 5.95394826e-01 2.64478450e-03 1.02467794e+02] [-3.39790568e-03 1.43109134e-04 9.99994217e-01 -3.69400344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.2 meters 0.022198168426407438 Centerline is valid? [True, True] Translation: X:214.46, Y:102.51, Z:-3.70 [[ 5.90971345e-01 -8.06687991e-01 2.71203400e-03 2.14457972e+02] [ 8.06681025e-01 5.90977533e-01 3.35839948e-03 1.02513138e+02] [-4.31193169e-03 2.03028507e-04 9.99990683e-01 -3.69509107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26 meters 0.024462227941893185 Centerline is valid? [True, True] Translation: X:214.49, Y:102.56, Z:-3.70 [[ 5.85227268e-01 -8.10858913e-01 4.10709428e-03 2.14492320e+02] [ 8.10842998e-01 5.85241575e-01 5.09226321e-03 1.02560614e+02] [-6.53274933e-03 3.50077351e-04 9.99978600e-01 -3.69586929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32 meters 0.024454149363398486 Centerline is valid? [True, True] Translation: X:214.52, Y:102.61, Z:-3.70 [[ 5.83059344e-01 -8.12413831e-01 5.05644147e-03 2.14524762e+02] [ 8.12389728e-01 5.83081096e-01 6.27420237e-03 1.02610043e+02] [-8.04556422e-03 4.49568789e-04 9.99967533e-01 -3.69648021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38 meters 0.023110246401290814 Centerline is valid? [True, True] Translation: X:214.55, Y:102.66, Z:-3.70 [[ 5.84706743e-01 -8.11220941e-01 6.21361467e-03 2.14551756e+02] [ 8.11184425e-01 5.84739518e-01 7.71517345e-03 1.02663540e+02] [-9.89205631e-03 5.29273505e-04 9.99950932e-01 -3.69725772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44 meters 0.022159251744859974 Centerline is valid? [True, True] Translation: X:214.58, Y:102.71, Z:-3.70 [[ 5.89087087e-01 -8.08043049e-01 6.54483074e-03 2.14580814e+02] [ 8.08002278e-01 5.89123233e-01 8.13233477e-03 1.02714955e+02] [-1.04269884e-02 4.97584745e-04 9.99945514e-01 -3.69788656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.5 meters 0.020558984362073603 Centerline is valid? [True, True] Translation: X:214.61, Y:102.77, Z:-3.70 [[ 5.95745896e-01 -8.03141741e-01 7.08313849e-03 2.14607707e+02] [ 8.03093615e-01 5.95787837e-01 8.80331814e-03 1.02767964e+02] [-1.12903600e-02 4.43882644e-04 9.99936163e-01 -3.69870250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56 meters 0.01643595334687518 Centerline is valid? [True, True] Translation: X:214.63, Y:102.83, Z:-3.70 [[ 6.09747720e-01 -7.92566332e-01 6.80642401e-03 2.14625946e+02] [ 7.92521167e-01 6.09785663e-01 8.46433451e-03 1.02826918e+02] [-1.08590063e-02 2.33126434e-04 9.99941012e-01 -3.70153472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62 meters 0.013591848020869894 Centerline is valid? [True, True] Translation: X:214.64, Y:102.89, Z:-3.70 [[ 6.23596072e-01 -7.81724573e-01 5.88474638e-03 2.14644867e+02] [ 7.81690304e-01 6.23623837e-01 7.31978882e-03 1.02887520e+02] [-9.39192691e-03 3.54576279e-05 9.99955894e-01 -3.70484551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67999999999998 meters 0.013628134873158301 Centerline is valid? [True, True] Translation: X:214.68, Y:102.94, Z:-3.71 [[ 6.27326292e-01 -7.78734267e-01 5.88760773e-03 2.14675421e+02] [ 7.78699787e-01 6.27353920e-01 7.32812901e-03 1.02935826e+02] [-9.40027896e-03 -1.24491173e-05 9.99955816e-01 -3.70658338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73999999999998 meters 0.013995146201660669 Centerline is valid? [True, True] Translation: X:214.71, Y:102.99, Z:-3.71 [[ 6.32818242e-01 -7.74275735e-01 6.17732361e-03 2.14705495e+02] [ 7.74237546e-01 6.32848386e-01 7.69050459e-03 1.02987334e+02] [-9.86388037e-03 -8.39757221e-05 9.99951347e-01 -3.70731164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79999999999998 meters 0.014577029674622325 Centerline is valid? [True, True] Translation: X:214.74, Y:103.04, Z:-3.71 [[ 6.35563854e-01 -7.72019563e-01 6.66202432e-03 2.14737635e+02] [ 7.71974956e-01 6.35598755e-01 8.30000148e-03 1.03036047e+02] [-1.06421379e-02 -1.32264993e-04 9.99943362e-01 -3.70757078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85999999999999 meters 0.014424940431262873 Centerline is valid? [True, True] Translation: X:214.77, Y:103.08, Z:-3.71 [[ 6.34875728e-01 -7.72578233e-01 7.46215080e-03 2.14773372e+02] [ 7.72522293e-01 6.34919565e-01 9.29802829e-03 1.03082662e+02] [-1.19213198e-02 -1.38414629e-04 9.99928929e-01 -3.70771609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92 meters 0.01400004535090529 Centerline is valid? [True, True] Translation: X:214.81, Y:103.13, Z:-3.71 [[ 6.32687602e-01 -7.74368658e-01 7.71878343e-03 2.14811100e+02] [ 7.74308872e-01 6.32734675e-01 9.62299721e-03 1.03127673e+02] [-1.23356894e-02 -1.11628541e-04 9.99923906e-01 -3.70838865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98 meters 0.013579892855577692 Centerline is valid? [True, True] Translation: X:214.85, Y:103.17, Z:-3.71 [[ 6.28328541e-01 -7.77908727e-01 7.82670824e-03 2.14849333e+02] [ 7.77847465e-01 6.28377283e-01 9.76276024e-03 1.03172121e+02] [-1.25126621e-02 -4.62357326e-05 9.99921713e-01 -3.70942059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04 meters 0.013528411911371588 Centerline is valid? [True, True] Translation: X:214.89, Y:103.22, Z:-3.71 [[ 6.25417412e-01 -7.80258352e-01 7.06864871e-03 2.14886810e+02] [ 7.80208480e-01 6.25457356e-01 8.82176641e-03 1.03215547e+02] [-1.13043953e-02 -2.26665275e-06 9.99936103e-01 -3.71143632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.1 meters 0.013634997209629449 Centerline is valid? [True, True] Translation: X:214.93, Y:103.26, Z:-3.71 [[ 6.21132467e-01 -7.83683249e-01 5.91807492e-03 2.14926543e+02] [ 7.83648438e-01 6.21160658e-01 7.38672405e-03 1.03259542e+02] [-9.46492721e-03 4.95560383e-05 9.99955205e-01 -3.71355168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16 meters 0.013780518386580261 Centerline is valid? [True, True] Translation: X:214.96, Y:103.30, Z:-3.71 [[ 6.18332032e-01 -7.85898288e-01 5.42021376e-03 2.14964726e+02] [ 7.85869147e-01 6.18355784e-01 6.76818287e-03 1.03304860e+02] [-8.67072386e-03 7.45944939e-05 9.99962406e-01 -3.71463318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22 meters 0.014327836144536426 Centerline is valid? [True, True] Translation: X:215.00, Y:103.35, Z:-3.72 [[ 6.15282663e-01 -7.88289233e-01 5.22786008e-03 2.15003429e+02] [ 7.88262168e-01 6.15304864e-01 6.53296504e-03 1.03348192e+02] [-8.36659373e-03 1.01304194e-04 9.99964994e-01 -3.71509978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28 meters 0.014553556259692627 Centerline is valid? [True, True] Translation: X:215.04, Y:103.39, Z:-3.71 [[ 6.13272873e-01 -7.89852643e-01 5.40231983e-03 2.15041687e+02] [ 7.89823805e-01 6.13296654e-01 6.75064257e-03 1.03393169e+02] [-8.64523756e-03 1.26894842e-04 9.99962621e-01 -3.71485318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34 meters 0.014825231265960543 Centerline is valid? [True, True] Translation: X:215.08, Y:103.44, Z:-3.71 [[ 6.11724949e-01 -7.91046140e-01 6.21214384e-03 2.15080011e+02] [ 7.91008021e-01 6.11756469e-01 7.76746646e-03 1.03438270e+02] [-9.94474355e-03 1.62302582e-04 9.99950537e-01 -3.71378423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39999999999998 meters 0.014671834103013289 Centerline is valid? [True, True] Translation: X:215.12, Y:103.48, Z:-3.71 [[ 6.11471058e-01 -7.91241406e-01 6.33898990e-03 2.15115670e+02] [ 7.91201685e-01 6.11503892e-01 7.92992598e-03 1.03484198e+02] [-1.01508028e-02 1.66499261e-04 9.99948465e-01 -3.71405996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45999999999998 meters 0.014228945680612405 Centerline is valid? [True, True] Translation: X:215.15, Y:103.53, Z:-3.71 [[ 6.12373073e-01 -7.90538199e-01 6.96953798e-03 2.15151276e+02] [ 7.90490070e-01 6.12412710e-01 8.72474868e-03 1.03531363e+02] [-1.11654808e-02 1.66549408e-04 9.99937650e-01 -3.71396596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51999999999998 meters 0.014041849201384375 Centerline is valid? [True, True] Translation: X:215.19, Y:103.58, Z:-3.71 [[ 6.14756677e-01 -7.88680594e-01 7.55967632e-03 2.15186264e+02] [ 7.88623754e-01 6.14803140e-01 9.46959927e-03 1.03577593e+02] [-1.21162019e-02 1.40240944e-04 9.99926586e-01 -3.71417490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57999999999998 meters 0.013574792270099034 Centerline is valid? [True, True] Translation: X:215.22, Y:103.63, Z:-3.72 [[ 6.16194975e-01 -7.87562709e-01 6.98086939e-03 2.15220591e+02] [ 7.87514152e-01 6.16234508e-01 8.74593399e-03 1.03625477e+02] [-1.11898241e-02 1.08332867e-04 9.99937386e-01 -3.71526144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64 meters 0.01342991730550911 Centerline is valid? [True, True] Translation: X:215.25, Y:103.67, Z:-3.72 [[ 6.17898572e-01 -7.86230117e-01 6.59987255e-03 2.15254793e+02] [ 7.86186585e-01 6.17933813e-01 8.27380980e-03 1.03671791e+02] [-1.05834029e-02 7.63560103e-05 9.99943991e-01 -3.71715379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.7 meters 0.01331923019715928 Centerline is valid? [True, True] Translation: X:215.29, Y:103.72, Z:-3.72 [[ 6.18555119e-01 -7.85715091e-01 6.43120522e-03 2.15290006e+02] [ 7.85673729e-01 6.18588548e-01 8.06226123e-03 1.03718160e+02] [-1.03129102e-02 6.58760313e-05 9.99946818e-01 -3.71727253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76 meters 0.013187123330269987 Centerline is valid? [True, True] Translation: X:215.33, Y:103.76, Z:-3.72 [[ 6.18794304e-01 -7.85529960e-01 6.02422302e-03 2.15325527e+02] [ 7.85493619e-01 6.18823625e-01 7.55615490e-03 1.03764074e+02] [-9.66351758e-03 5.62831340e-05 9.99953306e-01 -3.71834124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82 meters 0.013155144994363831 Centerline is valid? [True, True] Translation: X:215.36, Y:103.81, Z:-3.72 [[ 6.18047095e-01 -7.86118491e-01 5.95876581e-03 2.15361050e+02] [ 7.86082922e-01 6.18075816e-01 7.47836080e-03 1.03810406e+02] [-9.56184675e-03 6.21048754e-05 9.99954283e-01 -3.71866907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88 meters 0.013202082969701172 Centerline is valid? [True, True] Translation: X:215.40, Y:103.86, Z:-3.72 [[ 6.18035527e-01 -7.86121625e-01 6.69911982e-03 2.15396433e+02] [ 7.86076604e-01 6.18071830e-01 8.41342245e-03 1.03856754e+02] [-1.07545106e-02 6.62273765e-05 9.99942166e-01 -3.71851122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94 meters 0.013013406846096736 Centerline is valid? [True, True] Translation: X:215.43, Y:103.90, Z:-3.72 [[ 6.19322373e-01 -7.85112040e-01 6.23562726e-03 2.15430720e+02] [ 7.85072941e-01 6.19353763e-01 7.83545910e-03 1.03903258e+02] [-1.00137725e-02 4.27471063e-05 9.99949860e-01 -3.71966222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.0 meters 0.012936778775564985 Centerline is valid? [True, True] Translation: X:215.46, Y:103.95, Z:-3.72 [[ 6.21407499e-01 -7.83468457e-01 5.46778485e-03 2.15464590e+02] [ 7.83438302e-01 6.21431554e-01 6.87393293e-03 1.03950301e+02] [-8.78336367e-03 1.21586087e-05 9.99961425e-01 -3.72178422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06 meters 0.013059044578438546 Centerline is valid? [True, True] Translation: X:215.50, Y:104.00, Z:-3.72 [[ 6.24950591e-01 -7.80652016e-01 4.38054348e-03 2.15497427e+02] [ 7.80632559e-01 6.24965943e-01 5.51160765e-03 1.03998395e+02] [-7.04033810e-03 -2.48875896e-05 9.99975216e-01 -3.72337753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12 meters 0.013146394138985662 Centerline is valid? [True, True] Translation: X:215.53, Y:104.05, Z:-3.72 [[ 6.26494801e-01 -7.79413327e-01 4.37364091e-03 2.15533053e+02] [ 7.79393910e-01 6.26510067e-01 5.50181744e-03 1.04045135e+02] [-7.02831989e-03 -3.80709387e-05 9.99975300e-01 -3.72354907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17999999999998 meters 0.01335828399306887 Centerline is valid? [True, True] Translation: X:215.57, Y:104.09, Z:-3.72 [[ 6.27654956e-01 -7.78477547e-01 4.68659736e-03 2.15568156e+02] [ 7.78455191e-01 6.27672451e-01 5.90008214e-03 1.04090576e+02] [-7.53472953e-03 -5.49097560e-05 9.99971612e-01 -3.72411433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23999999999998 meters 0.013419708454343844 Centerline is valid? [True, True] Translation: X:215.60, Y:104.14, Z:-3.73 [[ 6.28122663e-01 -7.78098894e-01 4.90217548e-03 2.15603760e+02] [ 7.78074414e-01 6.28141789e-01 6.17240324e-03 1.04135864e+02] [-7.88200141e-03 -6.27690450e-05 9.99968935e-01 -3.72559710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29999999999998 meters 0.013764948564603837 Centerline is valid? [True, True] Translation: X:215.64, Y:104.18, Z:-3.73 [[ 6.30051482e-01 -7.76539292e-01 4.67531534e-03 2.15639720e+02] [ 7.76516956e-01 6.30068823e-01 5.89032046e-03 1.04182734e+02] [-7.51983571e-03 -8.07434980e-05 9.99971722e-01 -3.72667556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35999999999999 meters 0.014536777813057625 Centerline is valid? [True, True] Translation: X:215.68, Y:104.23, Z:-3.73 [[ 6.34411904e-01 -7.72983636e-01 4.22301901e-03 2.15675428e+02] [ 7.72965320e-01 6.34425949e-01 5.32254918e-03 1.04229375e+02] [-6.79343627e-03 -1.12441319e-04 9.99976918e-01 -3.72729307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42 meters 0.015999764883523677 Centerline is valid? [True, True] Translation: X:215.71, Y:104.28, Z:-3.73 [[ 6.39050030e-01 -7.69159340e-01 2.99475026e-03 2.15710889e+02] [ 7.69150085e-01 6.39057038e-01 3.77480282e-03 1.04276253e+02] [-4.81724108e-03 -1.08875445e-04 9.99988391e-01 -3.72935342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48 meters 0.01702077104339361 Centerline is valid? [True, True] Translation: X:215.75, Y:104.32, Z:-3.73 [[ 6.41620982e-01 -7.67019550e-01 1.87739350e-03 2.15747816e+02] [ 7.67015907e-01 6.41623724e-01 2.36528586e-03 1.04322291e+02] [-3.01880070e-03 -7.76263534e-05 9.99995440e-01 -3.73152175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54 meters 0.017538577508773988 Centerline is valid? [True, True] Translation: X:215.79, Y:104.37, Z:-3.73 [[ 6.42839775e-01 -7.66000028e-01 9.90438937e-04 2.15787055e+02] [ 7.65999017e-01 6.42840536e-01 1.24550985e-03 1.04366462e+02] [-1.59075488e-03 -4.19880201e-05 9.99998734e-01 -3.73311889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.6 meters 0.017876432300457448 Centerline is valid? [True, True] Translation: X:215.82, Y:104.41, Z:-3.73 [[ 6.42409809e-01 -7.66360517e-01 1.09340219e-03 2.15824018e+02] [ 7.66359283e-01 6.42410738e-01 1.37566279e-03 1.04411276e+02] [-1.75666695e-03 -4.58003501e-05 9.99998456e-01 -3.73402966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66 meters 0.01665504663592182 Centerline is valid? [True, True] Translation: X:215.87, Y:104.45, Z:-3.73 [[ 6.40648502e-01 -7.67832253e-01 1.76859570e-03 2.15865647e+02] [ 7.67829014e-01 6.40650939e-01 2.23136924e-03 1.04453117e+02] [-2.84636977e-03 -7.15442617e-05 9.99995947e-01 -3.73300701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72 meters 0.016804008024333194 Centerline is valid? [True, True] Translation: X:215.91, Y:104.50, Z:-3.73 [[ 6.38447382e-01 -7.69661520e-01 2.46669857e-03 2.15905537e+02] [ 7.69655205e-01 6.38452141e-01 3.11921201e-03 1.04495594e+02] [-3.97560644e-03 -9.29453493e-05 9.99992093e-01 -3.73328564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78 meters 0.01509137230072225 Centerline is valid? [True, True] Translation: X:215.95, Y:104.53, Z:-3.73 [[ 6.34251633e-01 -7.73121538e-01 2.82018121e-03 2.15951498e+02] [ 7.73113326e-01 6.34257898e-01 3.56444807e-03 1.04534616e+02] [-4.54447378e-03 -8.04373398e-05 9.99989671e-01 -3.73275408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84 meters 0.01429833255365442 Centerline is valid? [True, True] Translation: X:215.99, Y:104.58, Z:-3.73 [[ 6.31755866e-01 -7.75160748e-01 3.21569303e-03 2.15993864e+02] [ 7.75150080e-01 6.31764045e-01 4.06754021e-03 1.04576734e+02] [-5.18455675e-03 -7.70476810e-05 9.99986557e-01 -3.73317505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89999999999998 meters 0.013682380151191624 Centerline is valid? [True, True] Translation: X:216.04, Y:104.62, Z:-3.73 [[ 6.28508175e-01 -7.77797560e-01 2.90321082e-03 2.16038304e+02] [ 7.77788879e-01 6.28514878e-01 3.67524593e-03 1.04617341e+02] [-4.68330851e-03 -5.18370234e-05 9.99989032e-01 -3.73497591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95999999999998 meters 0.0131872011385428 Centerline is valid? [True, True] Translation: X:216.08, Y:104.66, Z:-3.74 [[ 6.25349864e-01 -7.80342303e-01 1.85410311e-03 2.16082613e+02] [ 7.80338782e-01 6.25352613e-01 2.34428755e-03 1.04657541e+02] [-2.98881497e-03 -1.91713378e-05 9.99995533e-01 -3.73784301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02 meters 0.013004094073646957 Centerline is valid? [True, True] Translation: X:216.12, Y:104.70, Z:-3.74 [[ 6.22399170e-01 -7.82698965e-01 1.26654150e-03 2.16124125e+02] [ 7.82697330e-01 6.22400458e-01 1.59961192e-03 1.04699073e+02] [-2.04031061e-03 -4.27847970e-06 9.99997919e-01 -3.74027703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08 meters 0.012922604584685618 Centerline is valid? [True, True] Translation: X:216.17, Y:104.74, Z:-3.74 [[ 6.18580149e-01 -7.85720931e-01 1.10323726e-03 2.16166245e+02] [ 7.85719696e-01 6.18581133e-01 1.39333427e-03 1.04739586e+02] [-1.77721365e-03 4.94632086e-06 9.99998421e-01 -3.74110290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14 meters 0.013207242372153066 Centerline is valid? [True, True] Translation: X:216.21, Y:104.78, Z:-3.74 [[ 6.12833050e-01 -7.90209248e-01 2.23568178e-03 2.16211904e+02] [ 7.90204173e-01 6.12837127e-01 2.83214633e-03 1.04777749e+02] [-3.60809702e-03 3.10121949e-05 9.99993490e-01 -3.73904735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2 meters 0.013774455468498079 Centerline is valid? [True, True] Translation: X:216.25, Y:104.82, Z:-3.74 [[ 6.10199126e-01 -7.92242663e-01 2.93069431e-03 2.16252495e+02] [ 7.92233938e-01 6.10206161e-01 3.71865908e-03 1.04818838e+02] [-4.73440809e-03 5.26729738e-05 9.99988791e-01 -3.73941775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26 meters 0.014436336646225163 Centerline is valid? [True, True] Translation: X:216.29, Y:104.86, Z:-3.74 [[ 6.08907321e-01 -7.93234524e-01 3.29604071e-03 2.16293350e+02] [ 7.93223491e-01 6.08916238e-01 4.18429290e-03 1.04859129e+02] [-5.32613829e-03 6.66503376e-05 9.99985814e-01 -3.74093061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32 meters 0.014134742769304823 Centerline is valid? [True, True] Translation: X:216.33, Y:104.90, Z:-3.74 [[ 6.09456764e-01 -7.92812725e-01 3.23064062e-03 2.16331487e+02] [ 7.92802121e-01 6.09465323e-01 4.10095803e-03 1.04902546e+02] [-5.22025513e-03 6.19021265e-05 9.99986372e-01 -3.74116421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38 meters 0.014193492742732704 Centerline is valid? [True, True] Translation: X:216.37, Y:104.95, Z:-3.74 [[ 6.12340642e-01 -7.90590324e-01 2.42448279e-03 2.16371404e+02] [ 7.90584333e-01 6.12345441e-01 3.07786882e-03 1.04945508e+02] [-3.91795430e-03 3.20539392e-05 9.99992324e-01 -3.74384742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44 meters 0.014047849933251304 Centerline is valid? [True, True] Translation: X:216.41, Y:104.99, Z:-3.74 [[ 6.14965825e-01 -7.88550514e-01 2.26289900e-03 2.16409156e+02] [ 7.88545276e-01 6.14969988e-01 2.87421262e-03 1.04990513e+02] [-3.65807681e-03 1.68557841e-05 9.99993309e-01 -3.74475701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.5 meters 0.014047181198059715 Centerline is valid? [True, True] Translation: X:216.45, Y:105.04, Z:-3.75 [[ 6.18286831e-01 -7.85949796e-01 2.07665282e-03 2.16445643e+02] [ 7.85945369e-01 6.18290319e-01 2.63808898e-03 1.05036357e+02] [-3.35737983e-03 1.03998903e-06 9.99994364e-01 -3.74571836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56 meters 0.014351930257602057 Centerline is valid? [True, True] Translation: X:216.48, Y:105.08, Z:-3.75 [[ 6.21749039e-01 -7.83212196e-01 2.60562094e-03 2.16483126e+02] [ 7.83205186e-01 6.21754498e-01 3.31374862e-03 1.05080937e+02] [-4.21542488e-03 -1.95841837e-05 9.99991115e-01 -3.74523658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62 meters 0.014256140298832083 Centerline is valid? [True, True] Translation: X:216.52, Y:105.13, Z:-3.74 [[ 6.21944299e-01 -7.83055727e-01 3.00297082e-03 2.16521436e+02] [ 7.83046398e-01 6.21951548e-01 3.82241743e-03 1.05125207e+02] [-4.86086821e-03 -2.58652412e-05 9.99988186e-01 -3.74490762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68 meters 0.014107673072672225 Centerline is valid? [True, True] Translation: X:216.56, Y:105.17, Z:-3.74 [[ 6.19928917e-01 -7.84651731e-01 3.13052239e-03 2.16562292e+02] [ 7.84641597e-01 6.19936821e-01 3.98774063e-03 1.05167727e+02] [-5.06971368e-03 -1.57776361e-05 9.99987149e-01 -3.74499963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74 meters 0.014068659617704551 Centerline is valid? [True, True] Translation: X:216.60, Y:105.21, Z:-3.75 [[ 6.17000349e-01 -7.86954753e-01 3.57580901e-03 2.16601715e+02] [ 7.86941548e-01 6.17010710e-01 4.55883861e-03 1.05209676e+02] [-5.79391217e-03 1.14766544e-06 9.99983215e-01 -3.74704086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.8 meters 0.014102381479954974 Centerline is valid? [True, True] Translation: X:216.64, Y:105.25, Z:-3.75 [[ 6.15702967e-01 -7.87972531e-01 3.02434519e-03 2.16638914e+02] [ 7.87963095e-01 6.15710394e-01 3.85637832e-03 1.05253771e+02] [-4.90084096e-03 8.68881819e-06 9.99987991e-01 -3.74746941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86 meters 0.014200448117710452 Centerline is valid? [True, True] Translation: X:216.67, Y:105.30, Z:-3.75 [[ 6.16639409e-01 -7.87240929e-01 2.74924824e-03 2.16672934e+02] [ 7.87233120e-01 6.16645538e-01 3.50643709e-03 1.05300975e+02] [-4.45572246e-03 2.09197335e-06 9.99990073e-01 -3.74866409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92 meters 0.01462833754660608 Centerline is valid? [True, True] Translation: X:216.71, Y:105.35, Z:-3.75 [[ 6.17572383e-01 -7.86512126e-01 1.74021553e-03 2.16708316e+02] [ 7.86508995e-01 6.17574834e-01 2.21897820e-03 1.05348646e+02] [-2.81996658e-03 -1.68449002e-06 9.99996024e-01 -3.75001574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98 meters 0.0150788173451565 Centerline is valid? [True, True] Translation: X:216.74, Y:105.40, Z:-3.75 [[ 6.17459164e-01 -7.86601306e-01 1.60195592e-03 2.16743737e+02] [ 7.86598654e-01 6.17461242e-01 2.04238753e-03 1.05395195e+02] [-2.59569039e-03 -9.94528602e-07 9.99996631e-01 -3.75033976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03999999999996 meters 0.015523639884641059 Centerline is valid? [True, True] Translation: X:216.78, Y:105.44, Z:-3.75 [[ 6.15592770e-01 -7.88063654e-01 1.10423450e-03 2.16779825e+02] [ 7.88062399e-01 6.15593760e-01 1.40659784e-03 1.05441080e+02] [-1.78824851e-03 4.31422757e-06 9.99998401e-01 -3.75147173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.09999999999997 meters 0.015682236627200575 Centerline is valid? [True, True] Translation: X:216.82, Y:105.49, Z:-3.75 [[ 6.13562249e-01 -7.89645391e-01 1.23445376e-03 2.16816848e+02] [ 7.89643822e-01 6.13563490e-01 1.57421906e-03 1.05486237e+02] [-2.00049058e-03 8.89739990e-06 9.99997999e-01 -3.75119930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.15999999999997 meters 0.015879345241496028 Centerline is valid? [True, True] Translation: X:216.85, Y:105.53, Z:-3.75 [[ 6.12428774e-01 -7.90524415e-01 1.46487581e-03 2.16853044e+02] [ 7.90522202e-01 6.12430526e-01 1.87040193e-03 1.05531612e+02] [-2.37573306e-03 1.25288893e-05 9.99997178e-01 -3.75062515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.21999999999997 meters 0.016003045328125753 Centerline is valid? [True, True] Translation: X:216.89, Y:105.58, Z:-3.75 [[ 6.12513054e-01 -7.90459314e-01 1.35340844e-03 2.16885763e+02] [ 7.90457420e-01 6.12514549e-01 1.73054578e-03 1.05578448e+02] [-2.19690839e-03 9.82986604e-06 9.99997587e-01 -3.75157693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28 meters 0.01576135389588215 Centerline is valid? [True, True] Translation: X:216.92, Y:105.63, Z:-3.75 [[ 6.12697641e-01 -7.90315707e-01 1.63794581e-03 2.16919320e+02] [ 7.90312932e-01 6.12699831e-01 2.09441784e-03 1.05625794e+02] [-2.65882043e-03 1.12448852e-05 9.99996465e-01 -3.75192820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34 meters 0.015628894659354287 Centerline is valid? [True, True] Translation: X:216.95, Y:105.67, Z:-3.75 [[ 6.13271403e-01 -7.89869527e-01 2.07769144e-03 2.16953039e+02] [ 7.89865047e-01 6.13274923e-01 2.66021043e-03 1.05672996e+02] [-3.37541521e-03 9.66486452e-06 9.99994303e-01 -3.75215405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.4 meters 0.01538594958203586 Centerline is valid? [True, True] Translation: X:216.99, Y:105.72, Z:-3.75 [[ 6.15019006e-01 -7.88509153e-01 2.22220322e-03 2.16985481e+02] [ 7.88504013e-01 6.15023020e-01 2.84725600e-03 1.05721765e+02] [-3.61179355e-03 1.09960252e-06 9.99993477e-01 -3.75205647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46 meters 0.015293934591939682 Centerline is valid? [True, True] Translation: X:217.02, Y:105.77, Z:-3.75 [[ 6.16849827e-01 -7.87077948e-01 2.14354144e-03 2.17016996e+02] [ 7.87073149e-01 6.16853552e-01 2.74837564e-03 1.05769914e+02] [-3.48543701e-03 -8.21112754e-06 9.99993926e-01 -3.75466122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52 meters 0.015297265656327547 Centerline is valid? [True, True] Translation: X:217.05, Y:105.82, Z:-3.76 [[ 6.17854301e-01 -7.86289615e-01 2.16869371e-03 2.17049937e+02] [ 7.86284695e-01 6.17858107e-01 2.78175992e-03 1.05818503e+02] [-3.52721393e-03 -1.35116627e-05 9.99993779e-01 -3.75633805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58 meters 0.015245758014412865 Centerline is valid? [True, True] Translation: X:217.08, Y:105.87, Z:-3.76 [[ 6.17995048e-01 -7.86179914e-01 1.80652319e-03 2.17083487e+02] [ 7.86176498e-01 6.17997688e-01 2.31753069e-03 1.05866654e+02] [-2.93842324e-03 -1.19764127e-05 9.99995683e-01 -3.75873152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64 meters 0.015169811681013359 Centerline is valid? [True, True] Translation: X:217.12, Y:105.91, Z:-3.76 [[ 6.17709237e-01 -7.86403745e-01 2.10898064e-03 2.17118091e+02] [ 7.86399083e-01 6.17712837e-01 2.70811167e-03 1.05913130e+02] [-3.43241357e-03 -1.43251525e-05 9.99994109e-01 -3.75849783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7 meters 0.014973043803556197 Centerline is valid? [True, True] Translation: X:217.15, Y:105.96, Z:-3.76 [[ 6.17712685e-01 -7.86397172e-01 3.24445737e-03 2.17152452e+02] [ 7.86386101e-01 6.17721205e-01 4.17282813e-03 1.05960970e+02] [-5.28567036e-03 -2.62126838e-05 9.99986030e-01 -3.75745277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76 meters 0.014946994508722238 Centerline is valid? [True, True] Translation: X:217.19, Y:106.01, Z:-3.76 [[ 6.17836866e-01 -7.86300311e-01 3.07050223e-03 2.17185817e+02] [ 7.86290381e-01 6.17844495e-01 3.95176998e-03 1.06006973e+02] [-5.00437087e-03 -2.72428056e-05 9.99987478e-01 -3.75889575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82 meters 0.014821693420939258 Centerline is valid? [True, True] Translation: X:217.22, Y:106.05, Z:-3.76 [[ 6.18197572e-01 -7.86016119e-01 3.22850605e-03 2.17221014e+02] [ 7.86005135e-01 6.18206001e-01 4.15551086e-03 1.06052660e+02] [-5.26218033e-03 -3.13043888e-05 9.99986154e-01 -3.75868738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88 meters 0.014834376954134719 Centerline is valid? [True, True] Translation: X:217.26, Y:106.10, Z:-3.76 [[ 6.18954045e-01 -7.85421429e-01 3.01138061e-03 2.17255718e+02] [ 7.85411856e-01 6.18961370e-01 3.87807980e-03 1.06099111e+02] [-4.90985525e-03 -3.51791465e-05 9.99987946e-01 -3.75911294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94 meters 0.015059274932406502 Centerline is valid? [True, True] Translation: X:217.29, Y:106.14, Z:-3.76 [[ 6.20119524e-01 -7.84501192e-01 3.10736692e-03 2.17289661e+02] [ 7.84490972e-01 6.20127307e-01 4.00460849e-03 1.06144937e+02] [-5.06858321e-03 -4.56346158e-05 9.99987154e-01 -3.75905663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.0 meters 0.015051568590872031 Centerline is valid? [True, True] Translation: X:217.33, Y:106.19, Z:-3.76 [[ 6.21004757e-01 -7.83798636e-01 3.57629253e-03 2.17325145e+02] [ 7.83785071e-01 6.21015052e-01 4.61170376e-03 1.06191012e+02] [-5.83557861e-03 -6.08452776e-05 9.99982971e-01 -3.75859686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06 meters 0.015215975423521691 Centerline is valid? [True, True] Translation: X:217.36, Y:106.24, Z:-3.76 [[ 6.21668693e-01 -7.83271151e-01 3.78689718e-03 2.17360608e+02] [ 7.83255910e-01 6.21680222e-01 4.88671829e-03 1.06237538e+02] [-6.18186454e-03 -7.18101746e-05 9.99980890e-01 -3.75820346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12 meters 0.015175131267938001 Centerline is valid? [True, True] Translation: X:217.40, Y:106.28, Z:-3.76 [[ 6.21215049e-01 -7.83629236e-01 4.13315966e-03 2.17397379e+02] [ 7.83611064e-01 6.21228794e-01 5.33720486e-03 1.06282921e+02] [-6.75002755e-03 -7.67623423e-05 9.99977215e-01 -3.75735916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18 meters 0.015090639604190466 Centerline is valid? [True, True] Translation: X:217.43, Y:106.33, Z:-3.76 [[ 6.19757429e-01 -7.84784067e-01 3.83371929e-03 2.17433216e+02] [ 7.84768435e-01 6.19769283e-01 4.95369245e-03 1.06326868e+02] [-6.26360036e-03 -6.15058072e-05 9.99980382e-01 -3.75799666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24 meters 0.014802834785391395 Centerline is valid? [True, True] Translation: X:217.47, Y:106.37, Z:-3.76 [[ 6.16101044e-01 -7.87661884e-01 2.87386446e-03 2.17471922e+02] [ 7.87653133e-01 6.16107747e-01 3.71313380e-03 1.06370568e+02] [-4.69530412e-03 -2.40572716e-05 9.99988977e-01 -3.75911756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.3 meters 0.014696443170774438 Centerline is valid? [True, True] Translation: X:217.51, Y:106.42, Z:-3.76 [[ 6.13068769e-01 -7.90025533e-01 2.51834391e-03 2.17509787e+02] [ 7.90018829e-01 6.13073941e-01 3.25469881e-03 1.06415098e+02] [-4.11522619e-03 -5.81508837e-06 9.99991532e-01 -3.76048870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36 meters 0.014676849087521279 Centerline is valid? [True, True] Translation: X:217.55, Y:106.46, Z:-3.76 [[ 6.08575390e-01 -7.93493418e-01 2.04714804e-03 2.17548514e+02] [ 7.93489005e-01 6.08578833e-01 2.64653332e-03 1.06459954e+02] [-3.34585774e-03 1.37744092e-05 9.99994403e-01 -3.76089870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42 meters 0.014908223521765213 Centerline is valid? [True, True] Translation: X:217.58, Y:106.50, Z:-3.76 [[ 6.06092586e-01 -7.95391041e-01 2.20674957e-03 2.17584650e+02] [ 7.95385918e-01 6.06096602e-01 2.85475772e-03 1.06504082e+02] [-3.60815214e-03 2.49700451e-05 9.99993490e-01 -3.76217566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48 meters 0.01552363204203997 Centerline is valid? [True, True] Translation: X:217.62, Y:106.55, Z:-3.76 [[ 6.02853987e-01 -7.97847539e-01 2.52496330e-03 2.17621604e+02] [ 7.97840834e-01 6.02859273e-01 3.27121073e-03 1.06548604e+02] [-4.13212497e-03 4.24563966e-05 9.99991462e-01 -3.76288093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53999999999996 meters 0.015627904308454562 Centerline is valid? [True, True] Translation: X:217.66, Y:106.59, Z:-3.76 [[ 6.00984885e-01 -7.99254988e-01 2.93818697e-03 2.17657599e+02] [ 7.99245927e-01 6.00992064e-01 3.80611773e-03 1.06594795e+02] [-4.80788563e-03 6.09147402e-05 9.99988440e-01 -3.76239897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.59999999999997 meters 0.015597345300551362 Centerline is valid? [True, True] Translation: X:217.69, Y:106.64, Z:-3.76 [[ 5.99890277e-01 -8.00077543e-01 2.75330545e-03 2.17692678e+02] [ 8.00069589e-01 5.99896592e-01 3.56813545e-03 1.06641326e+02] [-4.50648360e-03 6.23461967e-05 9.99989844e-01 -3.76205265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.65999999999997 meters 0.0156503358395063 Centerline is valid? [True, True] Translation: X:217.73, Y:106.69, Z:-3.76 [[ 5.99950503e-01 -8.00033341e-01 2.45889037e-03 2.17726345e+02] [ 8.00026987e-01 5.99955540e-01 3.18916574e-03 1.06687004e+02] [-4.02666382e-03 5.38370582e-05 9.99991892e-01 -3.76301945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.71999999999997 meters 0.015278007185524271 Centerline is valid? [True, True] Translation: X:217.76, Y:106.74, Z:-3.76 [[ 6.01677135e-01 -7.98737660e-01 1.66586680e-03 2.17758528e+02] [ 7.98734745e-01 6.01679440e-01 2.15818158e-03 1.06735467e+02] [-2.72613871e-03 3.20571828e-05 9.99996284e-01 -3.76383860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78 meters 0.015014700504755693 Centerline is valid? [True, True] Translation: X:217.79, Y:106.78, Z:-3.76 [[ 6.02722914e-01 -7.97949216e-01 1.46186914e-03 2.17790399e+02] [ 7.97946969e-01 6.02724687e-01 1.89399694e-03 1.06783780e+02] [-2.39241800e-03 2.49386949e-05 9.99997138e-01 -3.76484734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84 meters 0.015275896821663314 Centerline is valid? [True, True] Translation: X:217.82, Y:106.83, Z:-3.77 [[ 6.03260726e-01 -7.97542362e-01 1.63616426e-03 2.17823401e+02] [ 7.97539537e-01 6.03262945e-01 2.12277264e-03 1.06829975e+02] [-2.68003837e-03 2.43203280e-05 9.99996408e-01 -3.76728727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.9 meters 0.014940749989177151 Centerline is valid? [True, True] Translation: X:217.86, Y:106.88, Z:-3.77 [[ 6.02781793e-01 -7.97904267e-01 1.70007832e-03 2.17856177e+02] [ 7.97901217e-01 6.02784190e-01 2.20632035e-03 1.06878181e+02] [-2.78521275e-03 2.65648243e-05 9.99996121e-01 -3.76665106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96 meters 0.014844806407976712 Centerline is valid? [True, True] Translation: X:217.89, Y:106.93, Z:-3.77 [[ 6.02451540e-01 -7.98152819e-01 2.05412929e-03 2.17889948e+02] [ 7.98148358e-01 6.02455041e-01 2.66878584e-03 1.06925609e+02] [-3.36761949e-03 3.16857842e-05 9.99994329e-01 -3.76700758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02 meters 0.01458932534552517 Centerline is valid? [True, True] Translation: X:217.92, Y:106.97, Z:-3.77 [[ 6.05050695e-01 -7.96184886e-01 1.81207341e-03 2.17919969e+02] [ 7.96181400e-01 6.05053408e-01 2.35599394e-03 1.06974637e+02] [-2.97220796e-03 1.72433743e-05 9.99995583e-01 -3.76889400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08 meters 0.014496366614384961 Centerline is valid? [True, True] Translation: X:217.95, Y:107.02, Z:-3.77 [[ 6.08021138e-01 -7.93919683e-01 1.35391366e-03 2.17951657e+02] [ 7.93917735e-01 6.08022646e-01 1.75868483e-03 1.07024128e+02] [-2.21946467e-03 5.57851177e-06 9.99997537e-01 -3.77028918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14 meters 0.014572376918235526 Centerline is valid? [True, True] Translation: X:217.98, Y:107.07, Z:-3.77 [[ 6.11007314e-01 -7.91624542e-01 8.03841958e-04 2.17983326e+02] [ 7.91623856e-01 6.11007843e-01 1.04223868e-03 1.07073704e+02] [-1.31621546e-03 -4.74986494e-07 9.99999134e-01 -3.77182066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2 meters 0.0148044566453348 Centerline is valid? [True, True] Translation: X:218.01, Y:107.12, Z:-3.77 [[ 6.13695434e-01 -7.89542677e-01 5.24209224e-04 2.18014336e+02] [ 7.89542384e-01 6.13695658e-01 6.80961655e-04 1.07122773e+02] [-8.59353213e-04 -4.01765826e-06 9.99999631e-01 -3.77325711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26 meters 0.01472271378898931 Centerline is valid? [True, True] Translation: X:218.05, Y:107.17, Z:-3.77 [[ 6.13860680e-01 -7.89414056e-01 7.17172772e-04 2.18047942e+02] [ 7.89413508e-01 6.13861099e-01 9.29796078e-04 1.07170340e+02] [-1.17423856e-03 -4.61937881e-06 9.99999311e-01 -3.77423449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32 meters 0.01481524653842844 Centerline is valid? [True, True] Translation: X:218.08, Y:107.22, Z:-3.78 [[ 6.13458267e-01 -7.89726903e-01 6.11523360e-04 2.18081328e+02] [ 7.89726505e-01 6.13458571e-01 7.92953607e-04 1.07216111e+02] [-1.00136104e-03 -3.50773946e-06 9.99999499e-01 -3.77503354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38 meters 0.014755817279915786 Centerline is valid? [True, True] Translation: X:218.12, Y:107.26, Z:-3.78 [[ 6.12941355e-01 -7.90128211e-01 5.52039041e-04 2.18116301e+02] [ 7.90127888e-01 6.12941604e-01 7.15090957e-04 1.07262465e+02] [-9.03381234e-04 -2.12737917e-06 9.99999592e-01 -3.77610433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44 meters 0.01480709859745128 Centerline is valid? [True, True] Translation: X:218.15, Y:107.31, Z:-3.78 [[ 6.12648798e-01 -7.90355037e-01 6.04456695e-04 2.18151429e+02] [ 7.90354648e-01 6.12649097e-01 7.84090802e-04 1.07308962e+02] [-9.90029962e-04 -2.63712924e-06 9.99999510e-01 -3.77704840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.5 meters 0.014467120194798823 Centerline is valid? [True, True] Translation: X:218.19, Y:107.36, Z:-3.78 [[ 6.11999216e-01 -7.90857470e-01 1.19232232e-03 2.18187092e+02] [ 7.90855944e-01 6.12000378e-01 1.55377989e-03 1.07355400e+02] [-1.95852014e-03 -7.95687780e-06 9.99998082e-01 -3.77659762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56 meters 0.014215282419093173 Centerline is valid? [True, True] Translation: X:218.22, Y:107.40, Z:-3.78 [[ 6.09790987e-01 -7.92560678e-01 1.58841853e-03 2.18222742e+02] [ 7.92557964e-01 6.09793056e-01 2.07437746e-03 1.07400377e+02] [-2.61267660e-03 -6.02292267e-06 9.99996587e-01 -3.77808208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62 meters 0.014014540648763832 Centerline is valid? [True, True] Translation: X:218.26, Y:107.45, Z:-3.78 [[ 6.06681158e-01 -7.94943792e-01 1.52997325e-03 2.18260699e+02] [ 7.94941282e-01 6.06683087e-01 1.99760467e-03 1.07445016e+02] [-2.51619233e-03 4.32978816e-06 9.99996834e-01 -3.77989178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68 meters 0.013882778628092202 Centerline is valid? [True, True] Translation: X:218.30, Y:107.49, Z:-3.78 [[ 6.04338644e-01 -7.96726648e-01 1.20518044e-03 2.18297757e+02] [ 7.96725095e-01 6.04339845e-01 1.57308738e-03 1.07489346e+02] [-1.98165919e-03 9.52000714e-06 9.99998036e-01 -3.77878405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74 meters 0.014158344123087635 Centerline is valid? [True, True] Translation: X:218.33, Y:107.53, Z:-3.78 [[ 6.02578129e-01 -7.98059749e-01 4.84504203e-04 2.18334820e+02] [ 7.98059499e-01 6.02578324e-01 6.31920069e-04 1.07533534e+02] [-7.96261703e-04 5.88196838e-06 9.99999683e-01 -3.78101578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.8 meters 0.015282186289028832 Centerline is valid? [True, True] Translation: X:218.37, Y:107.58, Z:-3.78 [[ 6.00179359e-01 -7.99865040e-01 8.08819950e-04 2.18373786e+02] [ 7.99864345e-01 6.00179904e-01 1.05465938e-03 1.07576163e+02] [-1.32902265e-03 1.39614491e-05 9.99999117e-01 -3.78449160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86 meters 0.014660419035639825 Centerline is valid? [True, True] Translation: X:218.41, Y:107.62, Z:-3.78 [[ 5.99205257e-01 -8.00594540e-01 1.20101921e-03 2.18409124e+02] [ 8.00593002e-01 5.99206461e-01 1.56937216e-03 1.07621993e+02] [-1.97608925e-03 2.11515264e-05 9.99998047e-01 -3.78160207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92 meters 0.014783867526240387 Centerline is valid? [True, True] Translation: X:218.45, Y:107.67, Z:-3.78 [[ 5.99043243e-01 -8.00715097e-01 1.58952694e-03 2.18445496e+02] [ 8.00712393e-01 5.99045351e-01 2.08109365e-03 1.07665511e+02] [-2.61856183e-03 2.60888260e-05 9.99996571e-01 -3.78197365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98 meters 0.014720808222883717 Centerline is valid? [True, True] Translation: X:218.48, Y:107.71, Z:-3.78 [[ 5.99521231e-01 -8.00356409e-01 1.97814655e-03 2.18481135e+02] [ 8.00352212e-01 5.99524493e-01 2.59207560e-03 1.07711056e+02] [-3.26053162e-03 2.92096157e-05 9.99994684e-01 -3.78236586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03999999999996 meters 0.014275182725482071 Centerline is valid? [True, True] Translation: X:218.52, Y:107.76, Z:-3.78 [[ 6.01313655e-01 -7.99010084e-01 2.18508067e-03 2.18515783e+02] [ 7.99004946e-01 6.01317625e-01 2.86537570e-03 1.07757363e+02] [-3.60339159e-03 2.29007271e-05 9.99993508e-01 -3.78206497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.09999999999997 meters 0.014013200339387527 Centerline is valid? [True, True] Translation: X:218.55, Y:107.80, Z:-3.78 [[ 6.03457251e-01 -7.97392480e-01 2.13971107e-03 2.18549228e+02] [ 7.97387537e-01 6.03461045e-01 2.80785964e-03 1.07803564e+02] [-3.53019844e-03 1.17556735e-05 9.99993769e-01 -3.78297167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.15999999999997 meters 0.014149824752128453 Centerline is valid? [True, True] Translation: X:218.58, Y:107.85, Z:-3.78 [[ 6.09123901e-01 -7.93073866e-01 1.38479241e-03 2.18580690e+02] [ 7.93071783e-01 6.09125475e-01 1.81745590e-03 1.07852187e+02] [-2.28488911e-03 -8.81603850e-06 9.99997390e-01 -3.78445503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.21999999999997 meters 0.014910711609694736 Centerline is valid? [True, True] Translation: X:218.61, Y:107.90, Z:-3.79 [[ 6.12607444e-01 -7.90386219e-01 1.32077929e-03 2.18613010e+02] [ 7.90384321e-01 6.12608867e-01 1.73219073e-03 1.07901045e+02] [-2.17822079e-03 -1.72296956e-05 9.99997628e-01 -3.78577562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28 meters 0.01652512516378005 Centerline is valid? [True, True] Translation: X:218.64, Y:107.95, Z:-3.79 [[ 6.16403609e-01 -7.87429408e-01 1.23198263e-03 2.18644493e+02] [ 7.87427745e-01 6.16404839e-01 1.61894741e-03 1.07948600e+02] [-2.03420685e-03 -2.78277235e-05 9.99997931e-01 -3.78669651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34 meters 0.01746518262068766 Centerline is valid? [True, True] Translation: X:218.68, Y:108.00, Z:-3.79 [[ 6.17674344e-01 -7.86432962e-01 1.26532258e-03 2.18679184e+02] [ 7.86431209e-01 6.17675639e-01 1.66074058e-03 1.07995048e+02] [-2.08762007e-03 -3.07076819e-05 9.99997820e-01 -3.78744776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.4 meters 0.015567384482675056 Centerline is valid? [True, True] Translation: X:218.72, Y:108.04, Z:-3.78 [[ 6.19407492e-01 -7.85068512e-01 1.33764134e-03 2.18719507e+02] [ 7.85066549e-01 6.19408936e-01 1.75613937e-03 1.08038490e+02] [-2.20723672e-03 -3.76284095e-05 9.99997563e-01 -3.78364871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46 meters 0.015905276446242705 Centerline is valid? [True, True] Translation: X:218.76, Y:108.09, Z:-3.78 [[ 6.20644929e-01 -7.84090614e-01 1.33487680e-03 2.18755183e+02] [ 7.84088654e-01 6.20646363e-01 1.75340111e-03 1.08085338e+02] [-2.20331178e-03 -4.15777558e-05 9.99997572e-01 -3.78466113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52 meters 0.01669311155660503 Centerline is valid? [True, True] Translation: X:218.79, Y:108.13, Z:-3.79 [[ 6.22029016e-01 -7.82993349e-01 1.14828805e-03 2.18789648e+02] [ 7.82991894e-01 6.22030075e-01 1.51025369e-03 1.08131929e+02] [-1.89678830e-03 -4.03213883e-05 9.99998200e-01 -3.78650550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58 meters 0.017315614410185094 Centerline is valid? [True, True] Translation: X:218.83, Y:108.18, Z:-3.79 [[ 6.23229241e-01 -7.82039130e-01 3.35765323e-04 2.18826621e+02] [ 7.82039008e-01 6.23229331e-01 4.36780845e-04 1.08177750e+02] [-5.50838510e-04 -9.63301455e-06 9.99999848e-01 -3.78869421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64 meters 0.01739663223706429 Centerline is valid? [True, True] Translation: X:218.86, Y:108.22, Z:-3.79 [[ 6.23541859e-01 -7.81789770e-01 5.53442708e-04 2.18863033e+02] [ 7.81789434e-01 6.23542104e-01 7.24350590e-04 1.08223585e+02] [-9.11384712e-04 -1.89872515e-05 9.99999585e-01 -3.78975675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7 meters 0.0180443323651293 Centerline is valid? [True, True] Translation: X:218.90, Y:108.27, Z:-3.79 [[ 6.23025205e-01 -7.82201402e-01 7.48997982e-04 2.18899014e+02] [ 7.82200784e-01 6.23025655e-01 9.83412078e-04 1.08267734e+02] [-1.23587126e-03 -2.68237037e-05 9.99999236e-01 -3.79218458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76 meters 0.01807505605769623 Centerline is valid? [True, True] Translation: X:218.94, Y:108.31, Z:-3.79 [[ 6.21998628e-01 -7.83017449e-01 1.17514339e-03 2.18936092e+02] [ 7.83015916e-01 6.21999737e-01 1.55022685e-03 1.08312541e+02] [-1.94479355e-03 -4.40829916e-05 9.99998108e-01 -3.79329769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82 meters 0.016201933977795277 Centerline is valid? [True, True] Translation: X:218.98, Y:108.35, Z:-3.79 [[ 6.19220771e-01 -7.85213751e-01 2.23662268e-03 2.18977873e+02] [ 7.85208215e-01 6.19224806e-01 2.94941303e-03 1.08354349e+02] [-3.70089191e-03 -7.01233049e-05 9.99993149e-01 -3.79174515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88 meters 0.015695937067085334 Centerline is valid? [True, True] Translation: X:219.02, Y:108.40, Z:-3.79 [[ 6.15712047e-01 -7.87966195e-01 2.81972677e-03 2.19015493e+02] [ 7.87957393e-01 6.15718500e-01 3.72510400e-03 1.08397827e+02] [-4.67141396e-03 -7.17668556e-05 9.99989086e-01 -3.79339575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94 meters 0.014704266096881318 Centerline is valid? [True, True] Translation: X:219.06, Y:108.44, Z:-3.79 [[ 6.10915369e-01 -7.91687934e-01 3.55344211e-03 2.19055352e+02] [ 7.91674022e-01 6.10925701e-01 4.69374536e-03 1.08440623e+02] [-5.88687068e-03 -5.43133705e-05 9.99982671e-01 -3.79348840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.0 meters 0.01421894096877692 Centerline is valid? [True, True] Translation: X:219.10, Y:108.48, Z:-3.79 [[ 6.03722246e-01 -7.97182225e-01 4.46644675e-03 2.19097880e+02] [ 7.97160355e-01 6.03738768e-01 5.90496651e-03 1.08481726e+02] [-7.40390140e-03 -4.48537015e-06 9.99972591e-01 -3.79459228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06 meters 0.014692881798590844 Centerline is valid? [True, True] Translation: X:219.14, Y:108.52, Z:-3.80 [[ 5.96175479e-01 -8.02844806e-01 3.87496271e-03 2.19140468e+02] [ 8.02828452e-01 5.96188069e-01 5.12469710e-03 1.08523737e+02] [-6.42454298e-03 5.57115719e-05 9.99979361e-01 -3.79537493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12 meters 0.015332596620958655 Centerline is valid? [True, True] Translation: X:219.18, Y:108.57, Z:-3.80 [[ 5.91570144e-01 -8.06246421e-01 3.38743124e-03 2.19179788e+02] [ 8.06233970e-01 5.91579837e-01 4.48143388e-03 1.08568244e+02] [-5.61707604e-03 7.99796470e-05 9.99984221e-01 -3.79658032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18 meters 0.01619587580426725 Centerline is valid? [True, True] Translation: X:219.22, Y:108.61, Z:-3.80 [[ 5.88062339e-01 -8.08807281e-01 3.66988845e-03 2.19218720e+02] [ 8.08792698e-01 5.88073779e-01 4.85821884e-03 1.08613140e+02] [-6.08752794e-03 1.11243444e-04 9.99981465e-01 -3.79692167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24 meters 0.01643618793445373 Centerline is valid? [True, True] Translation: X:219.26, Y:108.66, Z:-3.80 [[ 5.84839246e-01 -8.11135450e-01 4.72636010e-03 2.19256404e+02] [ 8.11111299e-01 5.84858319e-01 6.26168782e-03 1.08658707e+02] [-7.84332798e-03 1.71523295e-04 9.99969226e-01 -3.79555257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.3 meters 0.016760785104795527 Centerline is valid? [True, True] Translation: X:219.29, Y:108.70, Z:-3.80 [[ 5.84365552e-01 -8.11473675e-01 5.23229690e-03 2.19291676e+02] [ 8.11444047e-01 5.84388945e-01 6.93690738e-03 1.08703477e+02] [-8.68681419e-03 1.92026455e-04 9.99962250e-01 -3.79604410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36 meters 0.016412057850895553 Centerline is valid? [True, True] Translation: X:219.33, Y:108.75, Z:-3.80 [[ 5.84967966e-01 -8.11034707e-01 5.93147867e-03 2.19326410e+02] [ 8.10996578e-01 5.84998001e-01 7.86700112e-03 1.08749952e+02] [-9.85031411e-03 2.08465256e-04 9.99951463e-01 -3.79592298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42 meters 0.016282039741883574 Centerline is valid? [True, True] Translation: X:219.36, Y:108.80, Z:-3.80 [[ 5.86976566e-01 -8.09582570e-01 5.87988906e-03 2.19360245e+02] [ 8.09544970e-01 5.87005988e-01 7.80462796e-03 1.08796668e+02] [-9.77002085e-03 1.78900902e-04 9.99952256e-01 -3.79816218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48 meters 0.015516172585066261 Centerline is valid? [True, True] Translation: X:219.39, Y:108.85, Z:-3.80 [[ 5.89565488e-01 -8.07701388e-01 5.56816245e-03 2.19393310e+02] [ 8.07667585e-01 5.89591765e-01 7.39075684e-03 1.08846208e+02] [-9.25246728e-03 1.39889158e-04 9.99957185e-01 -3.80052631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53999999999996 meters 0.014557921518832832 Centerline is valid? [True, True] Translation: X:219.42, Y:108.90, Z:-3.80 [[ 5.93931172e-01 -8.04501208e-01 4.85481975e-03 2.19423180e+02] [ 8.04475388e-01 5.93951008e-01 6.44593653e-03 1.08897589e+02] [-8.06928881e-03 7.71403580e-05 9.99967440e-01 -3.80247954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.59999999999997 meters 0.014237276561905914 Centerline is valid? [True, True] Translation: X:219.46, Y:108.95, Z:-3.80 [[ 5.96094180e-01 -8.02902460e-01 4.40095700e-03 2.19455567e+02] [ 8.02881184e-01 5.96110424e-01 5.84529388e-03 1.08945697e+02] [-7.31665717e-03 4.90999009e-05 9.99973232e-01 -3.80285927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.65999999999997 meters 0.01395855102242481 Centerline is valid? [True, True] Translation: X:219.49, Y:108.99, Z:-3.80 [[ 5.97943681e-01 -8.01526452e-01 4.32456997e-03 2.19486923e+02] [ 8.01505848e-01 5.97959319e-01 5.74701900e-03 1.08994539e+02] [-7.19230466e-03 2.97744289e-05 9.99974135e-01 -3.80441133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.71999999999997 meters 0.01382042111176609 Centerline is valid? [True, True] Translation: X:219.52, Y:109.04, Z:-3.81 [[ 5.99051961e-01 -8.00698724e-01 4.27797829e-03 2.19518788e+02] [ 8.00678518e-01 5.99067235e-01 5.68849552e-03 1.09043476e+02] [-7.11756773e-03 1.75809262e-05 9.99974670e-01 -3.80655821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78 meters 0.013726592220880279 Centerline is valid? [True, True] Translation: X:219.55, Y:109.09, Z:-3.81 [[ 6.01284951e-01 -7.99021388e-01 4.60762133e-03 2.19549674e+02] [ 7.98997862e-01 6.01302604e-01 6.13148370e-03 1.09091175e+02] [-7.66976132e-03 -5.28928819e-06 9.99970587e-01 -3.80649062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84 meters 0.013789197270885921 Centerline is valid? [True, True] Translation: X:219.58, Y:109.14, Z:-3.81 [[ 6.02822189e-01 -7.97865592e-01 3.98822935e-03 2.19582839e+02] [ 7.97847930e-01 6.02835381e-01 5.30890394e-03 1.09138944e+02] [-6.64003755e-03 -1.83245681e-05 9.99977955e-01 -3.80680013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.9 meters 0.013824963293715704 Centerline is valid? [True, True] Translation: X:219.61, Y:109.19, Z:-3.81 [[ 6.04960933e-01 -7.96249216e-01 3.07507110e-03 2.19614344e+02] [ 7.96238689e-01 6.04968748e-01 4.09454824e-03 1.09188712e+02] [-5.12060274e-03 -2.85511444e-05 9.99986889e-01 -3.80998899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96 meters 0.013933601229657757 Centerline is valid? [True, True] Translation: X:219.65, Y:109.24, Z:-3.81 [[ 6.05902952e-01 -7.95531478e-01 3.35858256e-03 2.19647339e+02] [ 7.95518896e-01 6.05912259e-01 4.47441120e-03 1.09236159e+02] [-5.59454130e-03 -3.92430637e-05 9.99984350e-01 -3.81138038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02 meters 0.014056705302476205 Centerline is valid? [True, True] Translation: X:219.68, Y:109.28, Z:-3.81 [[ 6.06358832e-01 -7.95184470e-01 3.25954734e-03 2.19681420e+02] [ 7.95172599e-01 6.06367592e-01 4.34530830e-03 1.09281917e+02] [-5.43180555e-03 -4.29133384e-05 9.99985247e-01 -3.81242278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08 meters 0.013989796082012087 Centerline is valid? [True, True] Translation: X:219.72, Y:109.33, Z:-3.81 [[ 6.06083572e-01 -7.95395032e-01 3.07352793e-03 2.19717055e+02] [ 7.95384472e-01 6.06091364e-01 4.09871557e-03 1.09327364e+02] [-5.12293673e-03 -3.95277838e-05 9.99986877e-01 -3.81247732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14 meters 0.014001654326213782 Centerline is valid? [True, True] Translation: X:219.75, Y:109.37, Z:-3.81 [[ 6.06375192e-01 -7.95171591e-01 3.35663627e-03 2.19752042e+02] [ 7.95158975e-01 6.06384481e-01 4.47959760e-03 1.09373979e+02] [-5.59746089e-03 -4.72574054e-05 9.99984333e-01 -3.81367615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2 meters 0.014087458957054697 Centerline is valid? [True, True] Translation: X:219.79, Y:109.42, Z:-3.82 [[ 6.06632576e-01 -7.94975399e-01 3.32141804e-03 2.19786630e+02] [ 7.94963029e-01 6.06641667e-01 4.43522376e-03 1.09420229e+02] [-5.54080435e-03 -5.01466686e-05 9.99984648e-01 -3.81507582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26 meters 0.014552043585875968 Centerline is valid? [True, True] Translation: X:219.82, Y:109.47, Z:-3.82 [[ 6.07037857e-01 -7.94663637e-01 3.83981408e-03 2.19820534e+02] [ 7.94647068e-01 6.07049997e-01 5.13207863e-03 1.09466656e+02] [-6.40923540e-03 -6.40690120e-05 9.99979459e-01 -3.81625144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32 meters 0.014005001470336353 Centerline is valid? [True, True] Translation: X:219.86, Y:109.51, Z:-3.81 [[ 6.06912828e-01 -7.94754775e-01 4.65474157e-03 2.19857869e+02] [ 7.94730396e-01 6.06930672e-01 6.22550045e-03 1.09511405e+02] [-7.77285164e-03 -7.90714753e-05 9.99969788e-01 -3.81457906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38 meters 0.014009367158931314 Centerline is valid? [True, True] Translation: X:219.89, Y:109.56, Z:-3.82 [[ 6.06765866e-01 -7.94861872e-01 5.45790531e-03 2.19892818e+02] [ 7.94828305e-01 6.06790405e-01 7.30546812e-03 1.09557291e+02] [-9.11864264e-03 -9.46110638e-05 9.99958420e-01 -3.81541043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44 meters 0.014276929089704953 Centerline is valid? [True, True] Translation: X:219.93, Y:109.60, Z:-3.82 [[ 6.07359665e-01 -7.94405669e-01 5.81981475e-03 2.19927272e+02] [ 7.94367431e-01 6.07387538e-01 7.79507693e-03 1.09604478e+02] [-9.72733625e-03 -1.11344025e-04 9.99952682e-01 -3.81643742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.5 meters 0.014329944578775467 Centerline is valid? [True, True] Translation: X:219.96, Y:109.65, Z:-3.82 [[ 6.08206681e-01 -7.93755391e-01 6.08377152e-03 2.19961109e+02] [ 7.93713521e-01 6.08237094e-01 8.15376197e-03 1.09651670e+02] [-1.01724680e-02 -1.30400795e-04 9.99948251e-01 -3.81802695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56 meters 0.014605900683415525 Centerline is valid? [True, True] Translation: X:220.00, Y:109.70, Z:-3.82 [[ 6.09675385e-01 -7.92634278e-01 5.17938874e-03 2.19995328e+02] [ 7.92603864e-01 6.09697371e-01 6.94487041e-03 1.09699697e+02] [-8.66260204e-03 -1.28913012e-04 9.99962471e-01 -3.82080299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62 meters 0.015108299398753813 Centerline is valid? [True, True] Translation: X:220.03, Y:109.75, Z:-3.82 [[ 6.11152121e-01 -7.91498089e-01 4.88463042e-03 2.20029703e+02] [ 7.91470976e-01 6.11171625e-01 6.55276469e-03 1.09747171e+02] [-8.17184824e-03 -1.38692836e-04 9.99966600e-01 -3.82250428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68 meters 0.015110082540690547 Centerline is valid? [True, True] Translation: X:220.06, Y:109.79, Z:-3.82 [[ 6.10527469e-01 -7.91977302e-01 5.30679042e-03 2.20064127e+02] [ 7.91945283e-01 6.10550515e-01 7.12304292e-03 1.09793577e+02] [-8.88135194e-03 -1.46125727e-04 9.99960549e-01 -3.82326566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74 meters 0.015173962456333553 Centerline is valid? [True, True] Translation: X:220.10, Y:109.84, Z:-3.82 [[ 6.09439752e-01 -7.92812277e-01 5.64646424e-03 2.20098190e+02] [ 7.92776011e-01 6.09465891e-01 7.58444794e-03 1.09839095e+02] [-9.45437080e-03 -1.45882674e-04 9.99955296e-01 -3.82469716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.8 meters 0.013961157301722343 Centerline is valid? [True, True] Translation: X:220.14, Y:109.88, Z:-3.82 [[ 6.07255424e-01 -7.94479487e-01 6.57225244e-03 2.20137593e+02] [ 7.94430399e-01 6.07290972e-01 8.83273470e-03 1.09883784e+02] [-1.10086961e-02 -1.42528933e-04 9.99939392e-01 -3.82375389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86 meters 0.01418616735956714 Centerline is valid? [True, True] Translation: X:220.17, Y:109.93, Z:-3.82 [[ 6.05919410e-01 -7.95490017e-01 7.56982312e-03 2.20171532e+02] [ 7.95424897e-01 6.05966676e-01 1.01794920e-02 1.09929792e+02] [-1.26847448e-02 -1.46726002e-04 9.99919535e-01 -3.82453686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92 meters 0.013607473528156106 Centerline is valid? [True, True] Translation: X:220.21, Y:109.98, Z:-3.83 [[ 6.04274520e-01 -7.96732647e-01 8.33031134e-03 2.20207934e+02] [ 7.96653821e-01 6.04331922e-01 1.12079194e-02 1.09975488e+02] [-1.39639883e-02 -1.36285757e-04 9.99902489e-01 -3.82503380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98 meters 0.01344821471408955 Centerline is valid? [True, True] Translation: X:220.24, Y:110.02, Z:-3.83 [[ 6.02582360e-01 -7.98016040e-01 8.05602266e-03 2.20243803e+02] [ 7.97942352e-01 6.02636199e-01 1.08450421e-02 1.10021342e+02] [-1.35093685e-02 -1.06789416e-04 9.99908739e-01 -3.82701692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03999999999996 meters 0.01323631280882457 Centerline is valid? [True, True] Translation: X:220.28, Y:110.07, Z:-3.83 [[ 6.01260389e-01 -7.99023718e-01 6.85876293e-03 2.20279598e+02] [ 7.98970321e-01 6.01299503e-01 9.23760128e-03 1.10066749e+02] [-1.15052333e-02 -7.42557186e-05 9.99933810e-01 -3.82946933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.09999999999997 meters 0.013256872900735623 Centerline is valid? [True, True] Translation: X:220.31, Y:110.11, Z:-3.83 [[ 6.00232581e-01 -7.99801330e-01 6.21951435e-03 2.20314122e+02] [ 7.99757415e-01 6.00264800e-01 8.38130727e-03 1.10112696e+02] [-1.04367362e-02 -5.66309680e-05 9.99945534e-01 -3.83157483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.15999999999997 meters 0.013092094823151743 Centerline is valid? [True, True] Translation: X:220.35, Y:110.16, Z:-3.83 [[ 5.99010627e-01 -8.00722953e-01 5.38719324e-03 2.20350040e+02] [ 8.00690019e-01 5.99034850e-01 7.26239596e-03 1.10158994e+02] [-9.04228363e-03 -3.67804980e-05 9.99959117e-01 -3.83337622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.21999999999997 meters 0.013003575480608117 Centerline is valid? [True, True] Translation: X:220.39, Y:110.20, Z:-3.83 [[ 5.97893357e-01 -8.01559566e-01 5.07888133e-03 2.20385768e+02] [ 8.01530293e-01 5.97914928e-01 6.85046735e-03 1.10204688e+02] [-8.52779660e-03 -2.49716766e-05 9.99963637e-01 -3.83430889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28 meters 0.01302394333385846 Centerline is valid? [True, True] Translation: X:220.42, Y:110.25, Z:-3.83 [[ 5.97213113e-01 -8.02065788e-01 5.19318801e-03 2.20420681e+02] [ 8.02035160e-01 5.97235692e-01 7.00935694e-03 1.10250047e+02] [-8.72352263e-03 -2.09605049e-05 9.99961949e-01 -3.83460975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34 meters 0.01305964914646954 Centerline is valid? [True, True] Translation: X:220.46, Y:110.30, Z:-3.83 [[ 5.97732592e-01 -8.01676341e-01 5.54916339e-03 2.20456132e+02] [ 8.01641315e-01 5.97758349e-01 7.49386427e-03 1.10296460e+02] [-9.32471243e-03 -3.08882756e-05 9.99956523e-01 -3.83342384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.4 meters 0.013072042662730309 Centerline is valid? [True, True] Translation: X:220.49, Y:110.34, Z:-3.83 [[ 5.97666661e-01 -8.01726898e-01 5.34259422e-03 2.20490989e+02] [ 8.01694396e-01 5.97690539e-01 7.21907306e-03 1.10343370e+02] [-8.98094307e-03 -3.14714467e-05 9.99959670e-01 -3.83499335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46 meters 0.013094970785749716 Centerline is valid? [True, True] Translation: X:220.53, Y:110.39, Z:-3.84 [[ 5.97005674e-01 -8.02220526e-01 5.14322278e-03 2.20526257e+02] [ 8.02190389e-01 5.97027828e-01 6.95356497e-03 1.10390045e+02] [-8.64893968e-03 -2.54738624e-05 9.99962597e-01 -3.83594018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52 meters 0.013154176993803134 Centerline is valid? [True, True] Translation: X:220.56, Y:110.44, Z:-3.84 [[ 5.97504929e-01 -8.01853824e-01 4.27843415e-03 2.20560229e+02] [ 8.01832943e-01 5.97520246e-01 5.78678796e-03 1.10437819e+02] [-7.19660908e-03 -2.70448865e-05 9.99974104e-01 -3.83822451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58 meters 0.013263212718384059 Centerline is valid? [True, True] Translation: X:220.59, Y:110.49, Z:-3.84 [[ 5.98191338e-01 -8.01345995e-01 3.42354485e-03 2.20593273e+02] [ 8.01332609e-01 5.98201134e-01 4.63179760e-03 1.10485477e+02] [-5.75964086e-03 -2.73030748e-05 9.99983413e-01 -3.84095430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64 meters 0.013404396042511198 Centerline is valid? [True, True] Translation: X:220.63, Y:110.53, Z:-3.84 [[ 5.99151810e-01 -8.00629437e-01 3.10053871e-03 2.20625929e+02] [ 8.00618440e-01 5.99159831e-01 4.19653075e-03 1.10533679e+02] [-5.21758430e-03 -3.20105303e-05 9.99986388e-01 -3.84291516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7 meters 0.013420771211308958 Centerline is valid? [True, True] Translation: X:220.66, Y:110.58, Z:-3.84 [[ 5.99112196e-01 -8.00656547e-01 3.69733270e-03 2.20659968e+02] [ 8.00640883e-01 5.99123604e-01 5.00836474e-03 1.10580259e+02] [-6.22513932e-03 -4.03366800e-05 9.99980623e-01 -3.84281644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76 meters 0.01340447959731479 Centerline is valid? [True, True] Translation: X:220.69, Y:110.63, Z:-3.84 [[ 5.99000963e-01 -8.00735968e-01 4.44466112e-03 2.20693934e+02] [ 8.00713296e-01 5.99017451e-01 6.02585410e-03 1.10627239e+02] [-7.48754770e-03 -5.05931504e-05 9.99971967e-01 -3.84161750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82 meters 0.013229230698140304 Centerline is valid? [True, True] Translation: X:220.73, Y:110.67, Z:-3.84 [[ 5.99336767e-01 -8.00482935e-01 4.74446545e-03 2.20727334e+02] [ 8.00457059e-01 5.99355543e-01 6.43657139e-03 1.10674591e+02] [-7.99598723e-03 -5.99330290e-05 9.99968030e-01 -3.84117953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88 meters 0.013568860690594462 Centerline is valid? [True, True] Translation: X:220.76, Y:110.72, Z:-3.84 [[ 6.00726476e-01 -7.99444368e-01 4.05013615e-03 2.20760015e+02] [ 7.99425457e-01 6.00740126e-01 5.49906337e-03 1.10722633e+02] [-6.82927454e-03 -6.56510237e-05 9.99976678e-01 -3.84329407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94 meters 0.014052078839243481 Centerline is valid? [True, True] Translation: X:220.79, Y:110.77, Z:-3.85 [[ 6.02744657e-01 -7.97926553e-01 3.47768702e-03 2.20792028e+02] [ 7.97912590e-01 6.02754686e-01 4.72093122e-03 1.10771749e+02] [-5.86314852e-03 -7.06258098e-05 9.99982809e-01 -3.84605080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.0 meters 0.014963180426662353 Centerline is valid? [True, True] Translation: X:220.82, Y:110.82, Z:-3.85 [[ 6.06921113e-01 -7.94757957e-01 2.55998851e-03 2.20823896e+02] [ 7.94750362e-01 6.06926507e-01 3.47520743e-03 1.10821129e+02] [-4.31567364e-03 -7.46249667e-05 9.99990685e-01 -3.84704594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06 meters 0.015892610777275655 Centerline is valid? [True, True] Translation: X:220.86, Y:110.87, Z:-3.85 [[ 6.09097884e-01 -7.93091599e-01 2.34158057e-03 2.20856923e+02] [ 7.93085228e-01 6.09102380e-01 3.17991856e-03 1.10870363e+02] [-3.94822899e-03 -7.98087029e-05 9.99992203e-01 -3.84740054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12 meters 0.016439874319958577 Centerline is valid? [True, True] Translation: X:220.89, Y:110.92, Z:-3.85 [[ 6.11203158e-01 -7.91469241e-01 2.67205851e-03 2.20890332e+02] [ 7.91460917e-01 6.11208990e-01 3.63142099e-03 1.10919288e+02] [-4.50734419e-03 -1.04706097e-04 9.99989836e-01 -3.84703268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18 meters 0.016803243448469896 Centerline is valid? [True, True] Translation: X:220.92, Y:110.97, Z:-3.85 [[ 6.11316143e-01 -7.91380813e-01 2.99719344e-03 2.20923822e+02] [ 7.91370327e-01 6.11323478e-01 4.07566806e-03 1.10966540e+02] [-5.05766022e-03 -1.19631728e-04 9.99987203e-01 -3.84790665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24 meters 0.016023107866484795 Centerline is valid? [True, True] Translation: X:220.96, Y:111.01, Z:-3.85 [[ 6.08853293e-01 -7.93270843e-01 4.36323437e-03 2.20960539e+02] [ 7.93248616e-01 6.08868907e-01 5.94038529e-03 1.11012631e+02] [-7.36897218e-03 -1.55693516e-04 9.99972837e-01 -3.84709771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.3 meters 0.01526705116887855 Centerline is valid? [True, True] Translation: X:221.00, Y:111.06, Z:-3.85 [[ 6.05912168e-01 -7.95513581e-01 5.34661335e-03 2.20997771e+02] [ 7.95480239e-01 6.05935736e-01 7.28510173e-03 1.11058729e+02] [-9.03510146e-03 -1.61006517e-04 9.99959170e-01 -3.84611648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36 meters 0.014054274703052372 Centerline is valid? [True, True] Translation: X:221.04, Y:111.10, Z:-3.85 [[ 6.00416144e-01 -7.99665140e-01 6.00979036e-03 2.21036506e+02] [ 7.99623173e-01 6.00446209e-01 8.19332267e-03 1.11103037e+02] [-1.01604704e-02 -1.13835564e-04 9.99948375e-01 -3.84621163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42 meters 0.013512670000711628 Centerline is valid? [True, True] Translation: X:221.07, Y:111.15, Z:-3.85 [[ 5.95301546e-01 -8.03486085e-01 5.11667194e-03 2.21074531e+02] [ 8.03455777e-01 5.95323533e-01 6.97893828e-03 1.11148006e+02] [-8.65355501e-03 -4.35531149e-05 9.99962556e-01 -3.84803001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48 meters 0.014031034789813646 Centerline is valid? [True, True] Translation: X:221.12, Y:111.19, Z:-3.85 [[ 5.84198906e-01 -8.11602688e-01 3.56597233e-03 2.21116373e+02] [ 8.11588102e-01 5.84209787e-01 4.86607520e-03 1.11189406e+02] [-6.03259564e-03 5.13449063e-05 9.99981802e-01 -3.85237031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53999999999996 meters 0.015163859200222712 Centerline is valid? [True, True] Translation: X:221.15, Y:111.23, Z:-3.85 [[ 5.78015838e-01 -8.16019363e-01 3.17640982e-03 2.21154141e+02] [ 8.16007859e-01 5.78024559e-01 4.33384597e-03 1.11234817e+02] [-5.37254512e-03 8.69437658e-05 9.99985564e-01 -3.85348570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.59999999999997 meters 0.0178724512783866 Centerline is valid? [True, True] Translation: X:221.19, Y:111.28, Z:-3.85 [[ 5.66864511e-01 -8.23805738e-01 2.95489917e-03 2.21194217e+02] [ 8.23795880e-01 5.66872193e-01 4.03289620e-03 1.11277626e+02] [-4.99737321e-03 1.48128032e-04 9.99987502e-01 -3.85333113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.65999999999997 meters 0.01917975669982161 Centerline is valid? [True, True] Translation: X:221.23, Y:111.32, Z:-3.85 [[ 5.59901097e-01 -8.28551910e-01 3.53484179e-03 2.21230930e+02] [ 8.28537871e-01 5.59912209e-01 4.82840212e-03 1.11323389e+02] [-5.97978288e-03 2.25322652e-04 9.99982096e-01 -3.85308096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.71999999999997 meters 0.021024156485636446 Centerline is valid? [True, True] Translation: X:221.27, Y:111.37, Z:-3.85 [[ 5.56258764e-01 -8.30995772e-01 4.71322155e-03 2.21265949e+02] [ 8.30970837e-01 5.56278633e-01 6.44602309e-03 1.11368985e+02] [-7.97848238e-03 3.30892822e-04 9.99968117e-01 -3.85319845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78 meters 0.021146281522536944 Centerline is valid? [True, True] Translation: X:221.30, Y:111.42, Z:-3.85 [[ 5.58861061e-01 -8.29243402e-01 5.44926968e-03 2.21295523e+02] [ 8.29209969e-01 5.58887516e-01 7.45462311e-03 1.11418162e+02] [-9.22722582e-03 3.52490172e-04 9.99957366e-01 -3.85291503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84 meters 0.0181487083595889 Centerline is valid? [True, True] Translation: X:221.32, Y:111.47, Z:-3.85 [[ 5.63868004e-01 -8.25848836e-01 5.15493734e-03 2.21321398e+02] [ 8.25818774e-01 5.63891497e-01 7.05203607e-03 1.11471555e+02] [-8.73074112e-03 2.80626536e-04 9.99961847e-01 -3.85438656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.9 meters 0.015325519686970181 Centerline is valid? [True, True] Translation: X:221.34, Y:111.53, Z:-3.86 [[ 5.74868378e-01 -8.18234861e-01 4.24963685e-03 2.21344499e+02] [ 8.18214195e-01 5.74884070e-01 5.81701376e-03 1.11527348e+02] [-7.20273197e-03 1.33095928e-04 9.99974051e-01 -3.85739067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96 meters 0.01369853157910578 Centerline is valid? [True, True] Translation: X:221.37, Y:111.58, Z:-3.86 [[ 5.83310475e-01 -8.12240956e-01 3.67699525e-03 2.21369392e+02] [ 8.12225350e-01 5.83322062e-01 5.03524636e-03 1.11580109e+02] [-6.23470576e-03 4.94368088e-05 9.99980563e-01 -3.85920098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02 meters 0.013330500154979632 Centerline is valid? [True, True] Translation: X:221.39, Y:111.64, Z:-3.86 [[ 5.95156128e-01 -8.03598526e-01 4.31188719e-03 2.21390553e+02] [ 8.03576837e-01 5.95171746e-01 5.90422489e-03 1.11636749e+02] [-7.31093985e-03 -4.90029509e-05 9.99973274e-01 -3.85961980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08 meters 0.014103207317350255 Centerline is valid? [True, True] Translation: X:221.42, Y:111.69, Z:-3.86 [[ 6.01236432e-01 -7.99054198e-01 5.20973586e-03 2.21418662e+02] [ 7.99022312e-01 6.01258989e-01 7.13956606e-03 1.11688872e+02] [-8.83730075e-03 -1.29872031e-04 9.99960942e-01 -3.85883123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14 meters 0.015285698520462602 Centerline is valid? [True, True] Translation: X:221.45, Y:111.74, Z:-3.86 [[ 6.05221300e-01 -7.96031848e-01 6.36198322e-03 2.21448132e+02] [ 7.95984064e-01 6.05254698e-01 8.72473782e-03 1.11740084e+02] [-1.07957894e-02 -2.16359903e-04 9.99941700e-01 -3.85865150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2 meters 0.016008849718484226 Centerline is valid? [True, True] Translation: X:221.48, Y:111.79, Z:-3.86 [[ 6.06960737e-01 -7.94699336e-01 7.18541224e-03 2.21480019e+02] [ 7.94638213e-01 6.07003205e-01 9.86004575e-03 1.11789323e+02] [-1.21973401e-02 -2.74857493e-04 9.99925572e-01 -3.85900468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26 meters 0.01617396725474128 Centerline is valid? [True, True] Translation: X:221.51, Y:111.84, Z:-3.86 [[ 6.06792317e-01 -7.94826096e-01 7.38663465e-03 2.21513118e+02] [ 7.94761443e-01 6.06837208e-01 1.01415730e-02 1.11837427e+02] [-1.25432717e-02 -2.83216192e-04 9.99921290e-01 -3.86004820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32 meters 0.015426989919109629 Centerline is valid? [True, True] Translation: X:221.55, Y:111.88, Z:-3.86 [[ 6.05313730e-01 -7.95961817e-01 6.33040881e-03 2.21549052e+02] [ 7.95914347e-01 6.05346789e-01 8.69582763e-03 1.11884124e+02] [-1.07536394e-02 -2.25240658e-04 9.99942153e-01 -3.86252997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38 meters 0.015050469571419256 Centerline is valid? [True, True] Translation: X:221.59, Y:111.93, Z:-3.87 [[ 6.03678945e-01 -7.97215329e-01 4.41035128e-03 2.21585288e+02] [ 7.97192312e-01 6.03695038e-01 6.05957945e-03 1.11930441e+02] [-7.49329681e-03 -1.42142393e-04 9.99971915e-01 -3.86538423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44 meters 0.014447319185326012 Centerline is valid? [True, True] Translation: X:221.62, Y:111.98, Z:-3.87 [[ 6.02705906e-01 -7.97955339e-01 3.58724838e-03 2.21621893e+02] [ 7.97940120e-01 6.02716571e-01 4.92942610e-03 1.11975894e+02] [-6.09555592e-03 -1.08584815e-04 9.99981416e-01 -3.86666062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.5 meters 0.014012364304472896 Centerline is valid? [True, True] Translation: X:221.66, Y:112.02, Z:-3.87 [[ 6.00260519e-01 -7.99798976e-01 2.98440092e-03 2.21659840e+02] [ 7.99788456e-01 6.00267933e-01 4.10293745e-03 1.12021169e+02] [-5.07296534e-03 -7.59419570e-05 9.99987130e-01 -3.86853488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56 meters 0.013556754804179833 Centerline is valid? [True, True] Translation: X:221.70, Y:112.07, Z:-3.87 [[ 5.97600856e-01 -8.01787240e-01 3.23076214e-03 2.21697878e+02] [ 8.01774924e-01 5.97609586e-01 4.44463168e-03 1.12066719e+02] [-5.49438340e-03 -6.57716310e-05 9.99984904e-01 -3.86906373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62 meters 0.01298872500468113 Centerline is valid? [True, True] Translation: X:221.74, Y:112.11, Z:-3.87 [[ 5.92876822e-01 -8.05275837e-01 5.28204548e-03 2.21738408e+02] [ 8.05242981e-01 5.92900348e-01 7.27451559e-03 1.12110126e+02] [-8.98971824e-03 -5.95616379e-05 9.99959590e-01 -3.86669370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68 meters 0.012690086691595924 Centerline is valid? [True, True] Translation: X:221.78, Y:112.15, Z:-3.87 [[ 5.89723634e-01 -8.07579962e-01 6.37495694e-03 2.21776022e+02] [ 8.07532169e-01 5.89758089e-01 8.78589261e-03 1.12154834e+02] [-1.08549932e-02 -3.32657133e-05 9.99941082e-01 -3.86637186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74 meters 0.012728169033572332 Centerline is valid? [True, True] Translation: X:221.81, Y:112.20, Z:-3.87 [[ 5.87326343e-01 -8.09325932e-01 6.26923691e-03 2.21813103e+02] [ 8.09279758e-01 5.87359801e-01 8.64505103e-03 1.12200110e+02] [-1.06789617e-02 -3.89967189e-06 9.99942978e-01 -3.86722984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.8 meters 0.012819058583142648 Centerline is valid? [True, True] Translation: X:221.85, Y:112.24, Z:-3.87 [[ 5.85288867e-01 -8.10802163e-01 6.06578966e-03 2.21849454e+02] [ 8.10758969e-01 5.85320298e-01 8.36917445e-03 1.12244995e+02] [-1.03361746e-02 1.95087319e-05 9.99946580e-01 -3.86917298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86 meters 0.012899927970389458 Centerline is valid? [True, True] Translation: X:221.88, Y:112.29, Z:-3.87 [[ 5.84286376e-01 -8.11531437e-01 5.11431966e-03 2.21884463e+02] [ 8.11500731e-01 5.84308759e-01 7.05967075e-03 1.12291291e+02] [-8.71748652e-03 2.54046938e-05 9.99962002e-01 -3.87134179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92 meters 0.012981377217893726 Centerline is valid? [True, True] Translation: X:221.92, Y:112.34, Z:-3.87 [[ 5.83489925e-01 -8.12106890e-01 4.68031715e-03 2.21919880e+02] [ 8.12081164e-01 5.83508695e-01 6.46411646e-03 1.12336345e+02] [-7.98055927e-03 2.90505653e-05 9.99968154e-01 -3.87312014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98 meters 0.013068203826225684 Centerline is valid? [True, True] Translation: X:221.95, Y:112.38, Z:-3.87 [[ 5.83069214e-01 -8.12405365e-01 5.27394970e-03 2.21954958e+02] [ 8.12372669e-01 5.83093065e-01 7.28865076e-03 1.12382681e+02] [-8.99654247e-03 3.46247222e-05 9.99959530e-01 -3.87283058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03999999999996 meters 0.013001090249664365 Centerline is valid? [True, True] Translation: X:221.99, Y:112.43, Z:-3.87 [[ 5.82835686e-01 -8.12563273e-01 6.59464458e-03 2.21989159e+02] [ 8.12512080e-01 5.82872992e-01 9.12110859e-03 1.12429273e+02] [-1.12553181e-02 4.21207924e-05 9.99936656e-01 -3.87275262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.09999999999997 meters 0.013096325622404268 Centerline is valid? [True, True] Translation: X:222.02, Y:112.48, Z:-3.87 [[ 5.82284081e-01 -8.12954255e-01 7.11538814e-03 2.22024155e+02] [ 8.12894608e-01 5.82327551e-01 9.84782916e-03 1.12475262e+02] [-1.21493212e-02 4.98265005e-05 9.99926193e-01 -3.87352180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.15999999999997 meters 0.013137772302690138 Centerline is valid? [True, True] Translation: X:222.06, Y:112.52, Z:-3.87 [[ 5.81862527e-01 -8.13248469e-01 7.93264733e-03 2.22058978e+02] [ 8.13174260e-01 5.81916596e-01 1.09862805e-02 1.12521545e+02] [-1.35507150e-02 5.81196601e-05 9.99908183e-01 -3.87396110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.21999999999997 meters 0.013074083041163123 Centerline is valid? [True, True] Translation: X:222.09, Y:112.57, Z:-3.88 [[ 5.81943596e-01 -8.13190110e-01 7.96852314e-03 2.22092701e+02] [ 8.13115133e-01 5.81998147e-01 1.10425135e-02 1.12568971e+02] [-1.36173284e-02 5.32067617e-05 9.99907278e-01 -3.87573676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28 meters 0.013200020290304836 Centerline is valid? [True, True] Translation: X:222.13, Y:112.61, Z:-3.88 [[ 5.81890172e-01 -8.13237515e-01 6.96930358e-03 2.22126718e+02] [ 8.13180107e-01 5.81931905e-01 9.66295696e-03 1.12614922e+02] [-1.19139392e-02 4.45193378e-05 9.99929026e-01 -3.88048547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34 meters 0.01320617354658421 Centerline is valid? [True, True] Translation: X:222.16, Y:112.66, Z:-3.88 [[ 5.82484267e-01 -8.12813893e-01 6.75682786e-03 2.22159803e+02] [ 8.12759845e-01 5.82523454e-01 9.37333061e-03 1.12661146e+02] [-1.15547840e-02 3.18607595e-05 9.99933241e-01 -3.88286259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.4 meters 0.013240564392207024 Centerline is valid? [True, True] Translation: X:222.19, Y:112.71, Z:-3.88 [[ 5.85956590e-01 -8.10315618e-01 6.59344800e-03 2.22191431e+02] [ 8.10263944e-01 5.85993685e-01 9.15112017e-03 1.12710052e+02] [-1.12790145e-02 -1.97259840e-05 9.99936390e-01 -3.88498814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46 meters 0.013542242955417056 Centerline is valid? [True, True] Translation: X:222.22, Y:112.76, Z:-3.89 [[ 5.89221918e-01 -8.07945754e-01 6.41794678e-03 2.22222369e+02] [ 8.07896583e-01 5.89256866e-01 8.91383822e-03 1.12759123e+02] [-1.09837169e-02 -6.71915857e-05 9.99939675e-01 -3.88648078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52 meters 0.014068201627423857 Centerline is valid? [True, True] Translation: X:222.25, Y:112.81, Z:-3.89 [[ 5.91893268e-01 -8.05990866e-01 6.40958159e-03 2.22253652e+02] [ 8.05941681e-01 5.91927962e-01 8.90476330e-03 1.12807301e+02] [-1.09711685e-02 -1.04920487e-04 9.99939809e-01 -3.88814204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58 meters 0.01410738580698888 Centerline is valid? [True, True] Translation: X:222.29, Y:112.86, Z:-3.89 [[ 5.91915735e-01 -8.05970981e-01 6.82209699e-03 2.22287213e+02] [ 8.05915244e-01 5.91955037e-01 9.47910537e-03 1.12855211e+02] [-1.16782585e-02 -1.12799657e-04 9.99931800e-01 -3.88897977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64 meters 0.013903820747880177 Centerline is valid? [True, True] Translation: X:222.32, Y:112.90, Z:-3.89 [[ 5.91489569e-01 -8.06281212e-01 7.12014949e-03 2.22322258e+02] [ 8.06220448e-01 5.91532412e-01 9.89924598e-03 1.12901727e+02] [-1.21933752e-02 -1.14890630e-04 9.99925651e-01 -3.88927854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7 meters 0.013823901028118155 Centerline is valid? [True, True] Translation: X:222.36, Y:112.95, Z:-3.89 [[ 5.90761066e-01 -8.06817336e-01 6.86658870e-03 2.22356865e+02] [ 8.06760793e-01 5.90800962e-01 9.55228052e-03 1.12948664e+02] [-1.17637327e-02 -1.03420870e-04 9.99930800e-01 -3.89053852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76 meters 0.013871011329461539 Centerline is valid? [True, True] Translation: X:222.39, Y:113.00, Z:-3.89 [[ 5.89846424e-01 -8.07491986e-01 6.15541193e-03 2.22390805e+02] [ 8.07446538e-01 5.89878535e-01 8.56749691e-03 1.12995207e+02] [-1.05491305e-02 -8.33413691e-05 9.99944353e-01 -3.89285031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82 meters 0.013804831798988924 Centerline is valid? [True, True] Translation: X:222.43, Y:113.04, Z:-3.89 [[ 5.88821527e-01 -8.08241372e-01 5.92396133e-03 2.22425011e+02] [ 8.08199267e-01 5.88851322e-01 8.25012857e-03 1.13041698e+02] [-1.01564277e-02 -7.01120987e-05 9.99948420e-01 -3.89489795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88 meters 0.013751224089814763 Centerline is valid? [True, True] Translation: X:222.46, Y:113.09, Z:-3.90 [[ 5.87365563e-01 -8.09305464e-01 5.13433718e-03 2.22461703e+02] [ 8.09273847e-01 5.87388001e-01 7.15378708e-03 1.13087086e+02] [-8.80544702e-03 -4.68033782e-05 9.99961230e-01 -3.89601350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94 meters 0.01370576693859912 Centerline is valid? [True, True] Translation: X:222.50, Y:113.13, Z:-3.90 [[ 5.87036760e-01 -8.09543494e-01 5.21286505e-03 2.22497033e+02] [ 8.09510872e-01 5.87059903e-01 7.26765064e-03 1.13133443e+02] [-8.94374334e-03 -4.65071502e-05 9.99960003e-01 -3.89672778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.0 meters 0.013887048496133259 Centerline is valid? [True, True] Translation: X:222.53, Y:113.18, Z:-3.90 [[ 5.88096096e-01 -8.08770421e-01 5.77831521e-03 2.22532530e+02] [ 8.08730244e-01 5.88124479e-01 8.06168636e-03 1.13179814e+02] [-9.91842209e-03 -6.79480109e-05 9.99950809e-01 -3.89662230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06 meters 0.01393462326060014 Centerline is valid? [True, True] Translation: X:222.57, Y:113.23, Z:-3.90 [[ 5.88449370e-01 -8.08513497e-01 5.76752266e-03 2.22566511e+02] [ 8.08473410e-01 5.88477629e-01 8.05140425e-03 1.13226918e+02] [-9.90372707e-03 -7.49550501e-05 9.99950954e-01 -3.89711297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12 meters 0.014180862725596356 Centerline is valid? [True, True] Translation: X:222.60, Y:113.27, Z:-3.90 [[ 5.90479796e-01 -8.07027077e-01 6.39597248e-03 2.22602212e+02] [ 8.06977621e-01 5.90514424e-01 8.93505482e-03 1.13274147e+02] [-1.09877452e-02 -1.14562691e-04 9.99939626e-01 -3.89719895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18 meters 0.014430750033378893 Centerline is valid? [True, True] Translation: X:222.64, Y:113.32, Z:-3.90 [[ 5.92030144e-01 -8.05888949e-01 6.58109748e-03 2.22637264e+02] [ 8.05836461e-01 5.92066704e-01 9.19869189e-03 1.13321793e+02] [-1.13095728e-02 -1.42614583e-04 9.99936035e-01 -3.89713538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24 meters 0.014764789859027095 Centerline is valid? [True, True] Translation: X:222.67, Y:113.37, Z:-3.90 [[ 5.93137918e-01 -8.05076424e-01 6.27393053e-03 2.22672151e+02] [ 8.05028629e-01 5.93171078e-01 8.77373284e-03 1.13368794e+02] [-1.07850396e-02 -1.53339937e-04 9.99941828e-01 -3.89935966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.3 meters 0.015393680704529464 Centerline is valid? [True, True] Translation: X:222.71, Y:113.42, Z:-3.90 [[ 5.93369609e-01 -8.04909117e-01 5.81560176e-03 2.22705340e+02] [ 8.04868004e-01 5.93398089e-01 8.13659481e-03 1.13415659e+02] [-1.00001863e-02 -1.47216297e-04 9.99949986e-01 -3.90113832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36 meters 0.014835727313701684 Centerline is valid? [True, True] Translation: X:222.74, Y:113.46, Z:-3.90 [[ 5.92785937e-01 -8.05342412e-01 5.33221421e-03 2.22742787e+02] [ 8.05307838e-01 5.92809904e-01 7.46344054e-03 1.13460889e+02] [-9.17161460e-03 -1.30148690e-04 9.99957931e-01 -3.90111896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42 meters 0.014605499902617586 Centerline is valid? [True, True] Translation: X:222.78, Y:113.51, Z:-3.90 [[ 5.91241869e-01 -8.06480387e-01 4.73681274e-03 2.22778672e+02] [ 8.06453113e-01 5.91260835e-01 6.63335682e-03 1.13507180e+02] [-8.15036403e-03 -1.01900906e-04 9.99966780e-01 -3.90227423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48 meters 0.014211525850863983 Centerline is valid? [True, True] Translation: X:222.82, Y:113.55, Z:-3.90 [[ 5.88522822e-01 -8.08468141e-01 4.48921617e-03 2.22815338e+02] [ 8.08443675e-01 5.88539939e-01 6.29007776e-03 1.13552712e+02] [-7.72741048e-03 -7.25758895e-05 9.99970140e-01 -3.90325033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53999999999996 meters 0.013520338239200866 Centerline is valid? [True, True] Translation: X:222.86, Y:113.60, Z:-3.90 [[ 5.82252362e-01 -8.12996371e-01 4.36896735e-03 2.22855805e+02] [ 8.12973296e-01 5.82268753e-01 6.12531045e-03 1.13596718e+02] [-7.52376834e-03 -1.46226889e-05 9.99971696e-01 -3.90325972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.59999999999997 meters 0.013440115655598942 Centerline is valid? [True, True] Translation: X:222.89, Y:113.64, Z:-3.90 [[ 5.77794783e-01 -8.16167149e-01 4.93702666e-03 2.22893134e+02] [ 8.16137763e-01 5.77815875e-01 6.92581629e-03 1.13641449e+02] [-8.50531611e-03 2.75933764e-05 9.99963829e-01 -3.90299224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.65999999999997 meters 0.013562501931408342 Centerline is valid? [True, True] Translation: X:222.93, Y:113.69, Z:-3.90 [[ 5.73718470e-01 -8.19035118e-01 5.34720311e-03 2.22928270e+02] [ 8.19000724e-01 5.73743383e-01 7.50632717e-03 1.13688160e+02] [-9.21586797e-03 7.28446794e-05 9.99957530e-01 -3.90208891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.71999999999997 meters 0.013875895563552702 Centerline is valid? [True, True] Translation: X:222.96, Y:113.74, Z:-3.90 [[ 5.70778682e-01 -8.21088523e-01 5.03317344e-03 2.22963182e+02] [ 8.21058095e-01 5.70800865e-01 7.06949815e-03 1.13736175e+02] [-8.67762355e-03 9.74089638e-05 9.99962344e-01 -3.90351842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78 meters 0.01467937654568011 Centerline is valid? [True, True] Translation: X:223.00, Y:113.78, Z:-3.91 [[ 5.65423721e-01 -8.24790741e-01 4.03098818e-03 2.22999051e+02] [ 8.24771305e-01 5.65438076e-01 5.66360238e-03 1.13782427e+02] [-6.95056100e-03 1.22308249e-04 9.99975837e-01 -3.90512161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84 meters 0.016518038512782995 Centerline is valid? [True, True] Translation: X:223.03, Y:113.83, Z:-3.91 [[ 5.60477465e-01 -8.28163622e-01 3.16642005e-03 2.23033654e+02] [ 8.28151670e-01 5.60486395e-01 4.45111637e-03 1.13828324e+02] [-5.46098801e-03 1.27525630e-04 9.99985081e-01 -3.90754146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.9 meters 0.01749970691634733 Centerline is valid? [True, True] Translation: X:223.07, Y:113.88, Z:-3.91 [[ 5.58461112e-01 -8.29525505e-01 2.93635678e-03 2.23067437e+02] [ 8.29515245e-01 5.58468816e-01 4.12780665e-03 1.13876200e+02] [-5.06398460e-03 1.30533227e-04 9.99987169e-01 -3.90798908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96 meters 0.0163674908400407 Centerline is valid? [True, True] Translation: X:223.10, Y:113.93, Z:-3.91 [[ 5.59596242e-01 -8.28759099e-01 3.22499370e-03 2.23096920e+02] [ 8.28746695e-01 5.59605519e-01 4.53639115e-03 1.13928007e+02] [-5.56429972e-03 1.34155427e-04 9.99984510e-01 -3.90606430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02 meters 0.015163674580392294 Centerline is valid? [True, True] Translation: X:223.13, Y:113.98, Z:-3.91 [[ 5.63381906e-01 -8.26188938e-01 3.55903197e-03 2.23125535e+02] [ 8.26173761e-01 5.63393136e-01 5.00919280e-03 1.13979105e+02] [-6.14367386e-03 1.18290232e-04 9.99981120e-01 -3.90616749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08 meters 0.01368841156475049 Centerline is valid? [True, True] Translation: X:223.15, Y:114.03, Z:-3.91 [[ 5.70177719e-01 -8.21514386e-01 3.38861549e-03 2.23150711e+02] [ 8.21500530e-01 5.70187785e-01 4.77177803e-03 1.14033097e+02] [-5.85223146e-03 6.29879079e-05 9.99982874e-01 -3.90803645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14 meters 0.012936480193043588 Centerline is valid? [True, True] Translation: X:223.18, Y:114.09, Z:-3.91 [[ 5.74431595e-01 -8.18547188e-01 2.97384455e-03 2.23179154e+02] [ 8.18536467e-01 5.74439292e-01 4.18940588e-03 1.14085039e+02] [-5.13751956e-03 2.76731078e-05 9.99986802e-01 -3.90882523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2 meters 0.012871955679965873 Centerline is valid? [True, True] Translation: X:223.21, Y:114.14, Z:-3.91 [[ 5.79718244e-01 -8.14814772e-01 1.90923812e-03 2.23205801e+02] [ 8.14810331e-01 5.79721388e-01 2.69011385e-03 1.14136079e+02] [-3.29877067e-03 -3.84112758e-06 9.99994559e-01 -3.91154707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26 meters 0.013032333842658521 Centerline is valid? [True, True] Translation: X:223.23, Y:114.19, Z:-3.91 [[ 5.82837569e-01 -8.12585541e-01 2.25993039e-03 2.23234661e+02] [ 8.12579301e-01 5.82841950e-01 3.18444275e-03 1.14187468e+02] [-3.90481437e-03 -1.96402153e-05 9.99992376e-01 -3.91357200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32 meters 0.0131923187183792 Centerline is valid? [True, True] Translation: X:223.27, Y:114.24, Z:-3.91 [[ 5.84017721e-01 -8.11735484e-01 2.96722491e-03 2.23266122e+02] [ 8.11724692e-01 5.84025258e-01 4.18592579e-03 1.14236501e+02] [-5.13079879e-03 -3.60851110e-05 9.99986837e-01 -3.91470870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38 meters 0.01335024748445167 Centerline is valid? [True, True] Translation: X:223.30, Y:114.28, Z:-3.91 [[ 5.84417525e-01 -8.11442356e-01 4.17849139e-03 2.23298193e+02] [ 8.11420899e-01 5.84432459e-01 5.90135115e-03 1.14284496e+02] [-7.23065228e-03 -5.83377933e-05 9.99973857e-01 -3.91472021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44 meters 0.013552944863979805 Centerline is valid? [True, True] Translation: X:223.33, Y:114.33, Z:-3.92 [[ 5.84611065e-01 -8.11300190e-01 4.68022903e-03 2.23331030e+02] [ 8.11273226e-01 5.84629795e-01 6.61485795e-03 1.14332109e+02] [-8.10283685e-03 -7.01746492e-05 9.99967169e-01 -3.91529323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.5 meters 0.013671845179121213 Centerline is valid? [True, True] Translation: X:223.36, Y:114.38, Z:-3.92 [[ 5.85043796e-01 -8.10987379e-01 4.81948274e-03 2.23363982e+02] [ 8.10958740e-01 5.85063641e-01 6.81598330e-03 1.14380120e+02] [-8.34738055e-03 -7.92470933e-05 9.99965157e-01 -3.91682824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56 meters 0.014149960720977493 Centerline is valid? [True, True] Translation: X:223.40, Y:114.43, Z:-3.92 [[ 5.86436567e-01 -8.09982115e-01 4.59630702e-03 2.23396582e+02] [ 8.09955992e-01 5.86454571e-01 6.50593544e-03 1.14428035e+02] [-7.96521661e-03 -9.25120287e-05 9.99968273e-01 -3.91889541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62 meters 0.014162576161079443 Centerline is valid? [True, True] Translation: X:223.43, Y:114.47, Z:-3.92 [[ 5.86805430e-01 -8.09716124e-01 4.38018143e-03 2.23430805e+02] [ 8.09692395e-01 5.86821771e-01 6.19960653e-03 1.14474722e+02] [-7.59030719e-03 -9.13631864e-05 9.99971189e-01 -3.92004660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68 meters 0.014355468338681334 Centerline is valid? [True, True] Translation: X:223.47, Y:114.52, Z:-3.92 [[ 5.86500403e-01 -8.09940568e-01 3.68142370e-03 2.23465400e+02] [ 8.09923798e-01 5.86511952e-01 5.21251807e-03 1.14521550e+02] [-6.38102885e-03 -7.54712818e-05 9.99979638e-01 -3.92195047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74 meters 0.014123176424128825 Centerline is valid? [True, True] Translation: X:223.50, Y:114.57, Z:-3.92 [[ 5.84159337e-01 -8.11629293e-01 3.96986027e-03 2.23502342e+02] [ 8.11609801e-01 5.84172822e-01 5.62540839e-03 1.14567770e+02] [-6.88483071e-03 -6.41573292e-05 9.99976297e-01 -3.92308629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.8 meters 0.013642839250112067 Centerline is valid? [True, True] Translation: X:223.54, Y:114.61, Z:-3.92 [[ 5.81364691e-01 -8.13631016e-01 4.43469889e-03 2.23538927e+02] [ 8.13606719e-01 5.81381603e-01 6.28802957e-03 1.14613694e+02] [-7.69438824e-03 -4.75375555e-05 9.99970397e-01 -3.92281824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86 meters 0.013302815250322729 Centerline is valid? [True, True] Translation: X:223.58, Y:114.66, Z:-3.92 [[ 5.75562470e-01 -8.17737573e-01 5.75366781e-03 2.23577438e+02] [ 8.17696798e-01 5.75591228e-01 8.16603174e-03 1.14657764e+02] [-9.98943170e-03 4.69434595e-06 9.99950104e-01 -3.92168884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92 meters 0.013442430364464898 Centerline is valid? [True, True] Translation: X:223.61, Y:114.70, Z:-3.92 [[ 5.73121767e-01 -8.19447106e-01 6.15480487e-03 2.23612908e+02] [ 8.19400542e-01 5.73154813e-01 8.73565045e-03 1.14704281e+02] [-1.06860595e-02 3.66590234e-05 9.99942902e-01 -3.92181231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98 meters 0.013691520126607725 Centerline is valid? [True, True] Translation: X:223.65, Y:114.75, Z:-3.92 [[ 5.68738616e-01 -8.22489351e-01 6.90316743e-03 2.23650251e+02] [ 8.22430913e-01 5.68780500e-01 9.80493800e-03 1.14750113e+02] [-1.19908441e-02 1.00931429e-04 9.99928102e-01 -3.92150230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03999999999996 meters 0.014460311797454186 Centerline is valid? [True, True] Translation: X:223.69, Y:114.80, Z:-3.92 [[ 5.63627433e-01 -8.25997172e-01 7.26564820e-03 2.23687221e+02] [ 8.25932649e-01 5.63674232e-01 1.03256685e-02 1.14796133e+02] [-1.26244317e-02 1.81106032e-04 9.99920292e-01 -3.92316060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.09999999999997 meters 0.015128056495205319 Centerline is valid? [True, True] Translation: X:223.72, Y:114.84, Z:-3.93 [[ 5.61182412e-01 -8.27669671e-01 6.10054680e-03 2.23722163e+02] [ 8.27624244e-01 5.61215540e-01 8.67341486e-03 1.14843659e+02] [-1.06024441e-02 1.81592564e-04 9.99943776e-01 -3.92728371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.15999999999997 meters 0.015298500756945986 Centerline is valid? [True, True] Translation: X:223.76, Y:114.89, Z:-3.93 [[ 5.58524140e-01 -8.29470495e-01 5.42985885e-03 2.23756707e+02] [ 8.29434556e-01 5.58550501e-01 7.72368867e-03 1.14890845e+02] [-9.43942224e-03 1.89846001e-04 9.99955430e-01 -3.92979915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.21999999999997 meters 0.016140905629994318 Centerline is valid? [True, True] Translation: X:223.79, Y:114.94, Z:-3.93 [[ 5.56708593e-01 -8.30689980e-01 5.44982423e-03 2.23791634e+02] [ 8.30653800e-01 5.56735228e-01 7.75570365e-03 1.14937178e+02] [-9.47669444e-03 2.09250338e-04 9.99955073e-01 -3.93095578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28 meters 0.016456732640382842 Centerline is valid? [True, True] Translation: X:223.83, Y:114.99, Z:-3.93 [[ 5.54855126e-01 -8.31925953e-01 5.91588922e-03 2.23825433e+02] [ 8.31883366e-01 5.54886607e-01 8.42133956e-03 1.14985019e+02] [-1.02885786e-02 2.48706420e-04 9.99947040e-01 -3.93205037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34 meters 0.016439800343739774 Centerline is valid? [True, True] Translation: X:223.86, Y:115.03, Z:-3.93 [[ 5.54497503e-01 -8.32159117e-01 6.61241473e-03 2.23858652e+02] [ 8.32105864e-01 5.54536858e-01 9.41833246e-03 1.15032826e+02] [-1.15043789e-02 2.79787240e-04 9.99933783e-01 -3.93158049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.4 meters 0.015608568752511414 Centerline is valid? [True, True] Translation: X:223.89, Y:115.08, Z:-3.93 [[ 5.56937347e-01 -8.30511797e-01 8.42292801e-03 2.23889758e+02] [ 8.30425064e-01 5.57000951e-01 1.20063621e-02 1.15083175e+02] [-1.46630043e-02 3.07819068e-04 9.99892445e-01 -3.93011441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46 meters 0.014325889477765056 Centerline is valid? [True, True] Translation: X:223.92, Y:115.13, Z:-3.93 [[ 5.60031148e-01 -8.28427835e-01 8.51093619e-03 2.23918595e+02] [ 8.28338939e-01 5.60095759e-01 1.21384487e-02 1.15134636e+02] [-1.48227681e-02 2.52030485e-04 9.99890105e-01 -3.93140308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52 meters 0.013597652361798742 Centerline is valid? [True, True] Translation: X:223.95, Y:115.19, Z:-3.93 [[ 5.65357266e-01 -8.24807017e-01 8.03405491e-03 2.23946940e+02] [ 8.24727354e-01 5.65414329e-01 1.14641901e-02 1.15186487e+02] [-1.39983142e-02 1.44541660e-04 9.99902008e-01 -3.93368974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58 meters 0.01332907603605704 Centerline is valid? [True, True] Translation: X:223.98, Y:115.24, Z:-3.94 [[ 5.68004401e-01 -8.22991652e-01 7.46600745e-03 2.23977496e+02] [ 8.22922626e-01 5.68053459e-01 1.06592624e-02 1.15236774e+02] [-1.30135754e-02 8.94384816e-05 9.99915316e-01 -3.93616662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64 meters 0.013216856845299895 Centerline is valid? [True, True] Translation: X:224.01, Y:115.29, Z:-3.94 [[ 5.69882316e-01 -8.21704409e-01 6.00082098e-03 2.24008667e+02] [ 8.21659708e-01 5.69913907e-01 8.57103139e-03 1.15285406e+02] [-1.04628056e-02 4.61535982e-05 9.99945262e-01 -3.93877005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7 meters 0.013288244986061116 Centerline is valid? [True, True] Translation: X:224.04, Y:115.33, Z:-3.94 [[ 5.71103397e-01 -8.20860226e-01 5.42209796e-03 2.24040049e+02] [ 8.20823656e-01 5.71129135e-01 7.74840923e-03 1.15334157e+02] [-9.45707907e-03 2.54434362e-05 9.99955281e-01 -3.94037059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76 meters 0.013292819646346 Centerline is valid? [True, True] Translation: X:224.07, Y:115.38, Z:-3.94 [[ 5.71516846e-01 -8.20566701e-01 6.22768366e-03 2.24071977e+02] [ 8.20518369e-01 5.71550775e-01 8.90605109e-03 1.15382749e+02] [-1.08674464e-02 1.99706081e-05 9.99940947e-01 -3.93896683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82 meters 0.013257881684136408 Centerline is valid? [True, True] Translation: X:224.10, Y:115.43, Z:-3.94 [[ 5.71549435e-01 -8.20543409e-01 6.30536226e-03 2.24104043e+02] [ 8.20493800e-01 5.71584215e-01 9.02271160e-03 1.15431650e+02] [-1.10075721e-02 1.65849205e-05 9.99939415e-01 -3.93949681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88 meters 0.013281878202427108 Centerline is valid? [True, True] Translation: X:224.14, Y:115.48, Z:-3.94 [[ 5.72420026e-01 -8.19942918e-01 5.37822717e-03 2.24135382e+02] [ 8.19906766e-01 5.72445292e-01 7.69957763e-03 1.15480613e+02] [-9.39195497e-03 2.25241194e-06 9.99955895e-01 -3.94115429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94 meters 0.013366453269710725 Centerline is valid? [True, True] Translation: X:224.17, Y:115.53, Z:-3.94 [[ 5.74365373e-01 -8.18588696e-01 4.11882799e-03 2.24167623e+02] [ 8.18567444e-01 5.74380141e-01 5.89857356e-03 1.15529397e+02] [-7.19427864e-03 -1.63978984e-05 9.99974121e-01 -3.94233009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.0 meters 0.013815670498588745 Centerline is valid? [True, True] Translation: X:224.20, Y:115.58, Z:-3.94 [[ 5.79414238e-01 -8.15028506e-01 2.77028274e-03 2.24196891e+02] [ 8.15018845e-01 5.79420859e-01 3.96870817e-03 1.15580318e+02] [-4.83976989e-03 -4.16933863e-05 9.99988287e-01 -3.94362623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06 meters 0.01465404611979622 Centerline is valid? [True, True] Translation: X:224.23, Y:115.63, Z:-3.95 [[ 5.83385178e-01 -8.12191229e-01 2.67228219e-03 2.24226275e+02] [ 8.12182203e-01 5.83391295e-01 3.82965619e-03 1.15630457e+02] [-4.66939933e-03 -6.37846229e-05 9.99989096e-01 -3.94543643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12 meters 0.015760401669327486 Centerline is valid? [True, True] Translation: X:224.26, Y:115.68, Z:-3.94 [[ 5.88610957e-01 -8.08412713e-01 2.45490100e-03 2.24257080e+02] [ 8.08405054e-01 5.88616070e-01 3.51999128e-03 1.15680124e+02] [-4.29059988e-03 -8.73510656e-05 9.99990792e-01 -3.94444455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18 meters 0.017421521536667425 Centerline is valid? [True, True] Translation: X:224.29, Y:115.73, Z:-3.95 [[ 5.92607937e-01 -8.05488607e-01 1.98397106e-03 2.24287726e+02] [ 8.05483585e-01 5.92611252e-01 2.84577883e-03 1.15728538e+02] [-3.46796600e-03 -8.83749988e-05 9.99993983e-01 -3.94518076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24 meters 0.017254045256743684 Centerline is valid? [True, True] Translation: X:224.32, Y:115.78, Z:-3.95 [[ 5.93560214e-01 -8.04786729e-01 2.14324786e-03 2.24321883e+02] [ 8.04780871e-01 5.93564075e-01 3.07223936e-03 1.15776675e+02] [-3.74465240e-03 -9.87141679e-05 9.99992984e-01 -3.94595885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.3 meters 0.01716044341736569 Centerline is valid? [True, True] Translation: X:224.36, Y:115.82, Z:-3.95 [[ 5.93595169e-01 -8.04759769e-01 2.54743418e-03 2.24356381e+02] [ 8.04751482e-01 5.93600623e-01 3.65416673e-03 1.15823227e+02] [-4.45288489e-03 -1.19044285e-04 9.99990079e-01 -3.94590523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36 meters 0.016908591415979002 Centerline is valid? [True, True] Translation: X:224.39, Y:115.87, Z:-3.94 [[ 5.91796261e-01 -8.06078677e-01 3.78852214e-03 2.24393058e+02] [ 8.06060322e-01 5.91808364e-01 5.44220522e-03 1.15869106e+02] [-6.62892467e-03 -1.66899323e-04 9.99978015e-01 -3.94429394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42 meters 0.01684342935942983 Centerline is valid? [True, True] Translation: X:224.43, Y:115.92, Z:-3.95 [[ 5.89817252e-01 -8.07525825e-01 4.20129065e-03 2.24427635e+02] [ 8.07503244e-01 5.89832191e-01 6.04136520e-03 1.15915127e+02] [-7.35661488e-03 -1.70745592e-04 9.99972925e-01 -3.94510926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48 meters 0.015463888032362542 Centerline is valid? [True, True] Translation: X:224.47, Y:115.96, Z:-3.95 [[ 5.86671576e-01 -8.09816324e-01 3.73944159e-03 2.24465679e+02] [ 8.09798492e-01 5.86683480e-01 5.37555228e-03 1.15960649e+02] [-6.54707859e-03 -1.25489568e-04 9.99978560e-01 -3.94771128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53999999999996 meters 0.01523687467991712 Centerline is valid? [True, True] Translation: X:224.50, Y:116.01, Z:-3.95 [[ 5.84961526e-01 -8.11055484e-01 3.00233487e-03 2.24500837e+02] [ 8.11044003e-01 5.84969224e-01 4.31653224e-03 1.16007308e+02] [-5.25722064e-03 -8.99795976e-05 9.99986177e-01 -3.95054666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.59999999999997 meters 0.014792823921032611 Centerline is valid? [True, True] Translation: X:224.54, Y:116.05, Z:-3.95 [[ 5.82773756e-01 -8.12631362e-01 2.24027665e-03 2.24536994e+02] [ 8.12624981e-01 5.82778059e-01 3.22097004e-03 1.16052965e+02] [-3.92304534e-03 -5.65920369e-05 9.99992303e-01 -3.95291302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.65999999999997 meters 0.01447455240680906 Centerline is valid? [True, True] Translation: X:224.57, Y:116.10, Z:-3.95 [[ 5.80858629e-01 -8.14001622e-01 2.14738341e-03 2.24572548e+02] [ 8.13995763e-01 5.80862597e-01 3.08897166e-03 1.16099792e+02] [-3.76176264e-03 -4.62948437e-05 9.99992923e-01 -3.95400144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.71999999999997 meters 0.013875287915426625 Centerline is valid? [True, True] Translation: X:224.61, Y:116.14, Z:-3.96 [[ 5.76904869e-01 -8.16809088e-01 1.91979709e-03 2.24609704e+02] [ 8.16804405e-01 5.76908062e-01 2.76629493e-03 1.16144435e+02] [-3.36708126e-03 -2.77902932e-05 9.99994331e-01 -3.95605917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78 meters 0.013383450377252106 Centerline is valid? [True, True] Translation: X:224.65, Y:116.19, Z:-3.96 [[ 5.72515084e-01 -8.19892263e-01 1.77633995e-03 2.24647112e+02] [ 8.19888275e-01 5.72517839e-01 2.55747614e-03 1.16188166e+02] [-3.11384121e-03 -7.79337007e-06 9.99995152e-01 -3.95747888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84 meters 0.013226506256893044 Centerline is valid? [True, True] Translation: X:224.68, Y:116.23, Z:-3.96 [[ 5.69904984e-01 -8.21708931e-01 1.65572358e-03 2.24682548e+02] [ 8.21705477e-01 5.69907389e-01 2.38271009e-03 1.16233955e+02] [-2.90150327e-03 2.59877498e-06 9.99995791e-01 -3.95707018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.9 meters 0.014254902226201432 Centerline is valid? [True, True] Translation: X:224.72, Y:116.28, Z:-3.96 [[ 5.61882103e-01 -8.27214477e-01 2.17070164e-03 2.24724090e+02] [ 8.27208552e-01 5.61886294e-01 3.13100423e-03 1.16275968e+02] [-3.80969953e-03 3.63677260e-05 9.99992742e-01 -3.95842853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96 meters 0.01582921205195738 Centerline is valid? [True, True] Translation: X:224.76, Y:116.32, Z:-3.96 [[ 5.56381882e-01 -8.30921864e-01 2.83842083e-03 2.24762784e+02] [ 8.30911781e-01 5.56389117e-01 4.09423437e-03 1.16319536e+02] [-4.98125532e-03 8.05194820e-05 9.99987590e-01 -3.95858698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02 meters 0.01605577273814432 Centerline is valid? [True, True] Translation: X:224.80, Y:116.37, Z:-3.96 [[ 5.48589495e-01 -8.36084400e-01 3.52739414e-03 2.24799639e+02] [ 8.36068907e-01 5.48600813e-01 5.09228855e-03 1.16365375e+02] [-6.19271431e-03 1.55568556e-04 9.99980813e-01 -3.95628545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08 meters 0.01725386002884844 Centerline is valid? [True, True] Translation: X:224.84, Y:116.41, Z:-3.96 [[ 5.44611181e-01 -8.38679326e-01 3.95599466e-03 2.24836593e+02] [ 8.38659875e-01 5.44625511e-01 5.71557701e-03 1.16411876e+02] [-6.94807189e-03 2.04966838e-04 9.99975841e-01 -3.95619578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14 meters 0.019891481830895858 Centerline is valid? [True, True] Translation: X:224.87, Y:116.46, Z:-3.96 [[ 5.42381855e-01 -8.40120449e-01 4.42203706e-03 2.24872275e+02] [ 8.40096152e-01 5.42399825e-01 6.39419638e-03 1.16457120e+02] [-7.77040726e-03 2.46840223e-04 9.99969779e-01 -3.95771585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2 meters 0.01838935503298153 Centerline is valid? [True, True] Translation: X:224.90, Y:116.51, Z:-3.96 [[ 5.41731329e-01 -8.40540606e-01 4.31940140e-03 2.24902431e+02] [ 8.40517430e-01 5.41748492e-01 6.24663187e-03 1.16507218e+02] [-7.59057693e-03 2.46535983e-04 9.99971161e-01 -3.95847755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26 meters 0.01917283885576347 Centerline is valid? [True, True] Translation: X:224.93, Y:116.55, Z:-3.96 [[ 5.41635219e-01 -8.40603714e-01 4.08467828e-03 2.24934692e+02] [ 8.40582967e-01 5.41650571e-01 5.91054728e-03 1.16554467e+02] [-7.18089632e-03 2.32150412e-04 9.99974190e-01 -3.96024493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32 meters 0.01784997741815171 Centerline is valid? [True, True] Translation: X:224.96, Y:116.61, Z:-3.96 [[ 5.44114810e-01 -8.39002150e-01 3.80337349e-03 2.24962323e+02] [ 8.38984107e-01 5.44128068e-01 5.50581461e-03 1.16605954e+02] [-6.68891257e-03 1.95174636e-04 9.99977610e-01 -3.96088993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38 meters 0.01681434913306867 Centerline is valid? [True, True] Translation: X:224.99, Y:116.66, Z:-3.96 [[ 5.48352640e-01 -8.36237327e-01 4.06381691e-03 2.24989723e+02] [ 8.36216624e-01 5.48367672e-01 5.88681163e-03 1.16658498e+02] [-7.15123744e-03 1.70182556e-04 9.99974415e-01 -3.96197037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44 meters 0.016452898327988037 Centerline is valid? [True, True] Translation: X:225.02, Y:116.71, Z:-3.96 [[ 5.51560376e-01 -8.34125745e-01 3.92333995e-03 2.25018768e+02] [ 8.34106358e-01 5.51574313e-01 5.68863949e-03 1.16708280e+02] [-6.90905419e-03 1.34854666e-04 9.99976123e-01 -3.96307790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.5 meters 0.0143996646132562 Centerline is valid? [True, True] Translation: X:225.04, Y:116.76, Z:-3.96 [[ 5.57007708e-01 -8.30498950e-01 3.72940468e-03 2.25042428e+02] [ 8.30481360e-01 5.57020186e-01 5.40585166e-03 1.16762503e+02] [-6.56690782e-03 8.61000317e-05 9.99978434e-01 -3.96397907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56 meters 0.013969262834501736 Centerline is valid? [True, True] Translation: X:225.07, Y:116.81, Z:-3.97 [[ 5.60994445e-01 -8.27814028e-01 3.02773690e-03 2.25070344e+02] [ 8.27802372e-01 5.61002614e-01 4.39319134e-03 1.16813826e+02] [-5.33531374e-03 4.18118519e-05 9.99985766e-01 -3.96663618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62 meters 0.013478255032541369 Centerline is valid? [True, True] Translation: X:225.10, Y:116.87, Z:-3.97 [[ 5.66717907e-01 -8.23907539e-01 2.67964588e-03 2.25095729e+02] [ 8.23898379e-01 5.66724242e-01 3.88517926e-03 1.16866790e+02] [-4.71964877e-03 5.95523825e-06 9.99988862e-01 -3.96798778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68 meters 0.013516367848657495 Centerline is valid? [True, True] Translation: X:225.12, Y:116.92, Z:-3.97 [[ 5.70536165e-01 -8.21268306e-01 2.61796496e-03 2.25124853e+02] [ 8.21259525e-01 5.70542171e-01 3.79770743e-03 1.16917317e+02] [-4.61259616e-03 -1.67007761e-05 9.99989362e-01 -3.96801794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74 meters 0.014009599415627667 Centerline is valid? [True, True] Translation: X:225.15, Y:116.97, Z:-3.97 [[ 5.74859118e-01 -8.18247437e-01 2.85067235e-03 2.25154115e+02] [ 8.18236970e-01 5.74866184e-01 4.13898551e-03 1.16968533e+02] [-5.02546942e-03 -4.68080531e-05 9.99987371e-01 -3.96822337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.8 meters 0.015384591410033292 Centerline is valid? [True, True] Translation: X:225.18, Y:117.02, Z:-3.97 [[ 5.81825831e-01 -8.13307841e-01 3.00970646e-03 2.25180746e+02] [ 8.13296094e-01 5.81833608e-01 4.37226912e-03 1.17021235e+02] [-5.30714913e-03 -9.61166071e-05 9.99985912e-01 -3.96952010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86 meters 0.01708135336144583 Centerline is valid? [True, True] Translation: X:225.21, Y:117.07, Z:-3.97 [[ 5.85831047e-01 -8.10429801e-01 2.34980193e-03 2.25209248e+02] [ 8.10422608e-01 5.85835752e-01 3.41586780e-03 1.17071129e+02] [-4.14491904e-03 -9.67887952e-05 9.99991405e-01 -3.97173735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92 meters 0.01781401355565087 Centerline is valid? [True, True] Translation: X:225.24, Y:117.12, Z:-3.97 [[ 5.89332323e-01 -8.07889716e-01 1.27272405e-03 2.25241519e+02] [ 8.07887607e-01 5.89333694e-01 1.84690125e-03 1.17120758e+02] [-2.24215169e-03 -6.02206116e-05 9.99997485e-01 -3.97331739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98 meters 0.018369553603031184 Centerline is valid? [True, True] Translation: X:225.27, Y:117.17, Z:-3.97 [[ 5.89543914e-01 -8.07735478e-01 1.17098166e-03 2.25274656e+02] [ 8.07733693e-01 5.89545074e-01 1.69916546e-03 1.17168404e+02] [-2.06282270e-03 -5.58913167e-05 9.99997871e-01 -3.97304872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03999999999996 meters 0.01787171557127454 Centerline is valid? [True, True] Translation: X:225.31, Y:117.22, Z:-3.97 [[ 5.88410786e-01 -8.08561431e-01 1.07694243e-03 2.25309970e+02] [ 8.08559920e-01 5.88411770e-01 1.56356986e-03 1.17215379e+02] [-1.89792788e-03 -4.92488882e-05 9.99998198e-01 -3.97265890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.09999999999997 meters 0.016910912616876158 Centerline is valid? [True, True] Translation: X:225.35, Y:117.26, Z:-3.97 [[ 5.85095545e-01 -8.10964026e-01 7.42552365e-04 2.25347422e+02] [ 8.10963313e-01 5.85096016e-01 1.07607300e-03 1.17260551e+02] [-1.30712093e-03 -2.74227951e-05 9.99999145e-01 -3.97357057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.15999999999997 meters 0.015761884909261104 Centerline is valid? [True, True] Translation: X:225.39, Y:117.31, Z:-3.97 [[ 5.80882926e-01 -8.13986914e-01 5.74490068e-04 2.25385010e+02] [ 8.13986490e-01 5.80883209e-01 8.31295323e-04 1.17305899e+02] [-1.01037515e-03 -1.52581053e-05 9.99999489e-01 -3.97420913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.21999999999997 meters 0.014684483413966267 Centerline is valid? [True, True] Translation: X:225.42, Y:117.35, Z:-3.97 [[ 5.75215498e-01 -8.18001114e-01 1.14401005e-03 2.25423616e+02] [ 8.17999421e-01 5.75216635e-01 1.66420424e-03 1.17350800e+02] [-2.01937453e-03 -2.14765126e-05 9.99997961e-01 -3.97469306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28 meters 0.013696917802037117 Centerline is valid? [True, True] Translation: X:225.47, Y:117.39, Z:-3.97 [[ 5.64793415e-01 -8.25231170e-01 1.38363409e-03 2.25466348e+02] [ 8.25228710e-01 5.64795110e-01 2.01507406e-03 1.17392567e+02] [-2.44437169e-03 3.71401859e-06 9.99997013e-01 -3.97400204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34 meters 0.014128515889558232 Centerline is valid? [True, True] Translation: X:225.51, Y:117.44, Z:-3.97 [[ 5.57500821e-01 -8.30175428e-01 1.26220469e-03 2.25505367e+02] [ 8.30173392e-01 5.57502249e-01 1.83895149e-03 1.17437316e+02] [-2.23033429e-03 2.26317856e-05 9.99997513e-01 -3.97445125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.4 meters 0.015740987820953817 Centerline is valid? [True, True] Translation: X:225.55, Y:117.48, Z:-3.98 [[ 5.48340710e-01 -8.36253962e-01 1.33290450e-03 2.25546328e+02] [ 8.36251705e-01 5.48342328e-01 1.94341300e-03 1.17480944e+02] [-2.35607478e-03 4.89912020e-05 9.99997223e-01 -3.97525452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46 meters 0.017406016943383965 Centerline is valid? [True, True] Translation: X:225.58, Y:117.53, Z:-3.98 [[ 5.42865223e-01 -8.39818589e-01 1.44463883e-03 2.25584232e+02] [ 8.39815946e-01 5.42867141e-01 2.10812104e-03 1.17526714e+02] [-2.55468619e-03 6.88051259e-05 9.99996734e-01 -3.97616304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52 meters 0.018707407671977296 Centerline is valid? [True, True] Translation: X:225.62, Y:117.57, Z:-3.98 [[ 5.36126843e-01 -8.44135513e-01 1.80113103e-03 2.25621583e+02] [ 8.44131419e-01 5.36129857e-01 2.63118501e-03 1.17572471e+02] [-3.18671683e-03 1.09742377e-04 9.99994916e-01 -3.97621542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58 meters 0.01941074404447579 Centerline is valid? [True, True] Translation: X:225.66, Y:117.62, Z:-3.98 [[ 5.33416825e-01 -8.45850233e-01 1.96820734e-03 2.25656399e+02] [ 8.45845349e-01 5.33420440e-01 2.87753753e-03 1.17620164e+02] [-3.48384782e-03 1.29872092e-04 9.99993923e-01 -3.97675371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64 meters 0.01937687697130449 Centerline is valid? [True, True] Translation: X:225.69, Y:117.67, Z:-3.98 [[ 5.32952015e-01 -8.46143899e-01 1.62835316e-03 2.25688536e+02] [ 8.46140559e-01 5.32954491e-01 2.38024811e-03 1.17668715e+02] [-2.88187055e-03 1.09257623e-04 9.99995841e-01 -3.97803516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7 meters 0.019836241915045766 Centerline is valid? [True, True] Translation: X:225.72, Y:117.72, Z:-3.98 [[ 5.34869862e-01 -8.44933563e-01 1.22699279e-03 2.25720454e+02] [ 8.44931655e-01 5.34871264e-01 1.79710060e-03 1.17716925e+02] [-2.17471379e-03 7.55100960e-05 9.99997632e-01 -3.98001610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76 meters 0.019174239236136002 Centerline is valid? [True, True] Translation: X:225.75, Y:117.77, Z:-3.98 [[ 5.36093673e-01 -8.44157707e-01 1.15697746e-03 2.25751795e+02] [ 8.44156016e-01 5.36094917e-01 1.69107195e-03 1.17766821e+02] [-2.04778116e-03 7.00965062e-05 9.99997901e-01 -3.98083155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82 meters 0.017458037272341295 Centerline is valid? [True, True] Translation: X:225.78, Y:117.82, Z:-3.98 [[ 5.41013579e-01 -8.41010648e-01 2.32296859e-03 2.25779495e+02] [ 8.41003770e-01 5.41018555e-01 3.40314746e-03 1.17818215e+02] [-4.11885236e-03 1.12476349e-04 9.99991511e-01 -3.98022491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88 meters 0.015975704662145217 Centerline is valid? [True, True] Translation: X:225.81, Y:117.87, Z:-3.98 [[ 5.45215313e-01 -8.38291299e-01 2.82145350e-03 2.25807295e+02] [ 8.38281095e-01 5.45222602e-01 4.13764433e-03 1.17869670e+02] [-5.00687146e-03 1.09264082e-04 9.99987460e-01 -3.98034170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94 meters 0.014618976450382166 Centerline is valid? [True, True] Translation: X:225.83, Y:117.92, Z:-3.98 [[ 5.52374942e-01 -8.33588928e-01 3.37970336e-03 2.25831971e+02] [ 8.33574164e-01 5.52385276e-01 4.96183660e-03 1.17921765e+02] [-6.00303043e-03 7.64391998e-05 9.99981979e-01 -3.98144947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.0 meters 0.013840995526589147 Centerline is valid? [True, True] Translation: X:225.86, Y:117.97, Z:-3.98 [[ 5.56533204e-01 -8.30819293e-01 3.17733938e-03 2.25859557e+02] [ 8.30806194e-01 5.56542272e-01 4.66557832e-03 1.17974155e+02] [-5.64457616e-03 4.32039850e-05 9.99984068e-01 -3.98236404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06 meters 0.013728102656262467 Centerline is valid? [True, True] Translation: X:225.88, Y:118.03, Z:-3.98 [[ 5.62264110e-01 -8.26954468e-01 2.31907911e-03 2.25884851e+02] [ 8.26947460e-01 5.62268892e-01 3.40463181e-03 1.18026992e+02] [-4.11942153e-03 3.45430363e-06 9.99991515e-01 -3.98422506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12 meters 0.013942976189004804 Centerline is valid? [True, True] Translation: X:225.91, Y:118.08, Z:-3.99 [[ 5.65830042e-01 -8.24520534e-01 1.50080485e-03 2.25913324e+02] [ 8.24517592e-01 5.65832032e-01 2.20276582e-03 1.18078517e+02] [-2.66542910e-03 -8.95107746e-06 9.99996448e-01 -3.98587315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18 meters 0.014523830699352598 Centerline is valid? [True, True] Translation: X:225.94, Y:118.13, Z:-3.99 [[ 5.70043165e-01 -8.21613512e-01 1.42390322e-03 2.25941592e+02] [ 8.21610852e-01 5.70044943e-01 2.09064897e-03 1.18130870e+02] [-2.52939427e-03 -2.18658144e-05 9.99996801e-01 -3.98771163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24 meters 0.014725008448961163 Centerline is valid? [True, True] Translation: X:225.97, Y:118.18, Z:-3.99 [[ 5.71066707e-01 -8.20902236e-01 1.52818554e-03 2.25973321e+02] [ 8.20899167e-01 5.71068751e-01 2.24483188e-03 1.18180205e+02] [-2.71548652e-03 -2.74625148e-05 9.99996313e-01 -3.98870630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.3 meters 0.014808794290187357 Centerline is valid? [True, True] Translation: X:226.01, Y:118.23, Z:-3.99 [[ 5.70567961e-01 -8.21248242e-01 1.87771813e-03 2.26005584e+02] [ 8.21243597e-01 5.70571050e-01 2.76235799e-03 1.18226796e+02] [-3.33995325e-03 -3.40489738e-05 9.99994422e-01 -3.98942344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36 meters 0.014884140393848116 Centerline is valid? [True, True] Translation: X:226.04, Y:118.27, Z:-3.99 [[ 5.70030318e-01 -8.21621761e-01 1.76610985e-03 2.26039318e+02] [ 8.21617652e-01 5.70033053e-01 2.59842305e-03 1.18274298e+02] [-3.14166191e-03 -3.01128920e-05 9.99995065e-01 -3.98977408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42 meters 0.015173867510155523 Centerline is valid? [True, True] Translation: X:226.07, Y:118.32, Z:-3.99 [[ 5.70280384e-01 -8.21448182e-01 1.78008360e-03 2.26072045e+02] [ 8.21444002e-01 5.70283161e-01 2.62070195e-03 1.18321784e+02] [-3.16792256e-03 -3.22959163e-05 9.99994982e-01 -3.99110424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48 meters 0.015335101177218239 Centerline is valid? [True, True] Translation: X:226.10, Y:118.37, Z:-3.99 [[ 5.69696635e-01 -8.21852516e-01 2.04575185e-03 2.26104262e+02] [ 8.21846985e-01 5.69700307e-01 3.01558176e-03 1.18368966e+02] [-3.64382891e-03 -3.66717951e-05 9.99993361e-01 -3.99255689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53999999999996 meters 0.014797248088789799 Centerline is valid? [True, True] Translation: X:226.14, Y:118.41, Z:-3.99 [[ 5.68416767e-01 -8.22738154e-01 2.07588558e-03 2.26141434e+02] [ 8.22732460e-01 5.68420557e-01 3.06106102e-03 1.18414703e+02] [-3.69842773e-03 -3.20599579e-05 9.99993160e-01 -3.99174254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.59999999999997 meters 0.015142248020556108 Centerline is valid? [True, True] Translation: X:226.17, Y:118.46, Z:-3.99 [[ 5.67145054e-01 -8.23615233e-01 2.10587319e-03 2.26174951e+02] [ 8.23609374e-01 5.67148963e-01 3.10685096e-03 1.18461567e+02] [-3.75319357e-03 -2.76182590e-05 9.99992956e-01 -3.99373668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.65999999999997 meters 0.014568471792688852 Centerline is valid? [True, True] Translation: X:226.21, Y:118.51, Z:-3.99 [[ 5.65923222e-01 -8.24454645e-01 2.33352440e-03 2.26210998e+02] [ 8.24447445e-01 5.65928033e-01 3.44560056e-03 1.18508020e+02] [-4.16134826e-03 -2.60771452e-05 9.99991341e-01 -3.99219398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.71999999999997 meters 0.01458027205304572 Centerline is valid? [True, True] Translation: X:226.25, Y:118.55, Z:-3.99 [[ 5.63843785e-01 -8.25876909e-01 2.74190523e-03 2.26245864e+02] [ 8.25866961e-01 5.63850451e-01 4.05355161e-03 1.18553200e+02] [-4.89375917e-03 -2.11209448e-05 9.99988025e-01 -3.99336544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78 meters 0.014265396219527101 Centerline is valid? [True, True] Translation: X:226.28, Y:118.60, Z:-3.99 [[ 5.59818975e-01 -8.28608476e-01 3.27227816e-03 2.26284039e+02] [ 8.28594340e-01 5.59828539e-01 4.84006987e-03 1.18598107e+02] [-5.84243762e-03 1.82821338e-06 9.99982933e-01 -3.99248649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84 meters 0.014307447874843159 Centerline is valid? [True, True] Translation: X:226.32, Y:118.64, Z:-3.99 [[ 5.56411464e-01 -8.30898216e-01 3.79969949e-03 2.26319558e+02] [ 8.30879174e-01 5.56424438e-01 5.62525144e-03 1.18643086e+02] [-6.78825704e-03 2.71367838e-05 9.99976959e-01 -3.99355574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.9 meters 0.014652448055452584 Centerline is valid? [True, True] Translation: X:226.36, Y:118.69, Z:-3.99 [[ 5.51166327e-01 -8.34385764e-01 4.00965579e-03 2.26357378e+02] [ 8.34364624e-01 5.51180907e-01 5.93989670e-03 1.18688847e+02] [-7.16621097e-03 7.16438986e-05 9.99974320e-01 -3.99338484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96 meters 0.015229876804164173 Centerline is valid? [True, True] Translation: X:226.39, Y:118.74, Z:-3.99 [[ 5.47595234e-01 -8.36735065e-01 3.72708683e-03 2.26394163e+02] [ 8.36716837e-01 5.47607910e-01 5.52381547e-03 1.18735436e+02] [-6.66295233e-03 9.37012817e-05 9.99977798e-01 -3.99461340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02 meters 0.015890998212208875 Centerline is valid? [True, True] Translation: X:226.43, Y:118.78, Z:-4.00 [[ 5.44431695e-01 -8.38797551e-01 3.57744741e-03 2.26430654e+02] [ 8.38780785e-01 5.44443436e-01 5.30465720e-03 1.18781802e+02] [-6.39725123e-03 1.12670641e-04 9.99979531e-01 -3.99523985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08 meters 0.016275516941954928 Centerline is valid? [True, True] Translation: X:226.47, Y:118.83, Z:-4.00 [[ 5.41049535e-01 -8.40981631e-01 3.91113333e-03 2.26466204e+02] [ 8.40961622e-01 5.41063650e-01 5.80310835e-03 1.18828565e+02] [-6.99647960e-03 1.49343959e-04 9.99975513e-01 -3.99638190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14 meters 0.01633111264847074 Centerline is valid? [True, True] Translation: X:226.50, Y:118.88, Z:-4.00 [[ 5.40050670e-01 -8.41621811e-01 4.24288608e-03 2.26499733e+02] [ 8.41598256e-01 5.40067310e-01 6.29893736e-03 1.18876456e+02] [-7.59276714e-03 1.69060186e-04 9.99971160e-01 -3.99674708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2 meters 0.01575543128805462 Centerline is valid? [True, True] Translation: X:226.53, Y:118.93, Z:-4.00 [[ 5.42116325e-01 -8.40289683e-01 4.81025422e-03 2.26533106e+02] [ 8.40259306e-01 5.42137640e-01 7.14685085e-03 1.18925453e+02] [-8.61324491e-03 1.67436359e-04 9.99962891e-01 -3.99683355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26 meters 0.015114829177870383 Centerline is valid? [True, True] Translation: X:226.56, Y:118.98, Z:-4.00 [[ 5.45316308e-01 -8.38215298e-01 5.02372493e-03 2.26564671e+02] [ 8.38182039e-01 5.45339430e-01 7.46832638e-03 1.18975567e+02] [-8.99970072e-03 1.38195834e-04 9.99959492e-01 -3.99743113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32 meters 0.014081833146273866 Centerline is valid? [True, True] Translation: X:226.59, Y:119.03, Z:-4.00 [[ 5.51797378e-01 -8.33963115e-01 5.01750491e-03 2.26594281e+02] [ 8.33929724e-01 5.51820186e-01 7.46307570e-03 1.19026669e+02] [-8.99269035e-03 6.61408842e-05 9.99959563e-01 -3.99845513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38 meters 0.01381607801335907 Centerline is valid? [True, True] Translation: X:226.62, Y:119.08, Z:-4.00 [[ 5.59388658e-01 -8.28891179e-01 4.87255352e-03 2.26623195e+02] [ 8.28859466e-01 5.59409879e-01 7.25075092e-03 1.19077935e+02] [-8.73583805e-03 -1.73257231e-05 9.99961842e-01 -3.99919640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44 meters 0.014312202204745423 Centerline is valid? [True, True] Translation: X:226.65, Y:119.13, Z:-4.00 [[ 5.64520726e-01 -8.25403985e-01 4.96094940e-03 2.26653011e+02] [ 8.25370930e-01 5.64542519e-01 7.38730996e-03 1.19128727e+02] [-8.89818195e-03 -7.56661598e-05 9.99960408e-01 -4.00034517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.5 meters 0.015670708466877625 Centerline is valid? [True, True] Translation: X:226.68, Y:119.18, Z:-4.00 [[ 5.71455454e-01 -8.20619299e-01 4.75720128e-03 2.26681464e+02] [ 8.20588705e-01 5.71475236e-01 7.08747315e-03 1.19180305e+02] [-8.53473997e-03 -1.46469548e-04 9.99963568e-01 -4.00190838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56 meters 0.01627877181116029 Centerline is valid? [True, True] Translation: X:226.71, Y:119.23, Z:-4.00 [[ 5.74446212e-01 -8.18528463e-01 4.76499728e-03 2.26712897e+02] [ 8.18497663e-01 5.74465946e-01 7.10292289e-03 1.19230229e+02] [-8.55127322e-03 -1.80108011e-04 9.99963421e-01 -4.00269921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62 meters 0.016944800664781465 Centerline is valid? [True, True] Translation: X:226.74, Y:119.28, Z:-4.00 [[ 5.76067640e-01 -8.17390060e-01 4.42316155e-03 2.26744611e+02] [ 8.17363462e-01 5.76084591e-01 6.59655907e-03 1.19279596e+02] [-7.94007702e-03 -1.84733575e-04 9.99968460e-01 -4.00430891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68 meters 0.016961912686188754 Centerline is valid? [True, True] Translation: X:226.78, Y:119.33, Z:-4.01 [[ 5.75558954e-01 -8.17750639e-01 3.97276674e-03 2.26777163e+02] [ 8.17729176e-01 5.75572642e-01 5.92690271e-03 1.19327925e+02] [-7.13334433e-03 -1.62634660e-04 9.99974544e-01 -4.00587137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74 meters 0.016682918015197026 Centerline is valid? [True, True] Translation: X:226.81, Y:119.38, Z:-4.01 [[ 5.74862859e-01 -8.18244496e-01 2.93895649e-03 2.26810857e+02] [ 8.18232753e-01 5.74870360e-01 4.38527116e-03 1.19375690e+02] [-5.27774296e-03 -1.16179056e-04 9.99986066e-01 -4.00750392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.8 meters 0.017329211842014178 Centerline is valid? [True, True] Translation: X:226.84, Y:119.42, Z:-4.01 [[ 5.74852520e-01 -8.18254139e-01 2.17819860e-03 2.26842852e+02] [ 8.18247675e-01 5.74856640e-01 3.25340140e-03 1.19423781e+02] [-3.91426109e-03 -8.79200567e-05 9.99992335e-01 -4.00909831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86 meters 0.016524256529509687 Centerline is valid? [True, True] Translation: X:226.88, Y:119.47, Z:-4.01 [[ 5.73806823e-01 -8.18989662e-01 1.29014496e-03 2.26877774e+02] [ 8.18987407e-01 5.73808271e-01 1.92237836e-03 1.19470514e+02] [-2.31470385e-03 -4.64613478e-05 9.99997320e-01 -4.01014502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92 meters 0.016335494868248892 Centerline is valid? [True, True] Translation: X:226.91, Y:119.52, Z:-4.01 [[ 5.72458558e-01 -8.19932867e-01 1.13706987e-03 2.26911567e+02] [ 8.19931117e-01 5.72459686e-01 1.69467173e-03 1.19517849e+02] [-2.04044371e-03 -3.78103682e-05 9.99997918e-01 -4.01070236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98 meters 0.01574774699443967 Centerline is valid? [True, True] Translation: X:226.95, Y:119.57, Z:-4.01 [[ 5.69963257e-01 -8.21669743e-01 8.47720903e-04 2.26947118e+02] [ 8.21668772e-01 5.69963887e-01 1.26339591e-03 1.19565642e+02] [-1.52126450e-03 -2.35434570e-05 9.99998843e-01 -4.01115386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03999999999996 meters 0.015468422841822881 Centerline is valid? [True, True] Translation: X:226.98, Y:119.61, Z:-4.01 [[ 5.68415374e-01 -8.22741178e-01 9.57445396e-04 2.26980121e+02] [ 8.22739940e-01 5.68416179e-01 1.42743992e-03 1.19613271e+02] [-1.71864106e-03 -2.36502296e-05 9.99998523e-01 -4.01124166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09999999999997 meters 0.01518767934131224 Centerline is valid? [True, True] Translation: X:227.01, Y:119.66, Z:-4.01 [[ 5.66571987e-01 -8.24011882e-01 7.75977664e-04 2.27013197e+02] [ 8.24011068e-01 5.66572519e-01 1.15771763e-03 1.19659674e+02] [-1.39362070e-03 -1.65161918e-05 9.99999029e-01 -4.01109800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.15999999999997 meters 0.015125023341291925 Centerline is valid? [True, True] Translation: X:227.05, Y:119.71, Z:-4.01 [[ 5.66316601e-01 -8.24186854e-01 1.23967978e-03 2.27045163e+02] [ 8.24184773e-01 5.66317957e-01 1.85233361e-03 1.19707703e+02] [-2.22872193e-03 -2.72820762e-05 9.99997516e-01 -4.01046857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.21999999999997 meters 0.015574708940420354 Centerline is valid? [True, True] Translation: X:227.07, Y:119.76, Z:-4.01 [[ 5.67303106e-01 -8.23508681e-01 7.98948490e-04 2.27074882e+02] [ 8.23507814e-01 5.67303668e-01 1.19535856e-03 1.19757812e+02] [-1.43763456e-03 -2.01903009e-05 9.99998966e-01 -4.01258168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28 meters 0.01626906382905354 Centerline is valid? [True, True] Translation: X:227.10, Y:119.81, Z:-4.01 [[ 5.68858020e-01 -8.22435738e-01 9.91058124e-05 2.27104511e+02] [ 8.22435726e-01 5.68858029e-01 1.41865773e-04 1.19808359e+02] [-1.73052619e-04 8.06678224e-07 9.99999985e-01 -4.01468393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34 meters 0.016804661026882706 Centerline is valid? [True, True] Translation: X:227.13, Y:119.86, Z:-4.01 [[ 5.73013661e-01 -8.19545758e-01 -3.06513425e-04 2.27132756e+02] [ 8.19545625e-01 5.73013743e-01 -4.67803735e-04 1.19859601e+02] [ 5.59022971e-04 1.68561949e-05 9.99999844e-01 -4.01444401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.4 meters 0.017748009494375456 Centerline is valid? [True, True] Translation: X:227.16, Y:119.91, Z:-4.01 [[ 5.75767637e-01 -8.17613355e-01 -1.72009878e-04 2.27161199e+02] [ 8.17613312e-01 5.75767662e-01 -2.65371310e-04 1.19911497e+02] [ 3.16008853e-04 1.21546459e-05 9.99999950e-01 -4.01477361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46 meters 0.018645504683182934 Centerline is valid? [True, True] Translation: X:227.19, Y:119.96, Z:-4.01 [[ 5.79772513e-01 -8.14778079e-01 7.17401515e-04 2.27188277e+02] [ 8.14777375e-01 5.79772956e-01 1.07164282e-03 1.19963961e+02] [-1.28908108e-03 -3.67865294e-05 9.99999168e-01 -4.01343272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52 meters 0.02002427005809024 Centerline is valid? [True, True] Translation: X:227.22, Y:120.02, Z:-4.01 [[ 5.81739093e-01 -8.13374133e-01 1.46553872e-03 2.27215168e+02] [ 8.13371164e-01 5.81740932e-01 2.19958369e-03 1.20015520e+02] [-2.64164834e-03 -8.75568872e-05 9.99996507e-01 -4.01337092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58 meters 0.020894479850403738 Centerline is valid? [True, True] Translation: X:227.24, Y:120.07, Z:-4.01 [[ 5.83579391e-01 -8.12052137e-01 2.53404097e-03 2.27241119e+02] [ 8.12043218e-01 5.83584869e-01 3.80953180e-03 1.20068545e+02] [-4.57236641e-03 -1.65413461e-04 9.99989533e-01 -4.01304911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64 meters 0.02153951990722527 Centerline is valid? [True, True] Translation: X:227.27, Y:120.12, Z:-4.01 [[ 5.85710842e-01 -8.10515970e-01 2.58286952e-03 2.27267815e+02] [ 8.10506685e-01 5.85716509e-01 3.88389802e-03 1.20121558e+02] [-4.66079069e-03 -1.81408169e-04 9.99989122e-01 -4.01409013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7 meters 0.02110410038839394 Centerline is valid? [True, True] Translation: X:227.30, Y:120.17, Z:-4.02 [[ 5.85906231e-01 -8.10377431e-01 1.51903168e-03 2.27297364e+02] [ 8.10374223e-01 5.85908191e-01 2.28253439e-03 1.20172168e+02] [-2.73972746e-03 -1.06366999e-04 9.99996241e-01 -4.01669590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76 meters 0.02106475700297611 Centerline is valid? [True, True] Translation: X:227.33, Y:120.22, Z:-4.02 [[ 5.83587284e-01 -8.12050092e-01 7.27804823e-04 2.27326806e+02] [ 8.12049361e-01 5.83587736e-01 1.09040935e-03 1.20222211e+02] [-1.31020499e-03 -4.53355921e-05 9.99999141e-01 -4.01922575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82 meters 0.020717728093146467 Centerline is valid? [True, True] Translation: X:227.36, Y:120.27, Z:-4.02 [[ 5.80218419e-01 -8.14460003e-01 1.22080888e-03 2.27358460e+02] [ 8.14457931e-01 5.80219699e-01 1.83821233e-03 1.20269500e+02] [-2.20548778e-03 -7.22671718e-05 9.99997565e-01 -4.01937483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88 meters 0.017243443261589577 Centerline is valid? [True, True] Translation: X:227.40, Y:120.32, Z:-4.02 [[ 5.72924718e-01 -8.19606131e-01 1.74854482e-03 2.27395291e+02] [ 8.19601909e-01 5.72927381e-01 2.63187965e-03 1.20315389e+02] [-3.15889391e-03 -7.47582322e-05 9.99995008e-01 -4.01988380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94 meters 0.015412604748518256 Centerline is valid? [True, True] Translation: X:227.43, Y:120.36, Z:-4.02 [[ 5.67517326e-01 -8.23358392e-01 2.24562936e-03 2.27431165e+02] [ 8.23351442e-01 5.67521764e-01 3.38385314e-03 1.20361663e+02] [-4.06056742e-03 -7.14531160e-05 9.99991753e-01 -4.02054330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.0 meters 0.013899228701548387 Centerline is valid? [True, True] Translation: X:227.47, Y:120.41, Z:-4.02 [[ 5.59572647e-01 -8.28777726e-01 2.43571661e-03 2.27469314e+02] [ 8.28769587e-01 5.59577947e-01 3.67334087e-03 1.20406513e+02] [-4.40735639e-03 -3.68532272e-05 9.99990287e-01 -4.02055567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06 meters 0.013447688941093081 Centerline is valid? [True, True] Translation: X:227.51, Y:120.45, Z:-4.02 [[ 5.54481161e-01 -8.32192927e-01 2.36120226e-03 2.27505009e+02] [ 8.32185298e-01 5.54486188e-01 3.56323920e-03 1.20453443e+02] [-4.27455650e-03 -1.07912009e-05 9.99990864e-01 -4.02165219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12 meters 0.013567288104715733 Centerline is valid? [True, True] Translation: X:227.54, Y:120.50, Z:-4.02 [[ 5.48846550e-01 -8.35920743e-01 1.99367715e-03 2.27541783e+02] [ 8.35915330e-01 5.48850171e-01 3.00850802e-03 1.20499039e+02] [-3.60910431e-03 1.53360456e-05 9.99993487e-01 -4.02228503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18 meters 0.013873687949048844 Centerline is valid? [True, True] Translation: X:227.58, Y:120.55, Z:-4.02 [[ 5.46535058e-01 -8.37434222e-01 1.83138521e-03 2.27576849e+02] [ 8.37429658e-01 5.46538126e-01 2.76497855e-03 1.20546265e+02] [-3.31640951e-03 2.24985788e-05 9.99994500e-01 -4.02336568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24 meters 0.013922738339863888 Centerline is valid? [True, True] Translation: X:227.61, Y:120.59, Z:-4.02 [[ 5.45821819e-01 -8.37897598e-01 2.48127885e-03 2.27610124e+02] [ 8.37889204e-01 5.45827458e-01 3.75084845e-03 1.20594429e+02] [-4.49717704e-03 3.17418323e-05 9.99989887e-01 -4.02365749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.3 meters 0.013838420227225805 Centerline is valid? [True, True] Translation: X:227.64, Y:120.64, Z:-4.02 [[ 5.46934530e-01 -8.37171174e-01 2.65433446e-03 2.27641070e+02] [ 8.37161540e-01 5.46940970e-01 4.01632675e-03 1.20642069e+02] [-4.81411725e-03 2.54389382e-05 9.99988412e-01 -4.02478518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36 meters 0.013713029790413759 Centerline is valid? [True, True] Translation: X:227.67, Y:120.69, Z:-4.03 [[ 5.50913837e-01 -8.34558966e-01 2.29701101e-03 2.27670534e+02] [ 8.34551728e-01 5.50918626e-01 3.47587026e-03 1.20692165e+02] [-4.16628484e-03 2.06948282e-06 9.99991321e-01 -4.02588992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42 meters 0.013928467554817409 Centerline is valid? [True, True] Translation: X:227.70, Y:120.74, Z:-4.03 [[ 5.55900632e-01 -8.31247158e-01 1.62805049e-03 2.27699193e+02] [ 8.31243507e-01 5.55903015e-01 2.46360544e-03 1.20743370e+02] [-2.95290320e-03 -1.62134155e-05 9.99995640e-01 -4.02757396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48 meters 0.014263988674842966 Centerline is valid? [True, True] Translation: X:227.73, Y:120.79, Z:-4.03 [[ 5.58972301e-01 -8.29184573e-01 1.70589462e-03 2.27729842e+02] [ 8.29180550e-01 5.58974904e-01 2.58307795e-03 1.20794187e+02] [-3.09540067e-03 -2.93743913e-05 9.99995209e-01 -4.02804125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53999999999996 meters 0.01462748842710199 Centerline is valid? [True, True] Translation: X:227.76, Y:120.84, Z:-4.03 [[ 5.60371126e-01 -8.28239732e-01 1.77447487e-03 2.27760885e+02] [ 8.28235368e-01 5.60373934e-01 2.68870209e-03 1.20844005e+02] [-3.22125936e-03 -3.69881689e-05 9.99994811e-01 -4.02920846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59999999999997 meters 0.015616194222223328 Centerline is valid? [True, True] Translation: X:227.79, Y:120.89, Z:-4.03 [[ 5.64191870e-01 -8.25640383e-01 2.34360540e-03 2.27791264e+02] [ 8.25632732e-01 5.64196733e-01 3.55509522e-03 1.20894873e+02] [-4.25748469e-03 -7.07984932e-05 9.99990934e-01 -4.02940374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.65999999999997 meters 0.01677383875884804 Centerline is valid? [True, True] Translation: X:227.82, Y:120.94, Z:-4.03 [[ 5.66077790e-01 -8.24347409e-01 2.69904266e-03 2.27820526e+02] [ 8.24337218e-01 5.66084217e-01 4.10012944e-03 1.20944282e+02] [-4.90781653e-03 -9.60708963e-05 9.99987952e-01 -4.03104100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.71999999999997 meters 0.01617751100495134 Centerline is valid? [True, True] Translation: X:227.85, Y:120.99, Z:-4.03 [[ 5.66556621e-01 -8.24016962e-01 3.10504476e-03 2.27854811e+02] [ 8.24003478e-01 5.66565118e-01 4.71542092e-03 1.20991800e+02] [-5.64479688e-03 -1.12985257e-04 9.99984062e-01 -4.03071171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78 meters 0.01603915330545381 Centerline is valid? [True, True] Translation: X:227.89, Y:121.04, Z:-4.03 [[ 5.65867797e-01 -8.24488793e-01 3.44478515e-03 2.27888740e+02] [ 8.24472169e-01 5.65878269e-01 5.23711422e-03 1.21039841e+02] [-6.26727104e-03 -1.23384809e-04 9.99980353e-01 -4.03119560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84 meters 0.01555756735276231 Centerline is valid? [True, True] Translation: X:227.92, Y:121.09, Z:-4.03 [[ 5.64705232e-01 -8.25283558e-01 3.87938976e-03 2.27922863e+02] [ 8.25262486e-01 5.64718542e-01 5.89893460e-03 1.21087673e+02] [-7.05905706e-03 -1.29644395e-04 9.99975076e-01 -4.03139875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.9 meters 0.015162799345006745 Centerline is valid? [True, True] Translation: X:227.96, Y:121.14, Z:-4.03 [[ 5.62723168e-01 -8.26637712e-01 3.56778360e-03 2.27957088e+02] [ 8.26619896e-01 5.62734468e-01 5.42824229e-03 1.21135849e+02] [-6.49490459e-03 -1.05396789e-04 9.99978902e-01 -4.03299331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96 meters 0.014575382238553277 Centerline is valid? [True, True] Translation: X:227.99, Y:121.18, Z:-4.03 [[ 5.60797373e-01 -8.27947548e-01 3.02726571e-03 2.27991831e+02] [ 8.27934735e-01 5.60805538e-01 4.60674287e-03 1.21182970e+02] [-5.51184884e-03 -7.70708667e-05 9.99984807e-01 -4.03421300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02 meters 0.014176870713366267 Centerline is valid? [True, True] Translation: X:228.03, Y:121.23, Z:-4.04 [[ 5.57086451e-01 -8.30451328e-01 2.29733124e-03 2.28026774e+02] [ 8.30443953e-01 5.57091187e-01 3.50012758e-03 1.21228795e+02] [-4.18650859e-03 -4.20688159e-05 9.99991236e-01 -4.03578650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08 meters 0.013631467605370408 Centerline is valid? [True, True] Translation: X:228.06, Y:121.28, Z:-4.04 [[ 5.54541624e-01 -8.32152935e-01 2.25417262e-03 2.28061301e+02] [ 8.32145861e-01 5.54546204e-01 3.43120142e-03 1.21275730e+02] [-4.10532720e-03 -2.69435895e-05 9.99991573e-01 -4.03584101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14 meters 0.013328180494427789 Centerline is valid? [True, True] Translation: X:228.10, Y:121.32, Z:-4.03 [[ 5.51285922e-01 -8.34311059e-01 2.98160491e-03 2.28095831e+02] [ 8.34298668e-01 5.51293984e-01 4.54708897e-03 1.21322017e+02] [-5.43742747e-03 -1.91971316e-05 9.99985217e-01 -4.03468179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2 meters 0.013059015644162538 Centerline is valid? [True, True] Translation: X:228.13, Y:121.37, Z:-4.03 [[ 5.49556241e-01 -8.35449048e-01 3.58140846e-03 2.28129090e+02] [ 8.35431204e-01 5.49567911e-01 5.46029493e-03 1.21369856e+02] [-6.53002536e-03 -8.71877323e-06 9.99978679e-01 -4.03377160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26 meters 0.012995376122712975 Centerline is valid? [True, True] Translation: X:228.16, Y:121.42, Z:-4.03 [[ 5.48666152e-01 -8.36031404e-01 4.11655336e-03 2.28160325e+02] [ 8.36007807e-01 5.48681594e-01 6.28125576e-03 1.21418583e+02] [-7.51000413e-03 -4.84167658e-06 9.99971800e-01 -4.03452227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32 meters 0.013086194739869099 Centerline is valid? [True, True] Translation: X:228.19, Y:121.47, Z:-4.04 [[ 5.49055300e-01 -8.35776683e-01 3.95150089e-03 2.28190746e+02] [ 8.35754909e-01 5.49069519e-01 6.03288292e-03 1.21468222e+02] [-7.21179156e-03 -9.90007282e-06 9.99973995e-01 -4.03629581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38 meters 0.013068917423647925 Centerline is valid? [True, True] Translation: X:228.22, Y:121.52, Z:-4.04 [[ 5.50148580e-01 -8.35059350e-01 3.52448621e-03 2.28219873e+02] [ 8.35041994e-01 5.50159869e-01 5.38389485e-03 1.21518091e+02] [-6.43490261e-03 -1.88481105e-05 9.99979296e-01 -4.03789187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44 meters 0.013146690353950241 Centerline is valid? [True, True] Translation: X:228.25, Y:121.57, Z:-4.04 [[ 5.50627188e-01 -8.34745171e-01 3.19370863e-03 2.28250122e+02] [ 8.34730905e-01 5.50636449e-01 4.88025221e-03 1.21568280e+02] [-5.83233935e-03 -2.13122541e-05 9.99982992e-01 -4.03934204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.5 meters 0.01312613179837252 Centerline is valid? [True, True] Translation: X:228.28, Y:121.62, Z:-4.04 [[ 5.50704139e-01 -8.34694508e-01 3.16704813e-03 2.28279607e+02] [ 8.34680462e-01 5.50713245e-01 4.84241713e-03 1.21618650e+02] [-5.78607434e-03 -2.32659595e-05 9.99983260e-01 -4.04130381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56 meters 0.012997592857947944 Centerline is valid? [True, True] Translation: X:228.31, Y:121.67, Z:-4.04 [[ 5.49276625e-01 -8.35630429e-01 4.12019542e-03 2.28311047e+02] [ 8.35606636e-01 5.49292077e-01 6.30590233e-03 1.21667613e+02] [-7.53259456e-03 -2.08221130e-05 9.99971629e-01 -4.04072474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62 meters 0.012896544739249503 Centerline is valid? [True, True] Translation: X:228.34, Y:121.72, Z:-4.04 [[ 5.48018021e-01 -8.36454174e-01 4.54563386e-03 2.28341918e+02] [ 8.36425196e-01 5.48036873e-01 6.96255780e-03 1.21715997e+02] [-8.31503550e-03 -1.35244611e-05 9.99965429e-01 -4.04084505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68 meters 0.012876646773374599 Centerline is valid? [True, True] Translation: X:228.37, Y:121.77, Z:-4.04 [[ 5.46950910e-01 -8.37152332e-01 4.54711395e-03 2.28372221e+02] [ 8.37123330e-01 5.46969811e-01 6.96821318e-03 1.21765167e+02] [-8.32058997e-03 -4.77536485e-06 9.99965383e-01 -4.04181805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74 meters 0.012877906258107362 Centerline is valid? [True, True] Translation: X:228.40, Y:121.81, Z:-4.04 [[ 5.46211258e-01 -8.37638216e-01 3.93444503e-03 2.28402896e+02] [ 8.37616497e-01 5.46225428e-01 6.03201147e-03 1.21814994e+02] [-7.20173725e-03 8.03483082e-07 9.99974067e-01 -4.04371325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.8 meters 0.012826154307008978 Centerline is valid? [True, True] Translation: X:228.43, Y:121.86, Z:-4.04 [[ 5.45105599e-01 -8.38360261e-01 3.45802316e-03 2.28433323e+02] [ 8.38343483e-01 5.45116567e-01 5.30402942e-03 1.21864081e+02] [-6.33171321e-03 7.75504720e-06 9.99979954e-01 -4.04493795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86 meters 0.012832335441496997 Centerline is valid? [True, True] Translation: X:228.46, Y:121.91, Z:-4.05 [[ 5.44474921e-01 -8.38771034e-01 3.19595718e-03 2.28464576e+02] [ 8.38756694e-01 5.44484300e-01 4.90460732e-03 1.21913588e+02] [-5.85399106e-03 1.01947926e-05 9.99982865e-01 -4.04565804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92 meters 0.012826550738774554 Centerline is valid? [True, True] Translation: X:228.49, Y:121.96, Z:-4.05 [[ 5.43409189e-01 -8.39461237e-01 3.35943185e-03 2.28494752e+02] [ 8.39445384e-01 5.43419572e-01 5.15907471e-03 1.21963167e+02] [-6.15642425e-03 1.65709569e-05 9.99981049e-01 -4.04598056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97999999999996 meters 0.012863117112100081 Centerline is valid? [True, True] Translation: X:228.53, Y:122.01, Z:-4.05 [[ 5.42250574e-01 -8.40211038e-01 3.11885781e-03 2.28526161e+02] [ 8.40197372e-01 5.42259543e-01 4.79208654e-03 1.22012536e+02] [-5.71759441e-03 2.19444632e-05 9.99983654e-01 -4.04698800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03999999999996 meters 0.012998779221996146 Centerline is valid? [True, True] Translation: X:228.56, Y:122.06, Z:-4.05 [[ 5.40973510e-01 -8.41035831e-01 2.52828290e-03 2.28557337e+02] [ 8.41026855e-01 5.40979418e-01 3.88573356e-03 1.22062221e+02] [-4.63579016e-03 2.42748973e-05 9.99989254e-01 -4.04827869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09999999999997 meters 0.013092688193037234 Centerline is valid? [True, True] Translation: X:228.59, Y:122.11, Z:-4.05 [[ 5.41037127e-01 -8.40995315e-01 2.38901404e-03 2.28587822e+02] [ 8.40987293e-01 5.41042401e-01 3.67333452e-03 1.22111497e+02] [-4.38181502e-03 2.17200954e-05 9.99990400e-01 -4.04956796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.15999999999997 meters 0.012931291797415029 Centerline is valid? [True, True] Translation: X:228.62, Y:122.16, Z:-4.05 [[ 5.44306418e-01 -8.38883262e-01 2.32290063e-03 2.28615296e+02] [ 8.38875647e-01 5.44311374e-01 3.57436524e-03 1.22161655e+02] [-4.26285640e-03 3.07482930e-06 9.99990914e-01 -4.05063459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.21999999999997 meters 0.013252842802708302 Centerline is valid? [True, True] Translation: X:228.64, Y:122.21, Z:-4.05 [[ 5.49901200e-01 -8.35228532e-01 1.40354974e-03 2.28641747e+02] [ 8.35225743e-01 5.49902991e-01 2.15825594e-03 1.22214624e+02] [-2.57445314e-03 -1.45466503e-05 9.99996686e-01 -4.05320762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28 meters 0.013722045416694317 Centerline is valid? [True, True] Translation: X:228.67, Y:122.27, Z:-4.05 [[ 5.53387915e-01 -8.32922886e-01 1.13229868e-03 2.28670591e+02] [ 8.32921067e-01 5.53389073e-01 1.74062487e-03 1.22266246e+02] [-2.07640801e-03 -2.01253420e-05 9.99997844e-01 -4.05456308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34 meters 0.014426564377333362 Centerline is valid? [True, True] Translation: X:228.70, Y:122.32, Z:-4.06 [[ 5.56545664e-01 -8.30815914e-01 1.35672936e-03 2.28699966e+02] [ 8.30813290e-01 5.56547317e-01 2.08824840e-03 1.22317817e+02] [-2.49003409e-03 -3.50168098e-05 9.99996899e-01 -4.05571973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.4 meters 0.014955074045201957 Centerline is valid? [True, True] Translation: X:228.73, Y:122.37, Z:-4.06 [[ 5.59125540e-01 -8.29080495e-01 2.04050349e-03 2.28730403e+02] [ 8.29074522e-01 5.59129259e-01 3.14783783e-03 1.22367643e+02] [-3.75071615e-03 -6.83070692e-05 9.99992964e-01 -4.05522836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46 meters 0.015034588368022227 Centerline is valid? [True, True] Translation: X:228.76, Y:122.42, Z:-4.06 [[ 5.59291251e-01 -8.28967369e-01 2.52938385e-03 2.28761738e+02] [ 8.28958191e-01 5.59296964e-01 3.90182576e-03 1.22416491e+02] [-4.64916294e-03 -8.55035493e-05 9.99989189e-01 -4.05574519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52 meters 0.015349021602037473 Centerline is valid? [True, True] Translation: X:228.79, Y:122.47, Z:-4.06 [[ 5.60014996e-01 -8.28477788e-01 2.78548617e-03 2.28793401e+02] [ 8.28466632e-01 5.60021914e-01 4.30067539e-03 1.22465915e+02] [-5.12294733e-03 -1.00760371e-04 9.99986873e-01 -4.05643677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58 meters 0.014983346544385477 Centerline is valid? [True, True] Translation: X:228.83, Y:122.51, Z:-4.06 [[ 5.59910845e-01 -8.28548259e-01 2.76181622e-03 2.28826323e+02] [ 8.28537281e-01 5.59917648e-01 4.26628394e-03 1.22513354e+02] [-5.08121177e-03 -1.00470946e-04 9.99987086e-01 -4.05691548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64 meters 0.01518022162658416 Centerline is valid? [True, True] Translation: X:228.86, Y:122.56, Z:-4.06 [[ 5.59037027e-01 -8.29139824e-01 2.18036219e-03 2.28858854e+02] [ 8.29132982e-01 5.59041274e-01 3.36924990e-03 1.22560130e+02] [-4.01249172e-03 -7.57252411e-05 9.99991947e-01 -4.05850539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7 meters 0.015231362074500751 Centerline is valid? [True, True] Translation: X:228.89, Y:122.61, Z:-4.06 [[ 5.58412953e-01 -8.29561041e-01 1.85827894e-03 2.28891696e+02] [ 8.29556073e-01 5.58416042e-01 2.87154269e-03 1.22607907e+02] [-3.41981272e-03 -6.19600533e-05 9.99994151e-01 -4.05931568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76 meters 0.015675079844529722 Centerline is valid? [True, True] Translation: X:228.93, Y:122.65, Z:-4.06 [[ 5.57804133e-01 -8.29972472e-01 4.94307765e-04 2.28925034e+02] [ 8.29972122e-01 5.57804352e-01 7.62611572e-04 1.22654904e+02] [-9.08673634e-04 -1.51262230e-05 9.99999587e-01 -4.06210828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82 meters 0.01566539108239405 Centerline is valid? [True, True] Translation: X:228.96, Y:122.70, Z:-4.06 [[ 5.56863834e-01 -8.30603788e-01 1.34051559e-04 2.28959093e+02] [ 8.30603764e-01 5.56863850e-01 2.00146856e-04 1.22701933e+02] [-2.40891204e-04 -1.10815584e-07 9.99999971e-01 -4.06314599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88 meters 0.015331321055672387 Centerline is valid? [True, True] Translation: X:229.00, Y:122.75, Z:-4.06 [[ 5.54604402e-01 -8.32113908e-01 6.33029748e-04 2.28995059e+02] [ 8.32113332e-01 5.54604763e-01 9.79612893e-04 1.22747381e+02] [-1.16623083e-03 -1.65451296e-05 9.99999320e-01 -4.06298461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94 meters 0.014116870115159164 Centerline is valid? [True, True] Translation: X:229.03, Y:122.79, Z:-4.06 [[ 5.52891733e-01 -8.33252644e-01 8.73443156e-04 2.29031955e+02] [ 8.33251554e-01 5.52892422e-01 1.34784666e-03 1.22792785e+02] [-1.60601690e-03 -1.74154092e-05 9.99998710e-01 -4.06068101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.0 meters 0.013775277512116758 Centerline is valid? [True, True] Translation: X:229.07, Y:122.84, Z:-4.06 [[ 5.50484713e-01 -8.34844469e-01 1.13759907e-03 2.29067723e+02] [ 8.34842606e-01 5.50485888e-01 1.76364533e-03 1.22838657e+02] [-2.09860179e-03 -2.11436180e-05 9.99997798e-01 -4.06152685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06 meters 0.01417759597438668 Centerline is valid? [True, True] Translation: X:229.10, Y:122.89, Z:-4.07 [[ 5.48284102e-01 -8.36291887e-01 6.50277007e-04 2.29099870e+02] [ 8.36291286e-01 5.48284487e-01 1.00322140e-03 1.22885391e+02] [-1.19552271e-03 -6.22934994e-06 9.99999285e-01 -4.06617436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12 meters 0.013719218718453791 Centerline is valid? [True, True] Translation: X:229.14, Y:122.93, Z:-4.07 [[ 5.43749021e-01 -8.39247708e-01 5.34731211e-04 2.29138792e+02] [ 8.39247304e-01 5.43749284e-01 8.23806846e-04 1.22928696e+02] [-9.82137721e-04 8.27561502e-07 9.99999518e-01 -4.06742945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18 meters 0.013296887993449807 Centerline is valid? [True, True] Translation: X:229.18, Y:122.97, Z:-4.06 [[ 5.39915717e-01 -8.41718309e-01 1.14326189e-03 2.29176288e+02] [ 8.41716446e-01 5.39916927e-01 1.77079780e-03 1.22974520e+02] [-2.10777938e-03 6.22077360e-06 9.99997779e-01 -4.06484706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24 meters 0.013645667783008525 Centerline is valid? [True, True] Translation: X:229.21, Y:123.02, Z:-4.06 [[ 5.35057224e-01 -8.44811747e-01 2.62267791e-03 2.29213696e+02] [ 8.44801928e-01 5.35063651e-01 4.07339133e-03 1.23019942e+02] [-4.84454847e-03 3.61458970e-05 9.99988264e-01 -4.06416264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.3 meters 0.014005097427811985 Centerline is valid? [True, True] Translation: X:229.25, Y:123.07, Z:-4.07 [[ 5.32863075e-01 -8.46194977e-01 3.31719904e-03 2.29248194e+02] [ 8.46179260e-01 5.32873397e-01 5.15781877e-03 1.23065578e+02] [-6.13216746e-03 5.85338582e-05 9.99981196e-01 -4.06533809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36 meters 0.014256127637378317 Centerline is valid? [True, True] Translation: X:229.28, Y:123.11, Z:-4.07 [[ 5.30813657e-01 -8.47485661e-01 2.21725718e-03 2.29283785e+02] [ 8.47478651e-01 5.30818285e-01 3.44723887e-03 1.23113063e+02] [-4.09844617e-03 4.92366556e-05 9.99991600e-01 -4.06744386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42 meters 0.014276164716264547 Centerline is valid? [True, True] Translation: X:229.32, Y:123.16, Z:-4.07 [[ 5.30787348e-01 -8.47503242e-01 1.74541276e-03 2.29316237e+02] [ 8.47498901e-01 5.30790216e-01 2.71285021e-03 1.23161314e+02] [-3.22559737e-03 3.92888235e-05 9.99994797e-01 -4.06941752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47999999999996 meters 0.014032348130489772 Centerline is valid? [True, True] Translation: X:229.35, Y:123.21, Z:-4.07 [[ 5.31987297e-01 -8.46748571e-01 2.52463258e-03 2.29348753e+02] [ 8.46739449e-01 5.31993285e-01 3.93069099e-03 1.23210833e+02] [-4.67139456e-03 4.66283251e-05 9.99989088e-01 -4.06957321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53999999999996 meters 0.0139317879905197 Centerline is valid? [True, True] Translation: X:229.38, Y:123.26, Z:-4.07 [[ 5.33138184e-01 -8.46022485e-01 3.10355776e-03 2.29379884e+02] [ 8.46008660e-01 5.33147215e-01 4.83682285e-03 1.23259050e+02] [-5.74671406e-03 4.69417904e-05 9.99983486e-01 -4.06989558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59999999999997 meters 0.01350430707923929 Centerline is valid? [True, True] Translation: X:229.41, Y:123.31, Z:-4.07 [[ 5.36032591e-01 -8.44191089e-01 3.23516822e-03 2.29409839e+02] [ 8.44176023e-01 5.36042353e-01 5.04350659e-03 1.23309051e+02] [-5.99187050e-03 2.75675329e-05 9.99982048e-01 -4.06974467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.65999999999997 meters 0.01344188238212011 Centerline is valid? [True, True] Translation: X:229.44, Y:123.36, Z:-4.07 [[ 5.38790281e-01 -8.42433633e-01 3.25681025e-03 2.29439583e+02] [ 8.42418315e-01 5.38800124e-01 5.08020324e-03 1.23358933e+02] [-6.03450384e-03 6.43247049e-06 9.99981792e-01 -4.07045318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.71999999999997 meters 0.013553134684866344 Centerline is valid? [True, True] Translation: X:229.47, Y:123.41, Z:-4.07 [[ 5.43633546e-01 -8.39317003e-01 3.08789122e-03 2.29467348e+02] [ 8.39303152e-01 5.43642315e-01 4.82212268e-03 1.23410009e+02] [-5.72599789e-03 -2.97908180e-05 9.99983606e-01 -4.07199175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78 meters 0.013775342556925712 Centerline is valid? [True, True] Translation: X:229.50, Y:123.46, Z:-4.07 [[ 5.45437828e-01 -8.38146358e-01 2.87376034e-03 2.29496690e+02] [ 8.38134351e-01 5.45445397e-01 4.48653743e-03 1.23459478e+02] [-5.32785436e-03 -3.85299662e-05 9.99985806e-01 -4.07373490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84 meters 0.013590491613867396 Centerline is valid? [True, True] Translation: X:229.53, Y:123.51, Z:-4.08 [[ 5.44163451e-01 -8.38975458e-01 2.51384405e-03 2.29528925e+02] [ 8.38966276e-01 5.44169256e-01 3.92524259e-03 1.23508098e+02] [-4.66113884e-03 -2.69431710e-05 9.99989136e-01 -4.07528959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.9 meters 0.013586279895813548 Centerline is valid? [True, True] Translation: X:229.56, Y:123.56, Z:-4.08 [[ 5.42883390e-01 -8.39804351e-01 2.50544556e-03 2.29562285e+02] [ 8.39795228e-01 5.42889171e-01 3.91454653e-03 1.23556276e+02] [-4.64763247e-03 -2.10810643e-05 9.99989199e-01 -4.07546254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96 meters 0.013442564091795374 Centerline is valid? [True, True] Translation: X:229.60, Y:123.60, Z:-4.08 [[ 5.40692225e-01 -8.41217229e-01 2.34351525e-03 2.29595776e+02] [ 8.41209253e-01 5.40697303e-01 3.66321620e-03 1.23603448e+02] [-4.34869296e-03 -9.28580447e-06 9.99990544e-01 -4.07618916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02 meters 0.01351496420873335 Centerline is valid? [True, True] Translation: X:229.63, Y:123.65, Z:-4.08 [[ 5.38490820e-01 -8.42625300e-01 3.20002785e-03 2.29628769e+02] [ 8.42610416e-01 5.38500328e-01 5.00834104e-03 1.23651970e+02] [-5.94337092e-03 -5.68873966e-07 9.99982338e-01 -4.07803426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08 meters 0.01345589830910367 Centerline is valid? [True, True] Translation: X:229.66, Y:123.70, Z:-4.08 [[ 5.37556441e-01 -8.43219871e-01 3.64977008e-03 2.29661393e+02] [ 8.43200492e-01 5.37568831e-01 5.71673012e-03 1.23700305e+02] [-6.78246308e-03 4.42283203e-06 9.99976999e-01 -4.07765188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14 meters 0.013521238392490616 Centerline is valid? [True, True] Translation: X:229.69, Y:123.75, Z:-4.08 [[ 5.36687886e-01 -8.43770261e-01 4.22608061e-03 2.29693846e+02] [ 8.43744253e-01 5.36704524e-01 6.62489174e-03 1.23749018e+02] [-7.85804321e-03 1.02320890e-05 9.99969125e-01 -4.07845720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2 meters 0.013545120603738643 Centerline is valid? [True, True] Translation: X:229.73, Y:123.80, Z:-4.08 [[ 5.36062711e-01 -8.44166413e-01 4.45380753e-03 2.29725161e+02] [ 8.44137500e-01 5.36081213e-01 6.98671781e-03 1.23798281e+02] [-8.28555505e-03 1.43070647e-05 9.99965674e-01 -4.08045524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26 meters 0.01337300367811332 Centerline is valid? [True, True] Translation: X:229.76, Y:123.85, Z:-4.08 [[ 5.35583771e-01 -8.44467059e-01 5.04083234e-03 2.29755543e+02] [ 8.44429979e-01 5.35607492e-01 7.91358565e-03 1.23847822e+02] [-9.38266997e-03 1.82419015e-05 9.99955982e-01 -4.08071805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32 meters 0.01334170713032958 Centerline is valid? [True, True] Translation: X:229.79, Y:123.90, Z:-4.08 [[ 5.35414985e-01 -8.44570303e-01 5.63888296e-03 2.29786495e+02] [ 8.44523838e-01 5.35444678e-01 8.85912718e-03 1.23897106e+02] [-1.05014656e-02 1.88616385e-05 9.99944858e-01 -4.08109072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38 meters 0.01331383539634248 Centerline is valid? [True, True] Translation: X:229.82, Y:123.95, Z:-4.08 [[ 5.35169171e-01 -8.44724954e-01 5.80606494e-03 2.29816468e+02] [ 8.44675634e-01 5.35200665e-01 9.12805317e-03 1.23945183e+02] [-1.08181041e-02 1.91889306e-05 9.99941482e-01 -4.08211329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44 meters 0.013305407622299864 Centerline is valid? [True, True] Translation: X:229.85, Y:124.00, Z:-4.08 [[ 5.35016887e-01 -8.44820762e-01 5.90005635e-03 2.29846610e+02] [ 8.44769782e-01 5.35049418e-01 9.28091665e-03 1.23995063e+02] [-1.09975328e-02 1.87421875e-05 9.99939525e-01 -4.08397815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.5 meters 0.01325775687294626 Centerline is valid? [True, True] Translation: X:229.88, Y:124.04, Z:-4.09 [[ 5.34890202e-01 -8.44900088e-01 6.02601427e-03 2.29876345e+02] [ 8.44846841e-01 5.34924145e-01 9.48546101e-03 1.24043544e+02] [-1.12377274e-02 1.73789647e-05 9.99936855e-01 -4.08571459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56 meters 0.01333229298239216 Centerline is valid? [True, True] Translation: X:229.91, Y:124.09, Z:-4.09 [[ 5.35183070e-01 -8.44714041e-01 6.10491278e-03 2.29906588e+02] [ 8.44659319e-01 5.35217889e-01 9.61493324e-03 1.24093469e+02] [-1.13893276e-02 1.08219783e-05 9.99935139e-01 -4.08648358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62 meters 0.013280334858884192 Centerline is valid? [True, True] Translation: X:229.94, Y:124.14, Z:-4.09 [[ 5.35191952e-01 -8.44703442e-01 6.75794374e-03 2.29937035e+02] [ 8.44636288e-01 5.35234617e-01 1.06510424e-02 1.24143105e+02] [-1.26140576e-02 7.65231870e-06 9.99920440e-01 -4.08732856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68 meters 0.013281754219093873 Centerline is valid? [True, True] Translation: X:229.97, Y:124.19, Z:-4.09 [[ 5.35887638e-01 -8.44254924e-01 7.61987584e-03 2.29967007e+02] [ 8.44169380e-01 5.35941810e-01 1.20180668e-02 1.24193352e+02] [-1.42301222e-02 -7.86758959e-06 9.99898747e-01 -4.08773775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74 meters 0.013362587383980181 Centerline is valid? [True, True] Translation: X:230.00, Y:124.24, Z:-4.09 [[ 5.37417920e-01 -8.43277321e-01 8.08328992e-03 2.29995404e+02] [ 8.43180815e-01 5.37478705e-01 1.27575420e-02 1.24244113e+02] [-1.51027421e-02 -4.04567244e-05 9.99885946e-01 -4.08854369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.8 meters 0.013482163616188685 Centerline is valid? [True, True] Translation: X:230.02, Y:124.29, Z:-4.09 [[ 5.38608786e-01 -8.42515532e-01 8.25549618e-03 2.30024624e+02] [ 8.42414650e-01 5.38672046e-01 1.30377936e-02 1.24294701e+02] [-1.54315487e-02 -6.77192727e-05 9.99880924e-01 -4.08974711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86 meters 0.013589001013589534 Centerline is valid? [True, True] Translation: X:230.05, Y:124.34, Z:-4.09 [[ 5.39565740e-01 -8.41903698e-01 8.18384478e-03 2.30054747e+02] [ 8.41804366e-01 5.39627794e-01 1.29326763e-02 1.24344742e+02] [-1.53042981e-02 -8.88327831e-05 9.99882878e-01 -4.09086368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92 meters 0.013949712650062686 Centerline is valid? [True, True] Translation: X:230.08, Y:124.40, Z:-4.09 [[ 5.42216340e-01 -8.40203546e-01 7.70985667e-03 2.30084089e+02] [ 8.40115109e-01 5.42271134e-01 1.21909663e-02 1.24395810e+02] [-1.44237258e-02 -1.32974028e-04 9.99895964e-01 -4.09361162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97999999999996 meters 0.014233816787028524 Centerline is valid? [True, True] Translation: X:230.11, Y:124.45, Z:-4.10 [[ 5.43786926e-01 -8.39192298e-01 7.21563559e-03 2.30113950e+02] [ 8.39114667e-01 5.43834776e-01 1.14154153e-02 1.24446879e+02] [-1.35038421e-02 -1.52807921e-04 9.99908807e-01 -4.09671322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03999999999996 meters 0.014950464819574181 Centerline is valid? [True, True] Translation: X:230.14, Y:124.50, Z:-4.10 [[ 5.46694851e-01 -8.37303283e-01 6.92473981e-03 2.30144406e+02] [ 8.37231557e-01 5.46738671e-01 1.09610612e-02 1.24497707e+02] [-1.29637555e-02 -1.94745009e-04 9.99915948e-01 -4.09777842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09999999999997 meters 0.01519048382037453 Centerline is valid? [True, True] Translation: X:230.18, Y:124.55, Z:-4.10 [[ 5.46631590e-01 -8.37345365e-01 6.82966531e-03 2.30175643e+02] [ 8.37275526e-01 5.46674219e-01 1.08163209e-02 1.24547032e+02] [-1.27905982e-02 -1.94231101e-04 9.99918178e-01 -4.09841225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.15999999999997 meters 0.015096018827607548 Centerline is valid? [True, True] Translation: X:230.21, Y:124.60, Z:-4.10 [[ 5.45935674e-01 -8.37796437e-01 7.16722065e-03 2.30207042e+02] [ 8.37719460e-01 5.45982684e-01 1.13584724e-02 1.24595739e+02] [-1.34292661e-02 -1.96875071e-04 9.99909804e-01 -4.09812965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.21999999999997 meters 0.015155840456269927 Centerline is valid? [True, True] Translation: X:230.24, Y:124.65, Z:-4.10 [[ 5.46326866e-01 -8.37541585e-01 7.14489077e-03 2.30237647e+02] [ 8.37464969e-01 5.46373546e-01 1.13302207e-02 1.24645533e+02] [-1.33933103e-02 -2.06408246e-04 9.99910284e-01 -4.09924604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28 meters 0.015352616533879721 Centerline is valid? [True, True] Translation: X:230.27, Y:124.70, Z:-4.10 [[ 5.47357847e-01 -8.36878225e-01 5.85012861e-03 2.30268164e+02] [ 8.36826765e-01 5.47389077e-01 9.28243544e-03 1.24695248e+02] [-1.09705646e-02 -1.85269669e-04 9.99939804e-01 -4.10204093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34 meters 0.0156530092560636 Centerline is valid? [True, True] Translation: X:230.30, Y:124.75, Z:-4.10 [[ 5.48008411e-01 -8.36457125e-01 5.12431237e-03 2.30299253e+02] [ 8.36417616e-01 5.48032343e-01 8.13163346e-03 1.24745345e+02] [-9.61005166e-03 -1.70138394e-04 9.99953808e-01 -4.10347210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.4 meters 0.015633266782791682 Centerline is valid? [True, True] Translation: X:230.33, Y:124.79, Z:-4.10 [[ 5.48327036e-01 -8.36251876e-01 4.50126968e-03 2.30330880e+02] [ 8.36221360e-01 5.48345489e-01 7.14570956e-03 1.24793974e+02] [-8.44386395e-03 -1.54127883e-04 9.99964338e-01 -4.10484443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46 meters 0.015546515866787628 Centerline is valid? [True, True] Translation: X:230.36, Y:124.84, Z:-4.10 [[ 5.47501768e-01 -8.36790237e-01 4.89014188e-03 2.30362965e+02] [ 8.36754190e-01 5.47523582e-01 7.76867294e-03 1.24843243e+02] [-9.17821768e-03 -1.61515457e-04 9.99957866e-01 -4.10454696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52 meters 0.015190442230531254 Centerline is valid? [True, True] Translation: X:230.40, Y:124.89, Z:-4.10 [[ 5.45652434e-01 -8.37994664e-01 5.32591539e-03 2.30396362e+02] [ 8.37951906e-01 5.45678403e-01 8.46669314e-03 1.24891400e+02] [-1.00012807e-02 -1.57010767e-04 9.99949974e-01 -4.10404682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58 meters 0.014454929165256777 Centerline is valid? [True, True] Translation: X:230.43, Y:124.94, Z:-4.11 [[ 5.40913068e-01 -8.41060535e-01 5.49810075e-03 2.30431414e+02] [ 8.41015057e-01 5.40940999e-01 8.74693104e-03 1.24937343e+02] [-1.03308466e-02 -1.07343785e-04 9.99946630e-01 -4.10534759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64 meters 0.014071036960643506 Centerline is valid? [True, True] Translation: X:230.47, Y:124.98, Z:-4.11 [[ 5.38350871e-01 -8.42705443e-01 5.08680466e-03 2.30465515e+02] [ 8.42666592e-01 5.38374898e-01 8.09214516e-03 1.24984783e+02] [-9.55790272e-03 -6.99330461e-05 9.99954320e-01 -4.10686018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7 meters 0.013998332266664403 Centerline is valid? [True, True] Translation: X:230.50, Y:125.03, Z:-4.11 [[ 5.36671702e-01 -8.43783263e-01 3.64538888e-03 2.30496547e+02] [ 8.43763329e-01 5.36684082e-01 5.80012047e-03 1.25032531e+02] [-6.85046676e-03 -3.69150666e-05 9.99976535e-01 -4.11055066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76 meters 0.01413212855996841 Centerline is valid? [True, True] Translation: X:230.53, Y:125.08, Z:-4.11 [[ 5.37071853e-01 -8.43532057e-01 2.73727650e-03 2.30525365e+02] [ 8.43520807e-01 5.37078828e-01 4.35663976e-03 1.25083495e+02] [-5.14509856e-03 -3.08789051e-05 9.99986763e-01 -4.11290979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82 meters 0.01408383506825814 Centerline is valid? [True, True] Translation: X:230.55, Y:125.14, Z:-4.11 [[ 5.37575664e-01 -8.43208533e-01 3.43153899e-03 2.30552601e+02] [ 8.43190817e-01 5.37586614e-01 5.46617166e-03 1.25135129e+02] [-6.45387201e-03 -4.50386954e-05 9.99979173e-01 -4.11244044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88 meters 0.014023787328553562 Centerline is valid? [True, True] Translation: X:230.58, Y:125.18, Z:-4.11 [[ 5.36740461e-01 -8.43737424e-01 4.10333283e-03 2.30581853e+02] [ 8.43712057e-01 5.36756144e-01 6.54275033e-03 1.25183895e+02] [-7.72285241e-03 -4.97274490e-05 9.99970177e-01 -4.11204921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94 meters 0.01387707503500042 Centerline is valid? [True, True] Translation: X:230.61, Y:125.23, Z:-4.11 [[ 5.35451458e-01 -8.44553823e-01 4.53614255e-03 2.30610743e+02] [ 8.44522814e-01 5.35470670e-01 7.23728753e-03 1.25233202e+02] [-8.54125015e-03 -4.43402894e-05 9.99963522e-01 -4.11285503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.0 meters 0.013606469645408537 Centerline is valid? [True, True] Translation: X:230.64, Y:125.28, Z:-4.11 [[ 5.35074920e-01 -8.44792738e-01 4.47882085e-03 2.30640088e+02] [ 8.44762492e-01 5.35093663e-01 7.14870213e-03 1.25283265e+02] [-8.43576030e-03 -4.15513581e-05 9.99964417e-01 -4.11355728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06 meters 0.013781089134025861 Centerline is valid? [True, True] Translation: X:230.67, Y:125.33, Z:-4.12 [[ 5.35555742e-01 -8.44487898e-01 4.49873408e-03 2.30668182e+02] [ 8.44457329e-01 5.35574634e-01 7.18541956e-03 1.25332989e+02] [-8.47740772e-03 -4.92037333e-05 9.99964065e-01 -4.11504879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12 meters 0.01374366365345259 Centerline is valid? [True, True] Translation: X:230.70, Y:125.38, Z:-4.11 [[ 5.36002728e-01 -8.44205717e-01 4.21696325e-03 2.30697898e+02] [ 8.44178826e-01 5.36019314e-01 6.73836966e-03 1.25383098e+02] [-7.94894394e-03 -5.19134367e-05 9.99968405e-01 -4.11476897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18 meters 0.01364972495338201 Centerline is valid? [True, True] Translation: X:230.73, Y:125.43, Z:-4.12 [[ 5.34986226e-01 -8.44850375e-01 4.19318859e-03 2.30727906e+02] [ 8.44823773e-01 5.35002656e-01 6.70449620e-03 1.25433322e+02] [-7.90766316e-03 -4.43077126e-05 9.99968733e-01 -4.11664670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24 meters 0.013657865859800038 Centerline is valid? [True, True] Translation: X:230.76, Y:125.48, Z:-4.12 [[ 5.34147330e-01 -8.45379043e-01 4.57197908e-03 2.30758654e+02] [ 8.45347390e-01 5.34166895e-01 7.31560405e-03 1.25483099e+02] [-8.62665822e-03 -4.26997848e-05 9.99962789e-01 -4.11756738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.3 meters 0.013669771645496352 Centerline is valid? [True, True] Translation: X:230.79, Y:125.53, Z:-4.12 [[ 5.33726909e-01 -8.45643145e-01 4.82256747e-03 2.30789696e+02] [ 8.45607890e-01 5.33748695e-01 7.72186085e-03 1.25532345e+02] [-9.10397779e-03 -4.33638221e-05 9.99958557e-01 -4.11784764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36 meters 0.013661022827285919 Centerline is valid? [True, True] Translation: X:230.82, Y:125.58, Z:-4.12 [[ 5.32390430e-01 -8.46482762e-01 5.23097525e-03 2.30822368e+02] [ 8.46441264e-01 5.32416127e-01 8.38179085e-03 1.25580479e+02] [-9.88009705e-03 -3.46719334e-05 9.99951190e-01 -4.11678230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42 meters 0.013748639431645945 Centerline is valid? [True, True] Translation: X:230.85, Y:125.63, Z:-4.12 [[ 5.31772854e-01 -8.46869755e-01 5.40832274e-03 2.30852732e+02] [ 8.46825347e-01 5.31800354e-01 8.67265061e-03 1.25629011e+02] [-1.02207535e-02 -3.19753824e-05 9.99947766e-01 -4.11775535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47999999999996 meters 0.013765053761811778 Centerline is valid? [True, True] Translation: X:230.88, Y:125.68, Z:-4.12 [[ 5.31356164e-01 -8.47132449e-01 5.21934713e-03 2.30883709e+02] [ 8.47091078e-01 5.31381797e-01 8.37208671e-03 1.25677605e+02] [-9.86573237e-03 -2.72974904e-05 9.99951332e-01 -4.11846616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.53999999999996 meters 0.013898603087654365 Centerline is valid? [True, True] Translation: X:230.92, Y:125.73, Z:-4.12 [[ 5.30675610e-01 -8.47564313e-01 4.25806997e-03 2.30915274e+02] [ 8.47536769e-01 5.30692693e-01 6.83313351e-03 1.25726503e+02] [-8.05124673e-03 -1.73064306e-05 9.99967588e-01 -4.12061783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.59999999999997 meters 0.013912032665688039 Centerline is valid? [True, True] Translation: X:230.95, Y:125.77, Z:-4.12 [[ 5.28364987e-01 -8.49010425e-01 3.42613907e-03 2.30948504e+02] [ 8.48992611e-01 5.28376096e-01 5.49987836e-03 1.25774377e+02] [-6.47974405e-03 2.82359636e-06 9.99979006e-01 -4.12298250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.65999999999997 meters 0.013973853820746212 Centerline is valid? [True, True] Translation: X:230.98, Y:125.82, Z:-4.12 [[ 5.25784667e-01 -8.50611141e-01 3.34217623e-03 2.30981288e+02] [ 8.50594202e-01 5.25795289e-01 5.36828041e-03 1.25822556e+02] [-6.32361965e-03 2.02761957e-05 9.99980006e-01 -4.12451399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.71999999999997 meters 0.014456117924078582 Centerline is valid? [True, True] Translation: X:231.02, Y:125.87, Z:-4.12 [[ 5.20986539e-01 -8.53558048e-01 3.41820101e-03 2.31016741e+02] [ 8.53540352e-01 5.20997750e-01 5.49655584e-03 1.25869253e+02] [-6.47250451e-03 5.39408923e-05 9.99979052e-01 -4.12487270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78 meters 0.01496092596737091 Centerline is valid? [True, True] Translation: X:231.05, Y:125.92, Z:-4.12 [[ 5.17178369e-01 -8.55867373e-01 4.19214165e-03 2.31051014e+02] [ 8.55840820e-01 5.17195349e-01 6.74246349e-03 1.25917165e+02] [-7.93881068e-03 1.00749671e-04 9.99968482e-01 -4.12438900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84 meters 0.01561582728987052 Centerline is valid? [True, True] Translation: X:231.09, Y:125.96, Z:-4.12 [[ 5.12005620e-01 -8.58968416e-01 4.84817043e-03 2.31085978e+02] [ 8.58932991e-01 5.12028545e-01 7.80293388e-03 1.25964814e+02] [-9.18487541e-03 1.69107528e-04 9.99957804e-01 -4.12371747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.9 meters 0.016162291473475206 Centerline is valid? [True, True] Translation: X:231.12, Y:126.01, Z:-4.12 [[ 5.10250974e-01 -8.60009576e-01 5.24146129e-03 2.31118224e+02] [ 8.59968162e-01 5.10277855e-01 8.44226965e-03 1.26013155e+02] [-9.93503436e-03 1.99813520e-04 9.99950626e-01 -4.12394498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96 meters 0.015860469300937496 Centerline is valid? [True, True] Translation: X:231.15, Y:126.06, Z:-4.12 [[ 5.11321134e-01 -8.59372391e-01 5.45822479e-03 2.31147515e+02] [ 8.59327414e-01 5.11350229e-01 8.79424803e-03 1.26064183e+02] [-1.03485984e-02 1.93717326e-04 9.99946433e-01 -4.12468588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02 meters 0.015226224939756826 Centerline is valid? [True, True] Translation: X:231.18, Y:126.12, Z:-4.13 [[ 5.13756942e-01 -8.57920662e-01 5.09330991e-03 2.31175614e+02] [ 8.57881409e-01 5.13782166e-01 8.20815637e-03 1.26116240e+02] [-9.65879875e-03 1.52458566e-04 9.99953341e-01 -4.12597194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08 meters 0.014315004723223326 Centerline is valid? [True, True] Translation: X:231.20, Y:126.17, Z:-4.13 [[ 5.19571938e-01 -8.54416011e-01 4.27564654e-03 2.31200890e+02] [ 8.54388208e-01 5.19589525e-01 6.89309376e-03 1.26170253e+02] [-8.11115083e-03 7.16039003e-05 9.99967102e-01 -4.12815642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14 meters 0.01393118712694524 Centerline is valid? [True, True] Translation: X:231.23, Y:126.22, Z:-4.13 [[ 5.23501760e-01 -8.52015232e-01 3.99396402e-03 2.31227734e+02] [ 8.51990881e-01 5.23516995e-01 6.44170042e-03 1.26222388e+02] [-7.57933492e-03 3.05794156e-05 9.99971276e-01 -4.12914074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2 meters 0.013867294908582921 Centerline is valid? [True, True] Translation: X:231.25, Y:126.28, Z:-4.13 [[ 5.29231250e-01 -8.48468718e-01 3.88833810e-03 2.31252165e+02] [ 8.48445515e-01 5.29245533e-01 6.27480554e-03 1.26275293e+02] [-7.38186178e-03 -2.17801582e-05 9.99972753e-01 -4.13051375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26 meters 0.014095081868408785 Centerline is valid? [True, True] Translation: X:231.28, Y:126.33, Z:-4.13 [[ 5.32593411e-01 -8.46364385e-01 3.40392978e-03 2.31280040e+02] [ 8.46346540e-01 5.32604287e-01 5.49614152e-03 1.26326936e+02] [-6.46468603e-03 -4.63045643e-05 9.99979103e-01 -4.13169402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32 meters 0.014717929753045885 Centerline is valid? [True, True] Translation: X:231.31, Y:126.38, Z:-4.13 [[ 5.36349475e-01 -8.43989603e-01 3.28500431e-03 2.31307879e+02] [ 8.43972921e-01 5.36359530e-01 5.30691604e-03 1.26379359e+02] [-6.24092533e-03 -7.39069482e-05 9.99980523e-01 -4.13292101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38 meters 0.015027613058488206 Centerline is valid? [True, True] Translation: X:231.34, Y:126.43, Z:-4.13 [[ 5.37801172e-01 -8.43061983e-01 4.04877061e-03 2.31337270e+02] [ 8.43036578e-01 5.37816401e-01 6.54574416e-03 1.26429757e+02] [-7.69596329e-03 -1.07047162e-04 9.99970380e-01 -4.13247928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44 meters 0.014995343631281839 Centerline is valid? [True, True] Translation: X:231.37, Y:126.48, Z:-4.13 [[ 5.38007528e-01 -8.42926647e-01 4.75053390e-03 2.31368070e+02] [ 8.42891613e-01 5.38028485e-01 7.68627161e-03 1.26479523e+02] [-9.03488571e-03 -1.31086808e-04 9.99959176e-01 -4.13217395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.5 meters 0.015878098721263223 Centerline is valid? [True, True] Translation: X:231.40, Y:126.53, Z:-4.13 [[ 5.38220649e-01 -8.42790109e-01 4.83368795e-03 2.31396718e+02] [ 8.42753781e-01 5.38242336e-01 7.82637074e-03 1.26529453e+02] [-9.19768335e-03 -1.38705543e-04 9.99957691e-01 -4.13381132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56 meters 0.015671248491522557 Centerline is valid? [True, True] Translation: X:231.43, Y:126.58, Z:-4.14 [[ 5.38658641e-01 -8.42513220e-01 4.28292425e-03 2.31428410e+02] [ 8.42484665e-01 5.38675652e-01 6.93770957e-03 1.26578412e+02] [-8.15221904e-03 -1.28759204e-04 9.99966762e-01 -4.13535023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62 meters 0.015597038103922514 Centerline is valid? [True, True] Translation: X:231.46, Y:126.63, Z:-4.14 [[ 5.37612785e-01 -8.43182354e-01 4.00142409e-03 2.31459232e+02] [ 8.43157423e-01 5.37627664e-01 6.48500575e-03 1.26627177e+02] [-7.61931871e-03 -1.12591576e-04 9.99970966e-01 -4.13729242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68 meters 0.015187976608405483 Centerline is valid? [True, True] Translation: X:231.49, Y:126.68, Z:-4.14 [[ 5.36080776e-01 -8.44160056e-01 3.34692936e-03 2.31491384e+02] [ 8.44142619e-01 5.36091217e-01 5.42632102e-03 1.26675675e+02] [-6.37494288e-03 -8.36606670e-05 9.99979676e-01 -4.13997449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74 meters 0.014875307912562166 Centerline is valid? [True, True] Translation: X:231.52, Y:126.72, Z:-4.14 [[ 5.33503833e-01 -8.45793222e-01 2.73613778e-03 2.31523148e+02] [ 8.45781573e-01 5.33510847e-01 4.43928062e-03 1.26722895e+02] [-5.21447264e-03 -5.41983080e-05 9.99986403e-01 -4.14242027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.8 meters 0.014023693734105199 Centerline is valid? [True, True] Translation: X:231.56, Y:126.77, Z:-4.14 [[ 5.28413286e-01 -8.48981474e-01 3.13952911e-03 2.31560250e+02] [ 8.48966183e-01 5.28422612e-01 5.09541092e-03 1.26769706e+02] [-5.98490764e-03 -2.71287784e-05 9.99982090e-01 -4.14148289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86 meters 0.013857828521094696 Centerline is valid? [True, True] Translation: X:231.59, Y:126.82, Z:-4.14 [[ 5.24820793e-01 -8.51202686e-01 4.13807710e-03 2.31594275e+02] [ 8.51176145e-01 5.24837106e-01 6.72179203e-03 1.26817553e+02] [-7.89342383e-03 -5.50370706e-06 9.99968846e-01 -4.14087305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92 meters 0.013931832673575579 Centerline is valid? [True, True] Translation: X:231.63, Y:126.86, Z:-4.14 [[ 5.19580964e-01 -8.54408727e-01 4.62052021e-03 2.31628821e+02] [ 8.54375714e-01 5.19601506e-01 7.51094175e-03 1.26864426e+02] [-8.81824344e-03 4.51178993e-05 9.99961118e-01 -4.14092734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97999999999996 meters 0.01421881955594799 Centerline is valid? [True, True] Translation: X:231.66, Y:126.91, Z:-4.14 [[ 5.15356335e-01 -8.56961567e-01 4.97205489e-03 2.31662096e+02] [ 8.56923399e-01 5.15380310e-01 8.08851147e-03 1.26912921e+02] [-9.49404266e-03 9.22045531e-05 9.99954926e-01 -4.14116292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.03999999999996 meters 0.014597643671095204 Centerline is valid? [True, True] Translation: X:231.69, Y:126.96, Z:-4.14 [[ 5.12485450e-01 -8.58681031e-01 5.05464108e-03 2.31694312e+02] [ 8.58641622e-01 5.12510362e-01 8.22763760e-03 1.26962024e+02] [-9.65547227e-03 1.23580655e-04 9.99953377e-01 -4.14178416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.09999999999997 meters 0.014985864992963357 Centerline is valid? [True, True] Translation: X:231.73, Y:127.01, Z:-4.14 [[ 5.10126468e-01 -8.60084692e-01 5.03079323e-03 2.31725429e+02] [ 8.60045678e-01 5.10151253e-01 8.19337044e-03 1.27012305e+02] [-9.61345797e-03 1.47056850e-04 9.99953779e-01 -4.14320674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.15999999999997 meters 0.015081128058709896 Centerline is valid? [True, True] Translation: X:231.75, Y:127.06, Z:-4.14 [[ 5.09335295e-01 -8.60555636e-01 4.64273170e-03 2.31754156e+02] [ 8.60522398e-01 5.09356434e-01 7.56472571e-03 1.27063188e+02] [-8.87467261e-03 1.42192814e-04 9.99960609e-01 -4.14448756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.21999999999997 meters 0.015040900615545808 Centerline is valid? [True, True] Translation: X:231.78, Y:127.11, Z:-4.15 [[ 5.09875570e-01 -8.60237402e-01 4.30297185e-03 2.31782742e+02] [ 8.60208798e-01 5.09893711e-01 7.01618986e-03 1.27114449e+02] [-8.22964722e-03 1.24070437e-04 9.99966128e-01 -4.14551858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28 meters 0.014825795096566183 Centerline is valid? [True, True] Translation: X:231.81, Y:127.17, Z:-4.15 [[ 5.10365306e-01 -8.59946063e-01 4.47464065e-03 2.31810386e+02] [ 8.59915106e-01 5.10384907e-01 7.29780634e-03 1.27165376e+02] [-8.55950888e-03 1.23263922e-04 9.99963359e-01 -4.14611725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34 meters 0.014409628778144059 Centerline is valid? [True, True] Translation: X:231.84, Y:127.22, Z:-4.15 [[ 5.11783734e-01 -8.59100700e-01 4.83706122e-03 2.31836597e+02] [ 8.59064435e-01 5.11806579e-01 7.89447217e-03 1.27217913e+02] [-9.25778632e-03 1.15084826e-04 9.99957139e-01 -4.14686456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.4 meters 0.01423025932257983 Centerline is valid? [True, True] Translation: X:231.86, Y:127.27, Z:-4.15 [[ 5.12774283e-01 -8.58507928e-01 5.16452691e-03 2.31864072e+02] [ 8.58466499e-01 5.12800279e-01 8.43466151e-03 1.27269492e+02] [-9.88959462e-03 1.08495827e-04 9.99951091e-01 -4.14730978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46 meters 0.014017732202983916 Centerline is valid? [True, True] Translation: X:231.89, Y:127.32, Z:-4.15 [[ 5.15155340e-01 -8.57083278e-01 4.81990489e-03 2.31889694e+02] [ 8.57047091e-01 5.15177882e-01 7.87613576e-03 1.27321984e+02] [-9.23361265e-03 7.34520721e-05 9.99957367e-01 -4.14818686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52 meters 0.013872261055047921 Centerline is valid? [True, True] Translation: X:231.91, Y:127.37, Z:-4.15 [[ 5.18861374e-01 -8.54850089e-01 3.76829127e-03 2.31914697e+02] [ 8.54827892e-01 5.18875057e-01 6.16031273e-03 1.27373217e+02] [-7.22141623e-03 2.48921528e-05 9.99973925e-01 -4.15096796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58 meters 0.013931042514303882 Centerline is valid? [True, True] Translation: X:231.94, Y:127.43, Z:-4.15 [[ 5.22040677e-01 -8.52915769e-01 2.86751008e-03 2.31941065e+02] [ 8.52902885e-01 5.22048552e-01 4.68802982e-03 1.27425704e+02] [-5.49547405e-03 -1.63464446e-06 9.99984900e-01 -4.15298470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64 meters 0.014259642346622874 Centerline is valid? [True, True] Translation: X:231.97, Y:127.48, Z:-4.15 [[ 5.26983383e-01 -8.49870396e-01 2.97035866e-03 2.31965967e+02] [ 8.49856500e-01 5.26991753e-01 4.86010978e-03 1.27479788e+02] [-5.69581794e-03 -3.68184786e-05 9.99983778e-01 -4.15423600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7 meters 0.014510517832559262 Centerline is valid? [True, True] Translation: X:231.99, Y:127.53, Z:-4.15 [[ 5.29593456e-01 -8.48244483e-01 3.47398918e-03 2.31994499e+02] [ 8.48225411e-01 5.29604846e-01 5.68851610e-03 1.27531917e+02] [-6.66509390e-03 -6.58750023e-05 9.99977786e-01 -4.15389450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76 meters 0.015158758815118443 Centerline is valid? [True, True] Translation: X:232.02, Y:127.58, Z:-4.15 [[ 5.32930727e-01 -8.46150509e-01 3.76259721e-03 2.32021463e+02] [ 8.46128054e-01 5.32943999e-01 6.16524152e-03 1.27584541e+02] [-7.22197585e-03 -1.02007592e-04 9.99973916e-01 -4.15468083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82 meters 0.015473151888576491 Centerline is valid? [True, True] Translation: X:232.05, Y:127.64, Z:-4.16 [[ 5.34305790e-01 -8.45284456e-01 3.39281458e-03 2.32049773e+02] [ 8.45266165e-01 5.34316552e-01 5.56179128e-03 1.27636312e+02] [-6.51413271e-03 -1.03865913e-04 9.99978777e-01 -4.15684857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88 meters 0.01573357727768315 Centerline is valid? [True, True] Translation: X:232.08, Y:127.69, Z:-4.16 [[ 5.35639317e-01 -8.44442739e-01 2.64259305e-03 2.32078486e+02] [ 8.44431628e-01 5.35645828e-01 4.33276887e-03 1.27687811e+02] [-5.07426916e-03 -8.93122106e-05 9.99987122e-01 -4.15917213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94 meters 0.015940660226966257 Centerline is valid? [True, True] Translation: X:232.11, Y:127.74, Z:-4.16 [[ 5.35856249e-01 -8.44306603e-01 2.10713793e-03 2.32108389e+02] [ 8.44299536e-01 5.35860387e-01 3.45540307e-03 1.27738118e+02] [-4.04655138e-03 -7.25437531e-05 9.99991810e-01 -4.16054973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.0 meters 0.01593634902985303 Centerline is valid? [True, True] Translation: X:232.14, Y:127.79, Z:-4.16 [[ 5.35465281e-01 -8.44556227e-01 1.30854919e-03 2.32138956e+02] [ 8.44553508e-01 5.35466879e-01 2.14357547e-03 1.27788113e+02] [-2.51105476e-03 -4.26704388e-05 9.99996846e-01 -4.16294492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06 meters 0.016236261175875715 Centerline is valid? [True, True] Translation: X:232.17, Y:127.84, Z:-4.16 [[ 5.35178588e-01 -8.44738226e-01 1.09902197e-03 2.32168180e+02] [ 8.44736305e-01 5.35179715e-01 1.80230262e-03 1.27836954e+02] [-2.11064818e-03 -3.61700126e-05 9.99997772e-01 -4.16466943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12 meters 0.015944292187529463 Centerline is valid? [True, True] Translation: X:232.20, Y:127.89, Z:-4.16 [[ 5.34031230e-01 -8.45463891e-01 1.20626647e-03 2.32199722e+02] [ 8.45461578e-01 5.34032591e-01 1.97763906e-03 1.27885848e+02] [-2.31620802e-03 -3.62690623e-05 9.99997317e-01 -4.16489019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18 meters 0.015592945578184034 Centerline is valid? [True, True] Translation: X:232.23, Y:127.94, Z:-4.16 [[ 5.32828847e-01 -8.46220788e-01 1.94886829e-03 2.32231522e+02] [ 8.46214730e-01 5.32832408e-01 3.20259678e-03 1.27935457e+02] [-3.74852416e-03 -5.72748973e-05 9.99992973e-01 -4.16460980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24 meters 0.015133270510200574 Centerline is valid? [True, True] Translation: X:232.26, Y:127.99, Z:-4.16 [[ 5.32202861e-01 -8.46610971e-01 3.15897121e-03 2.32263817e+02] [ 8.46595015e-01 5.32212228e-01 5.19848518e-03 1.27985185e+02] [-6.08233769e-03 -9.22794122e-05 9.99981498e-01 -4.16387166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.3 meters 0.015051628683566857 Centerline is valid? [True, True] Translation: X:232.29, Y:128.03, Z:-4.16 [[ 5.32153147e-01 -8.46641722e-01 3.28988321e-03 2.32294235e+02] [ 8.46624399e-01 5.32163308e-01 5.41668962e-03 1.28034310e+02] [-6.33675055e-03 -9.72130352e-05 9.99979918e-01 -4.16450518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36 meters 0.015255357667802217 Centerline is valid? [True, True] Translation: X:232.32, Y:128.08, Z:-4.17 [[ 5.31798836e-01 -8.46865594e-01 2.94341872e-03 2.32324631e+02] [ 8.46851716e-01 5.31806974e-01 4.84910546e-03 1.28082242e+02] [-5.67187118e-03 -8.61094395e-05 9.99983911e-01 -4.16666341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42 meters 0.0150246289551144 Centerline is valid? [True, True] Translation: X:232.36, Y:128.13, Z:-4.17 [[ 5.30944901e-01 -8.47401280e-01 2.92947017e-03 2.32355945e+02] [ 8.47387528e-01 5.30952977e-01 4.82846086e-03 1.28130756e+02] [-5.64705482e-03 -8.12501938e-05 9.99984052e-01 -4.16822798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47999999999996 meters 0.015118740885269584 Centerline is valid? [True, True] Translation: X:232.39, Y:128.18, Z:-4.17 [[ 5.29930211e-01 -8.48036997e-01 2.68751368e-03 2.32387508e+02] [ 8.48025416e-01 5.29937021e-01 4.43260393e-03 1.28177844e+02] [-5.18322512e-03 -6.98908280e-05 9.99986565e-01 -4.17043565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.53999999999996 meters 0.014899434700208056 Centerline is valid? [True, True] Translation: X:232.42, Y:128.23, Z:-4.17 [[ 5.29208051e-01 -8.48487488e-01 2.79677407e-03 2.32420258e+02] [ 8.48474940e-01 5.29215437e-01 4.61498798e-03 1.28225954e+02] [-5.39585557e-03 -6.92960849e-05 9.99985440e-01 -4.17148554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.59999999999997 meters 0.015358509698864063 Centerline is valid? [True, True] Translation: X:232.45, Y:128.27, Z:-4.17 [[ 5.29863762e-01 -8.48077855e-01 2.88889210e-03 2.32451241e+02] [ 8.48064438e-01 5.29871632e-01 4.77099726e-03 1.28274609e+02] [-5.57691909e-03 -7.80119069e-05 9.99984446e-01 -4.17337205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.65999999999997 meters 0.015564039203051475 Centerline is valid? [True, True] Translation: X:232.48, Y:128.32, Z:-4.17 [[ 5.31353957e-01 -8.47144872e-01 2.92187947e-03 2.32482594e+02] [ 8.47131117e-01 5.31361983e-01 4.82835242e-03 1.28324691e+02] [-5.64288966e-03 -9.03491478e-05 9.99984075e-01 -4.17400473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.71999999999997 meters 0.01667324391978579 Centerline is valid? [True, True] Translation: X:232.51, Y:128.38, Z:-4.17 [[ 5.34399274e-01 -8.45226054e-01 3.21449197e-03 2.32512613e+02] [ 8.45209348e-01 5.34408928e-01 5.31571913e-03 1.28375582e+02] [-6.21083751e-03 -1.23797789e-04 9.99980705e-01 -4.17442808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78 meters 0.017002464192268155 Centerline is valid? [True, True] Translation: X:232.54, Y:128.43, Z:-4.17 [[ 5.36490671e-01 -8.43898355e-01 3.65060868e-03 2.32542373e+02] [ 8.43876737e-01 5.36503067e-01 6.04243986e-03 1.28425799e+02] [-7.05776781e-03 -1.61048870e-04 9.99975081e-01 -4.17423534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84 meters 0.01782182101436854 Centerline is valid? [True, True] Translation: X:232.57, Y:128.48, Z:-4.17 [[ 5.38329514e-01 -8.42724059e-01 4.18262693e-03 2.32571500e+02] [ 8.42695618e-01 5.38345724e-01 6.92650050e-03 1.28476498e+02] [-8.08882794e-03 -2.04058264e-04 9.99967264e-01 -4.17426228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.9 meters 0.018077074254831828 Centerline is valid? [True, True] Translation: X:232.60, Y:128.53, Z:-4.18 [[ 5.38146131e-01 -8.42841260e-01 4.16569550e-03 2.32601052e+02] [ 8.42813043e-01 5.38162216e-01 6.89952895e-03 1.28526440e+02] [-8.05702759e-03 -2.02052304e-04 9.99967521e-01 -4.17539382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96 meters 0.018665304554920277 Centerline is valid? [True, True] Translation: X:232.63, Y:128.58, Z:-4.18 [[ 5.37786816e-01 -8.43072215e-01 3.81862802e-03 2.32629729e+02] [ 8.43048482e-01 5.37800341e-01 6.32853380e-03 1.28575716e+02] [-7.38907045e-03 -1.84113486e-04 9.99972684e-01 -4.17647836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02 meters 0.017546017296653338 Centerline is valid? [True, True] Translation: X:232.66, Y:128.63, Z:-4.18 [[ 5.36872276e-01 -8.43656158e-01 3.52782746e-03 2.32660310e+02] [ 8.43635897e-01 5.36883842e-01 5.84924278e-03 1.28625815e+02] [-6.82878325e-03 -1.64094404e-04 9.99976670e-01 -4.17743368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08 meters 0.01765410278841572 Centerline is valid? [True, True] Translation: X:232.69, Y:128.68, Z:-4.18 [[ 5.35614527e-01 -8.44456830e-01 3.12105068e-03 2.32689565e+02] [ 8.44440973e-01 5.35623602e-01 5.17678745e-03 1.28676302e+02] [-6.04328193e-03 -1.37219489e-04 9.99981730e-01 -4.17879435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14 meters 0.016296714400533277 Centerline is valid? [True, True] Translation: X:232.72, Y:128.73, Z:-4.18 [[ 5.33219094e-01 -8.45972060e-01 2.94482058e-03 2.32722391e+02] [ 8.45957949e-01 5.33227213e-01 4.88740959e-03 1.28725648e+02] [-5.70487043e-03 -1.14865734e-04 9.99983721e-01 -4.17916717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2 meters 0.015022433131118994 Centerline is valid? [True, True] Translation: X:232.76, Y:128.77, Z:-4.18 [[ 5.27642566e-01 -8.49463294e-01 2.33151125e-03 2.32756081e+02] [ 8.49454481e-01 5.27647713e-01 3.86973950e-03 1.28773474e+02] [-4.51741824e-03 -6.13266011e-05 9.99989795e-01 -4.18036263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26 meters 0.014337826686028196 Centerline is valid? [True, True] Translation: X:232.79, Y:128.82, Z:-4.18 [[ 5.23629787e-01 -8.51942407e-01 2.44568098e-03 2.32788925e+02] [ 8.51932721e-01 5.23635497e-01 4.06262516e-03 1.28822833e+02] [-4.74176803e-03 -4.37558968e-05 9.99988757e-01 -4.18065153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32 meters 0.013678192401242392 Centerline is valid? [True, True] Translation: X:232.82, Y:128.87, Z:-4.18 [[ 5.19272338e-01 -8.54604110e-01 2.83802939e-03 2.32821348e+02] [ 8.54591085e-01 5.19280093e-01 4.71831071e-03 1.28872035e+02] [-5.50601989e-03 -2.47336177e-05 9.99984841e-01 -4.18014558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38 meters 0.013551687015338813 Centerline is valid? [True, True] Translation: X:232.85, Y:128.92, Z:-4.18 [[ 5.16437284e-01 -8.56320384e-01 2.81615575e-03 2.32852308e+02] [ 8.56307574e-01 5.16444962e-01 4.68394617e-03 1.28921035e+02] [-5.46534804e-03 -7.46893972e-06 9.99985065e-01 -4.18052615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44 meters 0.013436698009963926 Centerline is valid? [True, True] Translation: X:232.88, Y:128.97, Z:-4.18 [[ 5.12384816e-01 -8.58750569e-01 3.04306978e-03 2.32883528e+02] [ 8.58735631e-01 5.12393852e-01 5.06531083e-03 1.28969745e+02] [-5.90908881e-03 1.78040913e-05 9.99982541e-01 -4.18041346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.5 meters 0.013535533957180594 Centerline is valid? [True, True] Translation: X:232.91, Y:129.02, Z:-4.18 [[ 5.09664671e-01 -8.60368893e-01 2.70007374e-03 2.32914463e+02] [ 8.60357144e-01 5.09671822e-01 4.49657933e-03 1.29019578e+02] [-5.24486848e-03 3.12801020e-05 9.99986245e-01 -4.18165617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56 meters 0.01412991484245355 Centerline is valid? [True, True] Translation: X:232.95, Y:129.07, Z:-4.18 [[ 5.05379789e-01 -8.62895143e-01 1.80022581e-03 2.32946084e+02] [ 8.62889929e-01 5.05382994e-01 3.00011093e-03 1.29068750e+02] [-3.49858466e-03 3.72012965e-05 9.99993879e-01 -4.18268292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62 meters 0.014540682465814431 Centerline is valid? [True, True] Translation: X:232.98, Y:129.12, Z:-4.18 [[ 5.02594693e-01 -8.64519961e-01 1.95223114e-03 2.32976624e+02] [ 8.64513844e-01 5.02598481e-01 3.25257012e-03 1.29119121e+02] [-3.79310020e-03 5.30063668e-05 9.99992805e-01 -4.18269178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68 meters 0.01521847853568721 Centerline is valid? [True, True] Translation: X:233.01, Y:129.17, Z:-4.18 [[ 4.98267102e-01 -8.67020625e-01 2.26519388e-03 2.33006614e+02] [ 8.67012397e-01 4.98272245e-01 3.77809918e-03 1.29169347e+02] [-4.40437315e-03 8.14486400e-05 9.99990297e-01 -4.18234470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74 meters 0.01538346791329273 Centerline is valid? [True, True] Translation: X:233.04, Y:129.22, Z:-4.18 [[ 4.96491084e-01 -8.68038616e-01 2.35901287e-03 2.33036367e+02] [ 8.68029698e-01 4.96496679e-01 3.93580202e-03 1.29220411e+02] [-4.58767020e-03 9.36026177e-05 9.99989472e-01 -4.18258285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.8 meters 0.015002460138955755 Centerline is valid? [True, True] Translation: X:233.06, Y:129.27, Z:-4.18 [[ 4.96498901e-01 -8.68034358e-01 2.27891830e-03 2.33063130e+02] [ 8.68026031e-01 4.96504123e-01 3.80324113e-03 1.29272245e+02] [-4.43283630e-03 8.98553628e-05 9.99990171e-01 -4.18228003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86 meters 0.015165830828902443 Centerline is valid? [True, True] Translation: X:233.09, Y:129.32, Z:-4.18 [[ 4.97243647e-01 -8.67608042e-01 2.24516370e-03 2.33090720e+02] [ 8.67599944e-01 4.97248708e-01 3.74952538e-03 1.29323068e+02] [-4.36952312e-03 8.34762245e-05 9.99990450e-01 -4.18310820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92 meters 0.015252860011249966 Centerline is valid? [True, True] Translation: X:233.12, Y:129.37, Z:-4.18 [[ 4.99219733e-01 -8.66473202e-01 1.96201407e-03 2.33117083e+02] [ 8.66466998e-01 4.99223584e-01 3.27948995e-03 1.29374318e+02] [-3.82107385e-03 6.28343476e-05 9.99992698e-01 -4.18467754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97999999999996 meters 0.014133785107838815 Centerline is valid? [True, True] Translation: X:233.14, Y:129.43, Z:-4.18 [[ 5.01173081e-01 -8.65345727e-01 1.52181397e-03 2.33142852e+02] [ 8.65341996e-01 5.01175390e-01 2.54152939e-03 1.29426601e+02] [-2.96199731e-03 4.31434242e-05 9.99995612e-01 -4.18409871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.03999999999996 meters 0.013752807628413365 Centerline is valid? [True, True] Translation: X:233.17, Y:129.48, Z:-4.19 [[ 5.04983945e-01 -8.63127604e-01 1.39832887e-03 2.33167547e+02] [ 8.63124430e-01 5.04985880e-01 2.34079655e-03 1.29479129e+02] [-2.72654246e-03 2.48671327e-05 9.99996283e-01 -4.18538456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.09999999999997 meters 0.013335907770012274 Centerline is valid? [True, True] Translation: X:233.19, Y:129.53, Z:-4.19 [[ 5.10732778e-01 -8.59736863e-01 2.13428111e-03 2.33191697e+02] [ 8.59729445e-01 5.10737237e-01 3.57145877e-03 1.29533085e+02] [-4.16057160e-03 1.08432507e-05 9.99991345e-01 -4.18512859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.15999999999997 meters 0.013439463314510562 Centerline is valid? [True, True] Translation: X:233.22, Y:129.59, Z:-4.19 [[ 5.15058429e-01 -8.57152696e-01 2.01750058e-03 2.33217078e+02] [ 8.57146045e-01 5.15062380e-01 3.37675223e-03 1.29585257e+02] [-3.93353093e-03 -9.93205995e-06 9.99992264e-01 -4.18557962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.21999999999997 meters 0.014165378344557333 Centerline is valid? [True, True] Translation: X:233.24, Y:129.64, Z:-4.19 [[ 5.21726949e-01 -8.53110231e-01 1.98117386e-03 2.33240687e+02] [ 8.53103776e-01 5.21730709e-01 3.31881672e-03 1.29639775e+02] [-3.86495574e-03 -4.13692232e-05 9.99992530e-01 -4.18666390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28 meters 0.014837229526219351 Centerline is valid? [True, True] Translation: X:233.27, Y:129.69, Z:-4.19 [[ 5.25260581e-01 -8.50938448e-01 2.25386519e-03 2.33267341e+02] [ 8.50930061e-01 5.25265412e-01 3.77870980e-03 1.29692753e+02] [-4.39932688e-03 -6.69256606e-05 9.99990321e-01 -4.18717490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34 meters 0.015513236996173924 Centerline is valid? [True, True] Translation: X:233.29, Y:129.75, Z:-4.19 [[ 5.28172226e-01 -8.49134313e-01 2.24019903e-03 2.33294521e+02] [ 8.49126001e-01 5.28176970e-01 3.75789070e-03 1.29745459e+02] [-4.37417547e-03 -8.26022552e-05 9.99990430e-01 -4.18792459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.4 meters 0.016094715119990208 Centerline is valid? [True, True] Translation: X:233.32, Y:129.80, Z:-4.19 [[ 5.29284023e-01 -8.48441579e-01 2.30425873e-03 2.33322513e+02] [ 8.48432768e-01 5.29289031e-01 3.86787193e-03 1.29797018e+02] [-4.50128224e-03 -9.21941985e-05 9.99989865e-01 -4.18927807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46 meters 0.016052438191736688 Centerline is valid? [True, True] Translation: X:233.35, Y:129.85, Z:-4.19 [[ 5.29467749e-01 -8.48328468e-01 1.64708046e-03 2.33351812e+02] [ 8.48323968e-01 5.29470306e-01 2.76416759e-03 1.29847865e+02] [-3.21700225e-03 -6.62797575e-05 9.99994823e-01 -4.19084697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52 meters 0.015633041805510117 Centerline is valid? [True, True] Translation: X:233.38, Y:129.90, Z:-4.19 [[ 5.25746813e-01 -8.50640686e-01 8.43664834e-04 2.33382827e+02] [ 8.50639513e-01 5.25747489e-01 1.41315251e-03 1.29897251e+02] [-1.64563969e-03 -2.53057865e-05 9.99998646e-01 -4.19342178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58 meters 0.014290585376898639 Centerline is valid? [True, True] Translation: X:233.42, Y:129.95, Z:-4.19 [[ 5.21810456e-01 -8.53061285e-01 5.40261585e-04 2.33417200e+02] [ 8.53060808e-01 5.21810736e-01 9.02573412e-04 1.29945202e+02] [-1.05186473e-03 -1.00962593e-05 9.99999447e-01 -4.19252818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64 meters 0.013562509021637909 Centerline is valid? [True, True] Translation: X:233.45, Y:129.99, Z:-4.19 [[ 5.15029655e-01 -8.57171964e-01 8.24296275e-04 2.33451677e+02] [ 8.57170843e-01 5.15030314e-01 1.38607079e-03 1.29991937e+02] [-1.61263859e-03 -7.30482856e-06 9.99998700e-01 -4.19326711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7 meters 0.013433464493515472 Centerline is valid? [True, True] Translation: X:233.48, Y:130.04, Z:-4.19 [[ 5.11370270e-01 -8.59359856e-01 1.04139981e-03 2.33484236e+02] [ 8.59358079e-01 5.11371330e-01 1.74766224e-03 1.30040718e+02] [-2.03441278e-03 1.23283279e-06 9.99997931e-01 -4.19383414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76 meters 0.013513607096567347 Centerline is valid? [True, True] Translation: X:233.52, Y:130.09, Z:-4.19 [[ 5.08011216e-01 -8.61349282e-01 1.42081004e-03 2.33515188e+02] [ 8.61345967e-01 5.08013203e-01 2.38967795e-03 1.30088477e+02] [-2.78013764e-03 9.82579961e-06 9.99996135e-01 -4.19459849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82 meters 0.013587739319603274 Centerline is valid? [True, True] Translation: X:233.54, Y:130.14, Z:-4.20 [[ 5.07861568e-01 -8.61437480e-01 1.44781831e-03 2.33544664e+02] [ 8.61434036e-01 5.07863631e-01 2.43590619e-03 1.30138848e+02] [-2.83367515e-03 1.00968390e-05 9.99995985e-01 -4.19556753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88 meters 0.013555286392407755 Centerline is valid? [True, True] Translation: X:233.57, Y:130.19, Z:-4.20 [[ 5.10539469e-01 -8.59853238e-01 1.36344447e-03 2.33571887e+02] [ 8.59850176e-01 5.10541290e-01 2.29489352e-03 1.30190664e+02] [-2.66936633e-03 7.24248536e-07 9.99996437e-01 -4.19649659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94 meters 0.013696839262586576 Centerline is valid? [True, True] Translation: X:233.60, Y:130.24, Z:-4.20 [[ 5.12323406e-01 -8.58791717e-01 1.23043069e-03 2.33599685e+02] [ 8.58789219e-01 5.12324884e-01 2.07163719e-03 1.30241832e+02] [-2.40948513e-03 -4.66760907e-06 9.99997097e-01 -4.19780740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.0 meters 0.013688353463856441 Centerline is valid? [True, True] Translation: X:233.63, Y:130.29, Z:-4.20 [[ 5.13938171e-01 -8.57826333e-01 1.24014738e-03 2.33627570e+02] [ 8.57823789e-01 5.13939667e-01 2.08917515e-03 1.30292933e+02] [-2.42951040e-03 -9.87892945e-06 9.99997049e-01 -4.19832259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06 meters 0.014041108714783179 Centerline is valid? [True, True] Translation: X:233.65, Y:130.34, Z:-4.20 [[ 5.15838378e-01 -8.56685199e-01 1.11255065e-03 2.33654954e+02] [ 8.56683139e-01 5.15839578e-01 1.87856141e-03 1.30344081e+02] [-2.18323341e-03 -1.59306865e-05 9.99997617e-01 -4.19988694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12 meters 0.014154263823799976 Centerline is valid? [True, True] Translation: X:233.68, Y:130.40, Z:-4.20 [[ 5.17434494e-01 -8.55722591e-01 6.25771523e-04 2.33683360e+02] [ 8.55721941e-01 5.17434872e-01 1.05490808e-03 1.30395052e+02] [-1.22650469e-03 -1.03594078e-05 9.99999248e-01 -4.20062138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18 meters 0.014028646707928062 Centerline is valid? [True, True] Translation: X:233.71, Y:130.45, Z:-4.20 [[ 5.17155416e-01 -8.55890810e-01 1.09398261e-03 2.33713039e+02] [ 8.55888823e-01 5.17156573e-01 1.84417317e-03 1.30445053e+02] [-2.14417117e-03 -1.73966562e-05 9.99997701e-01 -4.20051541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24 meters 0.01399582890065234 Centerline is valid? [True, True] Translation: X:233.74, Y:130.50, Z:-4.20 [[ 5.15052283e-01 -8.57154961e-01 2.55312193e-03 2.33744199e+02] [ 8.57144069e-01 5.15058610e-01 4.32122512e-03 1.30495639e+02] [-5.01896698e-03 -3.72635378e-05 9.99987404e-01 -4.20035123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.3 meters 0.013848414523687586 Centerline is valid? [True, True] Translation: X:233.78, Y:130.55, Z:-4.20 [[ 5.13709881e-01 -8.57958869e-01 2.95586334e-03 2.33775131e+02] [ 8.57944286e-01 5.13718384e-01 5.00251830e-03 1.30545374e+02] [-5.81043628e-03 -3.38770191e-05 9.99983119e-01 -4.20028699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36 meters 0.013895663960749458 Centerline is valid? [True, True] Translation: X:233.81, Y:130.59, Z:-4.20 [[ 5.12342293e-01 -8.58776207e-01 2.96666746e-03 2.33805378e+02] [ 8.58761511e-01 5.12350881e-01 5.02405279e-03 1.30595000e+02] [-5.83451169e-03 -2.63748912e-05 9.99982979e-01 -4.20188098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42 meters 0.013906182413499607 Centerline is valid? [True, True] Translation: X:233.84, Y:130.64, Z:-4.20 [[ 5.11155842e-01 -8.59483964e-01 2.64975436e-03 2.33835441e+02] [ 8.59472239e-01 5.11162710e-01 4.48935963e-03 1.30644875e+02] [-5.21298823e-03 -1.73720908e-05 9.99986412e-01 -4.20356203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47999999999996 meters 0.013844044784769896 Centerline is valid? [True, True] Translation: X:233.87, Y:130.69, Z:-4.21 [[ 5.07233899e-01 -8.61806435e-01 1.85492197e-03 2.33866663e+02] [ 8.61800704e-01 5.07237290e-01 3.14284628e-03 1.30693215e+02] [-3.64941075e-03 4.41488916e-06 9.99993341e-01 -4.20645353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.53999999999996 meters 0.013897356427337028 Centerline is valid? [True, True] Translation: X:233.90, Y:130.74, Z:-4.21 [[ 5.03318753e-01 -8.64099150e-01 1.70065689e-03 2.33898728e+02] [ 8.64094344e-01 5.03321626e-01 2.88209572e-03 1.30741586e+02] [-3.34639385e-03 1.89151792e-05 9.99994401e-01 -4.20679359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.59999999999997 meters 0.01456361906922999 Centerline is valid? [True, True] Translation: X:233.93, Y:130.79, Z:-4.21 [[ 4.98247394e-01 -8.67031006e-01 2.60174574e-03 2.33931956e+02] [ 8.67019745e-01 4.98254184e-01 4.41928826e-03 1.30789459e+02] [-5.12799064e-03 5.38660645e-05 9.99986850e-01 -4.20644154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.65999999999997 meters 0.01457499510498262 Centerline is valid? [True, True] Translation: X:233.96, Y:130.84, Z:-4.21 [[ 4.96425657e-01 -8.68073483e-01 3.16163955e-03 2.33961916e+02] [ 8.68056876e-01 4.96435718e-01 5.37012000e-03 1.30839454e+02] [-6.23120957e-03 7.86176037e-05 9.99980583e-01 -4.20641772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.71999999999997 meters 0.014290779663209848 Centerline is valid? [True, True] Translation: X:233.99, Y:130.89, Z:-4.21 [[ 4.98113835e-01 -8.67104333e-01 3.56130473e-03 2.33990240e+02] [ 8.67083202e-01 4.98126561e-01 6.05397538e-03 1.30889998e+02] [-7.02340877e-03 7.23786123e-05 9.99975333e-01 -4.20707052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78 meters 0.013737870266322833 Centerline is valid? [True, True] Translation: X:234.02, Y:130.94, Z:-4.21 [[ 5.03504769e-01 -8.63986290e-01 3.26179292e-03 2.34016117e+02] [ 8.63968477e-01 5.03515333e-01 5.54800141e-03 1.30942622e+02] [-6.43575990e-03 2.46410931e-05 9.99979290e-01 -4.20830169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84 meters 0.013728589091536018 Centerline is valid? [True, True] Translation: X:234.04, Y:130.99, Z:-4.21 [[ 5.08028746e-01 -8.61335662e-01 2.76969325e-03 2.34042616e+02] [ 8.61322772e-01 5.08036296e-01 4.71218136e-03 1.30993834e+02] [-5.46587455e-03 -8.32372458e-06 9.99985062e-01 -4.20984110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.9 meters 0.014375025281133927 Centerline is valid? [True, True] Translation: X:234.07, Y:131.05, Z:-4.21 [[ 5.14978117e-01 -8.57200743e-01 2.10357207e-03 2.34069313e+02] [ 8.57193266e-01 5.14982412e-01 3.58043284e-03 1.31046005e+02] [-4.15245231e-03 -4.06767525e-05 9.99991378e-01 -4.21133782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96 meters 0.015138669778995495 Centerline is valid? [True, True] Translation: X:234.10, Y:131.10, Z:-4.21 [[ 5.19000873e-01 -8.54769810e-01 2.58202614e-03 2.34097660e+02] [ 8.54758501e-01 5.19007290e-01 4.39746174e-03 1.31097642e+02] [-5.09890792e-03 -7.52776825e-05 9.99986998e-01 -4.21177746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02 meters 0.01617029754371981 Centerline is valid? [True, True] Translation: X:234.13, Y:131.15, Z:-4.21 [[ 5.23140158e-01 -8.52240864e-01 3.14397973e-03 2.34127556e+02] [ 8.52224023e-01 5.23149590e-01 5.35920671e-03 1.31148734e+02] [-6.21210666e-03 -1.24241193e-04 9.99980697e-01 -4.21125287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08 meters 0.016962110848306778 Centerline is valid? [True, True] Translation: X:234.16, Y:131.20, Z:-4.21 [[ 5.25078641e-01 -8.51046480e-01 3.50858883e-03 2.34157470e+02] [ 8.51025448e-01 5.25090340e-01 5.98509968e-03 1.31199567e+02] [-6.93592411e-03 -1.56749618e-04 9.99975934e-01 -4.21114664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14 meters 0.01826205880430508 Centerline is valid? [True, True] Translation: X:234.19, Y:131.25, Z:-4.21 [[ 5.28195804e-01 -8.49114529e-01 3.70252674e-03 2.34186644e+02] [ 8.49091031e-01 5.28208745e-01 6.32001468e-03 1.31250711e+02] [-7.32212330e-03 -1.94422990e-04 9.99973174e-01 -4.21216044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2 meters 0.018434858515743426 Centerline is valid? [True, True] Translation: X:234.22, Y:131.30, Z:-4.21 [[ 5.29663587e-01 -8.48201898e-01 3.16621826e-03 2.34217305e+02] [ 8.48184686e-01 5.29673020e-01 5.40651789e-03 1.31301130e+02] [-6.26287913e-03 -1.78097813e-04 9.99980372e-01 -4.21345766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26 meters 0.020936472062537667 Centerline is valid? [True, True] Translation: X:234.24, Y:131.35, Z:-4.22 [[ 5.31729021e-01 -8.46912058e-01 2.05274786e-03 2.34244586e+02] [ 8.46904804e-01 5.31732968e-01 3.50777004e-03 1.31351639e+02] [-4.06228646e-03 -1.26701107e-04 9.99991741e-01 -4.21752784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32 meters 0.019961762125886812 Centerline is valid? [True, True] Translation: X:234.28, Y:131.40, Z:-4.22 [[ 5.31951280e-01 -8.46773744e-01 1.43597440e-03 2.34277797e+02] [ 8.46770204e-01 5.31953211e-01 2.45000295e-03 1.31400272e+02] [-2.83846937e-03 -8.73418685e-05 9.99995968e-01 -4.21888019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38 meters 0.020095842821683325 Centerline is valid? [True, True] Translation: X:234.31, Y:131.45, Z:-4.22 [[ 5.31077473e-01 -8.47322617e-01 1.04933927e-03 2.34308891e+02] [ 8.47320731e-01 5.31078506e-01 1.78860350e-03 1.31449533e+02] [-2.07280573e-03 -6.07601081e-05 9.99997850e-01 -4.22061234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44 meters 0.01883650189751955 Centerline is valid? [True, True] Translation: X:234.34, Y:131.50, Z:-4.22 [[ 5.28432277e-01 -8.48974382e-01 1.35167606e-03 2.34344570e+02] [ 8.48971248e-01 5.28434000e-01 2.30796123e-03 1.31496709e+02] [-2.67367155e-03 -7.20670963e-05 9.99996423e-01 -4.22002499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.5 meters 0.017969275870202375 Centerline is valid? [True, True] Translation: X:234.38, Y:131.54, Z:-4.22 [[ 5.26353264e-01 -8.50264592e-01 1.53770315e-03 2.34378105e+02] [ 8.50260532e-01 5.26355505e-01 2.62882349e-03 1.31544925e+02] [-3.04457405e-03 -7.62415313e-05 9.99995362e-01 -4.22020090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56 meters 0.017914560716221977 Centerline is valid? [True, True] Translation: X:234.41, Y:131.59, Z:-4.22 [[ 5.24907642e-01 -8.51156569e-01 2.11259647e-03 2.34411520e+02] [ 8.51148891e-01 5.24911884e-01 3.61665102e-03 1.31594019e+02] [-4.18726327e-03 -1.00273619e-04 9.99991228e-01 -4.21951232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62 meters 0.017879007279150254 Centerline is valid? [True, True] Translation: X:234.44, Y:131.64, Z:-4.22 [[ 5.24903756e-01 -8.51157913e-01 2.50089198e-03 2.34442387e+02] [ 8.51147138e-01 5.24909700e-01 4.28449210e-03 1.31643549e+02] [-4.95952181e-03 -1.20318945e-04 9.99987694e-01 -4.21937212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68 meters 0.018421009679883627 Centerline is valid? [True, True] Translation: X:234.47, Y:131.69, Z:-4.22 [[ 5.25095193e-01 -8.51040439e-01 2.28231597e-03 2.34471833e+02] [ 8.51031455e-01 5.25100141e-01 3.91219756e-03 1.31694394e+02] [-4.52788277e-03 -1.11953453e-04 9.99989743e-01 -4.22133271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74 meters 0.017991173385948273 Centerline is valid? [True, True] Translation: X:234.50, Y:131.74, Z:-4.22 [[ 5.23451356e-01 -8.52054184e-01 1.53113686e-03 2.34502487e+02] [ 8.52050148e-01 5.23453591e-01 2.62343108e-03 1.31743896e+02] [-3.03678452e-03 -6.86331728e-05 9.99995387e-01 -4.22361433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.8 meters 0.01708316938975628 Centerline is valid? [True, True] Translation: X:234.53, Y:131.79, Z:-4.23 [[ 5.19927158e-01 -8.54210222e-01 8.04107612e-04 2.34533861e+02] [ 8.54209115e-01 5.19927779e-01 1.37545669e-03 1.31793616e+02] [-1.59300705e-03 -2.82612344e-05 9.99998731e-01 -4.22569509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86 meters 0.015046995942953683 Centerline is valid? [True, True] Translation: X:234.57, Y:131.84, Z:-4.23 [[ 5.09448407e-01 -8.60500471e-01 1.12238904e-03 2.34570360e+02] [ 8.60498322e-01 5.09449643e-01 1.92354631e-03 1.31840326e+02] [-2.22701320e-03 -1.41337157e-05 9.99997520e-01 -4.22607743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92 meters 0.014607466319591433 Centerline is valid? [True, True] Translation: X:234.60, Y:131.89, Z:-4.23 [[ 5.04045216e-01 -8.63675883e-01 1.54593925e-03 2.34603631e+02] [ 8.63671804e-01 5.04047587e-01 2.65433855e-03 1.31889405e+02] [-3.07171514e-03 -2.72250879e-06 9.99995282e-01 -4.22570952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97999999999996 meters 0.015105863837467494 Centerline is valid? [True, True] Translation: X:234.64, Y:131.94, Z:-4.22 [[ 4.92407868e-01 -8.70360264e-01 2.73915557e-03 2.34640792e+02] [ 8.70347501e-01 4.92415483e-01 4.71370084e-03 1.31935429e+02] [-5.45142052e-03 6.29538225e-05 9.99985139e-01 -4.22467789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.03999999999996 meters 0.018804770070439306 Centerline is valid? [True, True] Translation: X:234.68, Y:131.98, Z:-4.22 [[ 4.73484180e-01 -8.80794170e-01 3.78952213e-03 2.34682236e+02] [ 8.80770051e-01 4.73499279e-01 6.52305821e-03 1.31978763e+02] [-7.53980764e-03 2.49132724e-04 9.99971544e-01 -4.22274626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.09999999999997 meters 0.022781276280445583 Centerline is valid? [True, True] Translation: X:234.72, Y:132.02, Z:-4.22 [[ 4.57925435e-01 -8.88978749e-01 4.59139938e-03 2.34719655e+02] [ 8.88943673e-01 4.57948222e-01 7.91024038e-03 1.32024396e+02] [-9.13465878e-03 4.59195168e-04 9.99958173e-01 -4.22214070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.15999999999997 meters 0.02428340303050882 Centerline is valid? [True, True] Translation: X:234.75, Y:132.07, Z:-4.22 [[ 4.51082523e-01 -8.92467398e-01 5.14799870e-03 2.34751387e+02] [ 8.92423443e-01 4.51111512e-01 8.87710226e-03 1.32073128e+02] [-1.02448458e-02 5.89889044e-04 9.99947346e-01 -4.22199919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.21999999999997 meters 0.026950829405739358 Centerline is valid? [True, True] Translation: X:234.78, Y:132.12, Z:-4.22 [[ 4.46131693e-01 -8.94953463e-01 4.98115463e-03 2.34781795e+02] [ 8.94912442e-01 4.46159063e-01 8.59134447e-03 1.32121273e+02] [-9.91124077e-03 6.24826202e-04 9.99950687e-01 -4.22385942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28 meters 0.027569758898717583 Centerline is valid? [True, True] Translation: X:234.81, Y:132.17, Z:-4.23 [[ 4.46023675e-01 -8.95009955e-01 4.47915250e-03 2.34809508e+02] [ 8.94976749e-01 4.46045812e-01 7.72992958e-03 1.32171858e+02] [-8.91627114e-03 5.61005748e-04 9.99960092e-01 -4.22579198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34 meters 0.024622317540253465 Centerline is valid? [True, True] Translation: X:234.83, Y:132.23, Z:-4.23 [[ 4.52939339e-01 -8.91531259e-01 4.23895769e-03 2.34829448e+02] [ 8.91501332e-01 4.52958937e-01 7.31963791e-03 1.32227240e+02] [-8.44575977e-03 4.63684462e-04 9.99964226e-01 -4.22715809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.4 meters 0.02106665998699819 Centerline is valid? [True, True] Translation: X:234.85, Y:132.29, Z:-4.23 [[ 4.64481820e-01 -8.85571663e-01 4.41239015e-03 2.34846112e+02] [ 8.85538903e-01 4.64502634e-01 7.62589812e-03 1.32285274e+02] [-8.80284612e-03 3.65252093e-04 9.99961187e-01 -4.22837653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46 meters 0.01904833817144564 Centerline is valid? [True, True] Translation: X:234.87, Y:132.34, Z:-4.23 [[ 4.71492352e-01 -8.81856274e-01 4.94721354e-03 2.34867730e+02] [ 8.81814855e-01 4.71518190e-01 8.55325634e-03 1.32340464e+02] [-9.87544394e-03 3.29731445e-04 9.99951182e-01 -4.22879167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52 meters 0.016748153442177716 Centerline is valid? [True, True] Translation: X:234.89, Y:132.40, Z:-4.23 [[ 4.79234917e-01 -8.77671178e-01 5.21522860e-03 2.34886198e+02] [ 8.77624832e-01 4.79263226e-01 9.02296184e-03 1.32397519e+02] [-1.04186608e-02 2.52895759e-04 9.99945692e-01 -4.22834858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58 meters 0.016030249426240848 Centerline is valid? [True, True] Translation: X:234.91, Y:132.45, Z:-4.23 [[ 4.82327507e-01 -8.75974054e-01 5.44360648e-03 2.34908897e+02] [ 8.75923380e-01 4.82358174e-01 9.42464552e-03 1.32452722e+02] [-1.08815130e-02 2.22416407e-04 9.99940770e-01 -4.22946519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64 meters 0.015988975480350765 Centerline is valid? [True, True] Translation: X:234.93, Y:132.51, Z:-4.23 [[ 4.83232650e-01 -8.75475727e-01 5.33453354e-03 2.34930945e+02] [ 8.75426982e-01 4.83262050e-01 9.24068333e-03 1.32506667e+02] [-1.06679716e-02 2.04594700e-04 9.99943075e-01 -4.23079396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7 meters 0.01599829613099302 Centerline is valid? [True, True] Translation: X:234.96, Y:132.56, Z:-4.23 [[ 4.81824802e-01 -8.76253550e-01 4.95740906e-03 2.34956490e+02] [ 8.76211444e-01 4.81850261e-01 8.59250633e-03 1.32559682e+02] [-9.91794303e-03 2.03655894e-04 9.99950795e-01 -4.23280175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76 meters 0.01630962107107565 Centerline is valid? [True, True] Translation: X:234.98, Y:132.61, Z:-4.24 [[ 4.78659805e-01 -8.77992168e-01 3.81358895e-03 2.34981627e+02] [ 8.77967289e-01 4.78674962e-01 6.61211299e-03 1.32612451e+02] [-7.63085297e-03 1.83253637e-04 9.99970868e-01 -4.23531863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82 meters 0.017345389178190944 Centerline is valid? [True, True] Translation: X:235.01, Y:132.66, Z:-4.24 [[ 4.77092385e-01 -8.78846993e-01 3.28937251e-03 2.35009900e+02] [ 8.78828480e-01 4.77103694e-01 5.70673971e-03 1.32662496e+02] [-6.58472281e-03 1.68152188e-04 9.99978306e-01 -4.23719905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88 meters 0.017754603709349837 Centerline is valid? [True, True] Translation: X:235.04, Y:132.71, Z:-4.24 [[ 4.75979953e-01 -8.79451588e-01 2.82644701e-03 2.35036826e+02] [ 8.79437922e-01 4.75988320e-01 4.90513588e-03 1.32714294e+02] [-5.65918531e-03 1.50938344e-04 9.99983975e-01 -4.23831031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94 meters 0.01739548841044648 Centerline is valid? [True, True] Translation: X:235.06, Y:132.77, Z:-4.24 [[ 4.76141204e-01 -8.79362266e-01 3.39984278e-03 2.35063316e+02] [ 8.79342484e-01 4.76153308e-01 5.90101475e-03 1.32765988e+02] [-6.80797609e-03 1.79909926e-04 9.99976809e-01 -4.23877091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.0 meters 0.01646187528580321 Centerline is valid? [True, True] Translation: X:235.09, Y:132.82, Z:-4.24 [[ 4.77385968e-01 -8.78687431e-01 3.32208958e-03 2.35089678e+02] [ 8.78668503e-01 4.77397498e-01 5.76978445e-03 1.32818714e+02] [-6.65579433e-03 1.64601348e-04 9.99977836e-01 -4.23936391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06 meters 0.01627782789442843 Centerline is valid? [True, True] Translation: X:235.12, Y:132.87, Z:-4.24 [[ 4.79828239e-01 -8.77354980e-01 3.61951467e-03 2.35116631e+02] [ 8.77332421e-01 4.79841865e-01 6.29350149e-03 1.32870109e+02] [-7.25842955e-03 1.55717830e-04 9.99973645e-01 -4.24005034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12 meters 0.015079180978811032 Centerline is valid? [True, True] Translation: X:235.14, Y:132.92, Z:-4.24 [[ 4.82385674e-01 -8.75948117e-01 4.35404884e-03 2.35142559e+02] [ 8.75915413e-01 4.82405296e-01 7.57090535e-03 1.32923787e+02] [-8.73213650e-03 1.61682208e-04 9.99961861e-01 -4.23934567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18 meters 0.015019778737175818 Centerline is valid? [True, True] Translation: X:235.17, Y:132.98, Z:-4.24 [[ 4.83062726e-01 -8.75575516e-01 4.23291796e-03 2.35170696e+02] [ 8.75544565e-01 4.83081249e-01 7.36349493e-03 1.32975236e+02] [-8.49213917e-03 1.49078379e-04 9.99963930e-01 -4.24046669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24 meters 0.015485239666250577 Centerline is valid? [True, True] Translation: X:235.20, Y:133.03, Z:-4.24 [[ 4.82092773e-01 -8.76112616e-01 3.63906792e-03 2.35199967e+02] [ 8.76089718e-01 4.82106489e-01 6.33553116e-03 1.33025348e+02] [-7.30505703e-03 1.33836208e-04 9.99973309e-01 -4.24327027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.3 meters 0.015498335694311484 Centerline is valid? [True, True] Translation: X:235.23, Y:133.08, Z:-4.24 [[ 4.80440005e-01 -8.77020571e-01 3.50978074e-03 2.35228621e+02] [ 8.76999295e-01 4.80452804e-01 6.11066668e-03 1.33076498e+02] [-7.04546438e-03 1.42266504e-04 9.99975170e-01 -4.24440713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36 meters 0.016269776209803938 Centerline is valid? [True, True] Translation: X:235.26, Y:133.13, Z:-4.25 [[ 4.76759272e-01 -8.79026660e-01 3.56755128e-03 2.35259074e+02] [ 8.79004706e-01 4.76772588e-01 6.21497465e-03 1.33126883e+02] [-7.16403907e-03 1.72847580e-04 9.99974323e-01 -4.24516422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42 meters 0.016952645713526455 Centerline is valid? [True, True] Translation: X:235.29, Y:133.18, Z:-4.25 [[ 4.73840716e-01 -8.80601681e-01 3.95662273e-03 2.35289279e+02] [ 8.80574694e-01 4.73857185e-01 6.89757808e-03 1.33177180e+02] [-7.94889296e-03 2.15748515e-04 9.99968384e-01 -4.24501202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47999999999996 meters 0.017615977602500246 Centerline is valid? [True, True] Translation: X:235.32, Y:133.23, Z:-4.24 [[ 4.70102550e-01 -8.82600080e-01 4.54876576e-03 2.35317831e+02] [ 8.82564451e-01 4.70124471e-01 7.93544191e-03 1.33228093e+02] [-9.14230776e-03 2.84107482e-04 9.99958168e-01 -4.24462415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.53999999999996 meters 0.01809420965333313 Centerline is valid? [True, True] Translation: X:235.34, Y:133.28, Z:-4.25 [[ 4.67181002e-01 -8.84147798e-01 4.95819487e-03 2.35344918e+02] [ 8.84105492e-01 4.67207188e-01 8.65574160e-03 1.33280452e+02] [-9.96945915e-03 3.39769285e-04 9.99950246e-01 -4.24523991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.59999999999997 meters 0.018738948266057535 Centerline is valid? [True, True] Translation: X:235.37, Y:133.33, Z:-4.25 [[ 4.66010711e-01 -8.84764562e-01 5.06834021e-03 2.35372761e+02] [ 8.84720337e-01 4.66038134e-01 8.85342273e-03 1.33332257e+02] [-1.01952345e-02 3.58273837e-04 9.99947963e-01 -4.24620641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.65999999999997 meters 0.018676947461798467 Centerline is valid? [True, True] Translation: X:235.40, Y:133.39, Z:-4.25 [[ 4.64432739e-01 -8.85592223e-01 5.35207616e-03 2.35397649e+02] [ 8.85542894e-01 4.64463409e-01 9.35549191e-03 1.33385390e+02] [-1.07709944e-02 3.94496276e-04 9.99941913e-01 -4.24620817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.71999999999997 meters 0.020652702466855646 Centerline is valid? [True, True] Translation: X:235.43, Y:133.44, Z:-4.25 [[ 4.61962005e-01 -8.86884848e-01 5.13544521e-03 2.35425628e+02] [ 8.86839466e-01 4.61990371e-01 8.98106113e-03 1.33435326e+02] [-1.03376933e-02 4.05406478e-04 9.99946482e-01 -4.24744799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78 meters 0.020088358380823002 Centerline is valid? [True, True] Translation: X:235.45, Y:133.49, Z:-4.25 [[ 4.58097716e-01 -8.88887899e-01 4.97861892e-03 2.35451001e+02] [ 8.88845357e-01 4.58124561e-01 8.70734633e-03 1.33488753e+02] [-1.00206824e-02 4.36406850e-04 9.99949696e-01 -4.24837040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84 meters 0.02198100159595613 Centerline is valid? [True, True] Translation: X:235.48, Y:133.54, Z:-4.25 [[ 4.53381747e-01 -8.91302327e-01 5.01535316e-03 2.35479314e+02] [ 8.91259249e-01 4.53409221e-01 8.77665197e-03 1.33539674e+02] [-1.00966577e-02 4.90806087e-04 9.99948907e-01 -4.24915841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.9 meters 0.025226785672347665 Centerline is valid? [True, True] Translation: X:235.51, Y:133.59, Z:-4.25 [[ 4.46749966e-01 -8.94643043e-01 5.31909487e-03 2.35505846e+02] [ 8.94594741e-01 4.46781232e-01 9.31557458e-03 1.33590722e+02] [-1.07105858e-02 5.96701663e-04 9.99942462e-01 -4.24966427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96 meters 0.026075872265564213 Centerline is valid? [True, True] Translation: X:235.53, Y:133.64, Z:-4.25 [[ 4.42903462e-01 -8.96550053e-01 5.87585788e-03 2.35530383e+02] [ 8.96491229e-01 4.42941871e-01 1.02944290e-02 1.33643967e+02] [-1.18321344e-02 7.08216794e-04 9.99929747e-01 -4.25050676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02 meters 0.025016232415575195 Centerline is valid? [True, True] Translation: X:235.55, Y:133.70, Z:-4.25 [[ 4.41405601e-01 -8.97290086e-01 5.62102724e-03 2.35549616e+02] [ 8.97236246e-01 4.41440845e-01 9.85394150e-03 1.33700517e+02] [-1.13231950e-02 6.93804409e-04 9.99935650e-01 -4.25210626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08 meters 0.024370535152542408 Centerline is valid? [True, True] Translation: X:235.57, Y:133.76, Z:-4.25 [[ 4.42415204e-01 -8.96793944e-01 5.42311541e-03 2.35570847e+02] [ 8.96743734e-01 4.42447956e-01 9.51220890e-03 1.33755589e+02] [-1.09299377e-02 6.54798930e-04 9.99940052e-01 -4.25349955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14 meters 0.024793561119882932 Centerline is valid? [True, True] Translation: X:235.59, Y:133.81, Z:-4.26 [[ 4.44899531e-01 -8.95564000e-01 5.43410683e-03 2.35588624e+02] [ 8.95513431e-01 4.44932280e-01 9.53730672e-03 1.33812547e+02] [-1.09590781e-02 6.23172369e-04 9.99939753e-01 -4.25537684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2 meters 0.023945782078935718 Centerline is valid? [True, True] Translation: X:235.60, Y:133.87, Z:-4.26 [[ 4.46978654e-01 -8.94529489e-01 5.20342121e-03 2.35604456e+02] [ 8.94482998e-01 4.47008577e-01 9.13771044e-03 1.33870439e+02] [-1.04999254e-02 5.70010293e-04 9.99944712e-01 -4.25708725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26 meters 0.023780522865596797 Centerline is valid? [True, True] Translation: X:235.63, Y:133.93, Z:-4.26 [[ 4.48214973e-01 -8.93910153e-01 5.28918000e-03 2.35625512e+02] [ 8.93862009e-01 4.48245828e-01 9.29440687e-03 1.33925944e+02] [-1.06792175e-02 5.61904737e-04 9.99942818e-01 -4.25824881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32 meters 0.02407319896562917 Centerline is valid? [True, True] Translation: X:235.64, Y:133.98, Z:-4.26 [[ 4.49234551e-01 -8.93400576e-01 4.87119541e-03 2.35644614e+02] [ 8.93359661e-01 4.49260677e-01 8.56500746e-03 1.33983270e+02] [-9.84041915e-03 5.04032198e-04 9.99951455e-01 -4.26011997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38 meters 0.025450465461193714 Centerline is valid? [True, True] Translation: X:235.67, Y:134.04, Z:-4.26 [[ 4.48160683e-01 -8.93941481e-01 4.54210830e-03 2.35667791e+02] [ 8.93905895e-01 4.48183444e-01 7.99073371e-03 1.34036740e+02] [-9.17894607e-03 4.79084709e-04 9.99957758e-01 -4.26165654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44 meters 0.023418224366133545 Centerline is valid? [True, True] Translation: X:235.68, Y:134.09, Z:-4.26 [[ 4.44096263e-01 -8.95965923e-01 4.85532548e-03 2.35683448e+02] [ 8.95925348e-01 4.44122457e-01 8.54487897e-03 1.34094969e+02] [-9.81227946e-03 5.55260351e-04 9.99951704e-01 -4.26056508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.5 meters 0.02651799676150211 Centerline is valid? [True, True] Translation: X:235.71, Y:134.15, Z:-4.26 [[ 4.37868049e-01 -8.99024907e-01 5.07826499e-03 2.35705237e+02] [ 8.98980660e-01 4.37897015e-01 8.94303550e-03 1.34149349e+02] [-1.02637687e-02 6.49392499e-04 9.99947115e-01 -4.26108221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56 meters 0.02859630288323736 Centerline is valid? [True, True] Translation: X:235.73, Y:134.21, Z:-4.26 [[ 4.32456235e-01 -9.01640636e-01 5.07618985e-03 2.35725320e+02] [ 9.01596540e-01 4.32485447e-01 8.94529111e-03 1.34205730e+02] [-1.02608162e-02 7.08228283e-04 9.99947106e-01 -4.26212330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62 meters 0.027047152937564926 Centerline is valid? [True, True] Translation: X:235.74, Y:134.26, Z:-4.26 [[ 4.29373251e-01 -9.03113919e-01 4.88462428e-03 2.35744509e+02] [ 9.03073132e-01 4.29400442e-01 8.61268848e-03 1.34262900e+02] [-9.87569868e-03 7.13114896e-04 9.99950980e-01 -4.26266200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68 meters 0.03276033900160042 Centerline is valid? [True, True] Translation: X:235.77, Y:134.31, Z:-4.26 [[ 4.27456283e-01 -9.04025496e-01 4.36225418e-03 2.35771578e+02] [ 9.03992979e-01 4.27478041e-01 7.69530845e-03 1.34314584e+02] [-8.82152291e-03 6.54039205e-04 9.99960876e-01 -4.26420426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74 meters 0.028081745375628967 Centerline is valid? [True, True] Translation: X:235.78, Y:134.38, Z:-4.26 [[ 4.25639565e-01 -9.04884121e-01 3.96079269e-03 2.35781695e+02] [ 9.04857325e-01 4.25657558e-01 6.99030720e-03 1.34376608e+02] [-8.01135933e-03 6.08600964e-04 9.99967723e-01 -4.26480699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.8 meters 0.03659231111083969 Centerline is valid? [True, True] Translation: X:235.81, Y:134.43, Z:-4.27 [[ 4.23494950e-01 -9.05889920e-01 3.93443343e-03 2.35806525e+02] [ 9.05863473e-01 4.23512770e-01 6.94990373e-03 1.34428710e+02] [-7.96213054e-03 6.20810409e-04 9.99968109e-01 -4.26642766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86 meters 0.03280262941725118 Centerline is valid? [True, True] Translation: X:235.82, Y:134.49, Z:-4.27 [[ 4.21987842e-01 -9.06592717e-01 3.98839338e-03 2.35821164e+02] [ 9.06565570e-01 4.22006200e-01 7.04519674e-03 1.34487479e+02] [-8.07025079e-03 6.42752755e-04 9.99967228e-01 -4.26624740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92 meters 0.03383990007515224 Centerline is valid? [True, True] Translation: X:235.84, Y:134.55, Z:-4.27 [[ 4.20606708e-01 -9.07230282e-01 4.81798333e-03 2.35836780e+02] [ 9.07190646e-01 4.20633562e-01 8.51691933e-03 1.34545860e+02] [-9.75341262e-03 7.88556015e-04 9.99952123e-01 -4.26557229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97999999999996 meters 0.03273121438339807 Centerline is valid? [True, True] Translation: X:235.85, Y:134.61, Z:-4.27 [[ 4.19217574e-01 -9.07874152e-01 4.59889718e-03 2.35849195e+02] [ 9.07838062e-01 4.19242098e-01 8.13121330e-03 1.34606600e+02] [-9.31016968e-03 7.66306384e-04 9.99956366e-01 -4.26664504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.03999999999996 meters 0.03425484495028623 Centerline is valid? [True, True] Translation: X:235.87, Y:134.66, Z:-4.27 [[ 4.17484823e-01 -9.08672385e-01 4.57383272e-03 2.35869203e+02] [ 9.08636689e-01 4.17509152e-01 8.09163389e-03 1.34662414e+02] [-9.26226129e-03 7.77817878e-04 9.99956802e-01 -4.26765920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.09999999999997 meters 0.033196031191309296 Centerline is valid? [True, True] Translation: X:235.88, Y:134.72, Z:-4.27 [[ 4.15976326e-01 -9.09362368e-01 4.87645126e-03 2.35879825e+02] [ 9.09321785e-01 4.16004053e-01 8.63246260e-03 1.34723729e+02] [-9.87866012e-03 8.43363288e-04 9.99950849e-01 -4.26674877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.15999999999997 meters 0.03375622024252395 Centerline is valid? [True, True] Translation: X:235.90, Y:134.78, Z:-4.27 [[ 4.16622104e-01 -9.09065895e-01 5.02203349e-03 2.35897687e+02] [ 9.09022785e-01 4.16651485e-01 8.89468686e-03 1.34781497e+02] [-1.01782942e-02 8.59419714e-04 9.99947831e-01 -4.26703706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.21999999999997 meters 0.03438485665729709 Centerline is valid? [True, True] Translation: X:235.91, Y:134.84, Z:-4.27 [[ 4.21423769e-01 -9.06849441e-01 5.10872099e-03 2.35908331e+02] [ 9.06804612e-01 4.21453941e-01 9.05376315e-03 1.34841556e+02] [-1.03634906e-02 8.17140770e-04 9.99945964e-01 -4.26759474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28 meters 0.03569352381508491 Centerline is valid? [True, True] Translation: X:235.93, Y:134.90, Z:-4.27 [[ 4.26846540e-01 -9.04311056e-01 4.85240870e-03 2.35926303e+02] [ 9.04270399e-01 4.26873521e-01 8.60476643e-03 1.34898641e+02] [-9.85275020e-03 7.14974774e-04 9.99951205e-01 -4.26931446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34 meters 0.02998281391612833 Centerline is valid? [True, True] Translation: X:235.93, Y:134.96, Z:-4.27 [[ 4.36084111e-01 -8.99896840e-01 4.04053512e-03 2.35931372e+02] [ 8.99868446e-01 4.36102531e-01 7.16675061e-03 1.34963483e+02] [-8.21142381e-03 5.10643989e-04 9.99966155e-01 -4.27091159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.4 meters 0.026149487434735594 Centerline is valid? [True, True] Translation: X:235.94, Y:135.03, Z:-4.27 [[ 4.43861929e-01 -8.96085102e-01 4.25186362e-03 2.35940268e+02] [ 8.96053473e-01 4.43882053e-01 7.54292320e-03 1.35026491e+02] [-8.64642706e-03 4.61880719e-04 9.99962512e-01 -4.27202733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46 meters 0.026403172321909276 Centerline is valid? [True, True] Translation: X:235.96, Y:135.08, Z:-4.27 [[ 4.47131563e-01 -8.94456687e-01 4.53876726e-03 2.35960576e+02] [ 8.94420507e-01 4.47154366e-01 8.05787533e-03 1.35081321e+02] [-9.23695006e-03 4.56636122e-04 9.99957234e-01 -4.27303103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52 meters 0.023991630627344683 Centerline is valid? [True, True] Translation: X:235.98, Y:135.14, Z:-4.27 [[ 4.49913505e-01 -8.93057594e-01 5.09616682e-03 2.35975495e+02] [ 8.93011843e-01 4.49942112e-01 9.05225611e-03 1.35141199e+02] [-1.03771661e-02 4.78205052e-04 9.99946041e-01 -4.27354374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58 meters 0.023308691436225975 Centerline is valid? [True, True] Translation: X:235.99, Y:135.20, Z:-4.28 [[ 4.51558313e-01 -8.92229565e-01 4.63607289e-03 2.35994938e+02] [ 8.92191621e-01 4.51581920e-01 8.23897537e-03 1.35198403e+02] [-9.44462411e-03 4.15887568e-04 9.99955312e-01 -4.27603826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64 meters 0.022834536854449344 Centerline is valid? [True, True] Translation: X:236.02, Y:135.25, Z:-4.28 [[ 4.52640049e-01 -8.91683218e-01 4.24547274e-03 2.36017510e+02] [ 8.91651346e-01 4.52659809e-01 7.54817601e-03 1.35252737e+02] [-8.65233676e-03 3.68874724e-04 9.99962500e-01 -4.27855173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7 meters 0.022704373984135596 Centerline is valid? [True, True] Translation: X:236.04, Y:135.31, Z:-4.28 [[ 4.53033525e-01 -8.91483424e-01 4.23448563e-03 2.36043531e+02] [ 8.91451669e-01 4.53053169e-01 7.53314476e-03 1.35305129e+02] [-8.63412081e-03 3.62072159e-04 9.99962660e-01 -4.28005465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76 meters 0.022596957423681212 Centerline is valid? [True, True] Translation: X:236.07, Y:135.36, Z:-4.28 [[ 4.55241618e-01 -8.90360091e-01 3.73871586e-03 2.36066425e+02] [ 8.90335275e-01 4.55256871e-01 6.65427690e-03 1.35358963e+02] [-7.62677868e-03 2.99406834e-04 9.99970871e-01 -4.28189016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82 meters 0.02123988284784281 Centerline is valid? [True, True] Translation: X:236.09, Y:135.41, Z:-4.28 [[ 4.56812721e-01 -8.89555557e-01 3.61248397e-03 2.36090665e+02] [ 8.89532337e-01 4.56826922e-01 6.43305726e-03 1.35412783e+02] [-7.37284176e-03 2.74718922e-04 9.99972783e-01 -4.28274425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88 meters 0.02100140619625682 Centerline is valid? [True, True] Translation: X:236.12, Y:135.47, Z:-4.28 [[ 4.59959302e-01 -8.87931210e-01 3.95063398e-03 2.36116127e+02] [ 8.87903325e-01 4.59976189e-01 7.04202814e-03 1.35465427e+02] [-8.07003413e-03 2.68734696e-04 9.99967401e-01 -4.28318045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94 meters 0.018342335447832026 Centerline is valid? [True, True] Translation: X:236.14, Y:135.52, Z:-4.28 [[ 4.61160333e-01 -8.87304710e-01 4.63662769e-03 2.36139045e+02] [ 8.87266257e-01 4.61183543e-01 8.26617010e-03 1.35520055e+02] [-9.47294805e-03 3.01893537e-04 9.99955085e-01 -4.28195893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.0 meters 0.019560441208529244 Centerline is valid? [True, True] Translation: X:236.17, Y:135.57, Z:-4.28 [[ 4.60411678e-01 -8.87693148e-01 4.68627892e-03 2.36169184e+02] [ 8.87653817e-01 4.60435423e-01 8.36192243e-03 1.35569446e+02] [-9.58055007e-03 3.09866636e-04 9.99954057e-01 -4.28255831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06 meters 0.01992524687870758 Centerline is valid? [True, True] Translation: X:236.20, Y:135.62, Z:-4.28 [[ 4.55799652e-01 -8.90062637e-01 5.93129213e-03 2.36199980e+02] [ 8.89999801e-01 4.55838016e-01 1.05857147e-02 1.35620478e+02] [-1.21256575e-02 4.53883762e-04 9.99926379e-01 -4.28123834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12 meters 0.02160605597762842 Centerline is valid? [True, True] Translation: X:236.23, Y:135.67, Z:-4.28 [[ 4.51651345e-01 -8.92171169e-01 6.45499057e-03 2.36232505e+02] [ 8.92096871e-01 4.51697133e-01 1.15270712e-02 1.35669710e+02] [-1.31998213e-02 5.52259670e-04 9.99912726e-01 -4.28080874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18 meters 0.023775664987089936 Centerline is valid? [True, True] Translation: X:236.26, Y:135.72, Z:-4.28 [[ 4.46235176e-01 -8.94889923e-01 6.79656812e-03 2.36264776e+02] [ 8.94807767e-01 4.46286440e-01 1.21439109e-02 1.35718862e+02] [-1.39006797e-02 6.62581727e-04 9.99903161e-01 -4.28207781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24 meters 0.026913149620365156 Centerline is valid? [True, True] Translation: X:236.30, Y:135.77, Z:-4.29 [[ 4.43154027e-01 -8.96424739e-01 6.09891289e-03 2.36297555e+02] [ 8.96358645e-01 4.43195538e-01 1.09038644e-02 1.35766969e+02] [-1.24775047e-02 6.34721887e-04 9.99921951e-01 -4.28557026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.3 meters 0.027478439156264692 Centerline is valid? [True, True] Translation: X:236.33, Y:135.82, Z:-4.29 [[ 4.42236261e-01 -8.96882393e-01 5.39098282e-03 2.36326593e+02] [ 8.96830784e-01 4.42268748e-01 9.63840828e-03 1.35818482e+02] [-1.10287819e-02 5.72345712e-04 9.99939017e-01 -4.28811717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36 meters 0.02937894424856509 Centerline is valid? [True, True] Translation: X:236.36, Y:135.87, Z:-4.29 [[ 4.41341967e-01 -8.97325480e-01 4.92458299e-03 2.36355227e+02] [ 8.97282379e-01 4.41369123e-01 8.81072698e-03 1.35868372e+02] [-1.00796487e-02 5.30197961e-04 9.99949058e-01 -4.29040665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42 meters 0.026416117874086775 Centerline is valid? [True, True] Translation: X:236.38, Y:135.92, Z:-4.29 [[ 4.39334874e-01 -8.98309803e-01 4.93621148e-03 2.36379170e+02] [ 8.98266558e-01 4.39362255e-01 8.83175361e-03 1.35922397e+02] [-1.01024358e-02 5.53936334e-04 9.99948816e-01 -4.29126611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47999999999996 meters 0.035638722908088276 Centerline is valid? [True, True] Translation: X:236.42, Y:135.97, Z:-4.29 [[ 4.32446272e-01 -9.01644926e-01 5.16228162e-03 2.36417039e+02] [ 9.01597798e-01 4.32476583e-01 9.24201113e-03 1.35968083e+02] [-1.05655784e-02 6.57628486e-04 9.99943966e-01 -4.29297702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.53999999999996 meters 0.038813826995407336 Centerline is valid? [True, True] Translation: X:236.45, Y:136.02, Z:-4.29 [[ 4.25114007e-01 -9.05126578e-01 4.89477058e-03 2.36448578e+02] [ 9.05084387e-01 4.25141604e-01 8.76752104e-03 1.36017420e+02] [-1.00166869e-02 7.02984429e-04 9.99949585e-01 -4.29402187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.59999999999997 meters 0.037786798807238654 Centerline is valid? [True, True] Translation: X:236.47, Y:136.07, Z:-4.29 [[ 4.14230120e-01 -9.10158769e-01 4.94186427e-03 2.36473184e+02] [ 9.10116049e-01 4.14258769e-01 8.85722436e-03 1.36070996e+02] [-1.01086910e-02 8.28740867e-04 9.99948562e-01 -4.29461679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.65999999999997 meters 0.042919703825456706 Centerline is valid? [True, True] Translation: X:236.50, Y:136.12, Z:-4.29 [[ 4.09445245e-01 -9.12319624e-01 5.24364404e-03 2.36504112e+02] [ 9.12271619e-01 4.09477758e-01 9.40521562e-03 1.36120381e+02] [-1.07277184e-02 9.32706827e-04 9.99942021e-01 -4.29457887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.71999999999997 meters 0.04538214034506657 Centerline is valid? [True, True] Translation: X:236.53, Y:136.17, Z:-4.29 [[ 4.09225186e-01 -9.12413935e-01 5.96314819e-03 2.36527614e+02] [ 9.12351810e-01 4.09267253e-01 1.07000034e-02 1.36172929e+02] [-1.22033535e-02 1.06177815e-03 9.99924973e-01 -4.29359393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78 meters 0.037132691211772914 Centerline is valid? [True, True] Translation: X:236.54, Y:136.23, Z:-4.29 [[ 4.13519234e-01 -9.10473799e-01 6.26936194e-03 2.36540408e+02] [ 9.10404881e-01 4.13565411e-01 1.12518382e-02 1.36233733e+02] [-1.28372951e-02 1.05480620e-03 9.99917042e-01 -4.29365300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84 meters 0.033286443171323114 Centerline is valid? [True, True] Translation: X:236.55, Y:136.29, Z:-4.29 [[ 4.24816921e-01 -9.05255855e-01 6.51304890e-03 2.36553185e+02] [ 9.05180766e-01 4.24865835e-01 1.16963145e-02 1.36294194e+02] [-1.33553292e-02 9.26694276e-04 9.99910384e-01 -4.29467646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.9 meters 0.030923923628265928 Centerline is valid? [True, True] Translation: X:236.57, Y:136.35, Z:-4.30 [[ 4.33929725e-01 -9.00922041e-01 6.66859356e-03 2.36570531e+02] [ 9.00842706e-01 4.33980212e-01 1.19831104e-02 1.36350324e+02] [-1.36898859e-02 8.07526065e-04 9.99905963e-01 -4.29513633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96 meters 0.023650603549424724 Centerline is valid? [True, True] Translation: X:236.58, Y:136.41, Z:-4.30 [[ 4.46599589e-01 -8.94705012e-01 7.19365558e-03 2.36578495e+02] [ 8.94611826e-01 4.46657032e-01 1.29296783e-02 1.36413768e+02] [-1.47813449e-02 6.61140320e-04 9.99890531e-01 -4.29559126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02 meters 0.022277996601284558 Centerline is valid? [True, True] Translation: X:236.59, Y:136.47, Z:-4.30 [[ 4.55931180e-01 -8.89981393e-01 7.73817862e-03 2.36594791e+02] [ 8.89872815e-01 4.55996519e-01 1.39121258e-02 1.36471000e+02] [-1.59101156e-02 5.43022852e-04 9.99873279e-01 -4.29761936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08 meters 0.021451207593738388 Centerline is valid? [True, True] Translation: X:236.62, Y:136.53, Z:-4.30 [[ 4.60114785e-01 -8.87826255e-01 7.67624978e-03 2.36616945e+02] [ 8.87719061e-01 4.60178581e-01 1.38037323e-02 1.36525461e+02] [-1.57877616e-02 4.63051941e-04 9.99875258e-01 -4.29849437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14 meters 0.019265127286101715 Centerline is valid? [True, True] Translation: X:236.64, Y:136.58, Z:-4.30 [[ 4.63984866e-01 -8.85811246e-01 7.51538102e-03 2.36638406e+02] [ 8.85708135e-01 4.64045569e-01 1.35207062e-02 1.36581527e+02] [-1.54642728e-02 3.83031058e-04 9.99880348e-01 -4.29999042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2 meters 0.01781290226318138 Centerline is valid? [True, True] Translation: X:236.66, Y:136.64, Z:-4.30 [[ 4.70885255e-01 -8.82160116e-01 7.78506502e-03 2.36658980e+02] [ 8.82048844e-01 4.70949529e-01 1.40134950e-02 1.36637393e+02] [-1.60285190e-02 2.68059459e-04 9.99871499e-01 -4.30176242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26 meters 0.016775611335707263 Centerline is valid? [True, True] Translation: X:236.68, Y:136.69, Z:-4.30 [[ 4.76618148e-01 -8.79076845e-01 7.68382771e-03 2.36684408e+02] [ 8.78968003e-01 4.76680055e-01 1.38338199e-02 1.36691028e+02] [-1.58237182e-02 1.60389078e-04 9.99874784e-01 -4.30334356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32 meters 0.016196534813879913 Centerline is valid? [True, True] Translation: X:236.71, Y:136.74, Z:-4.30 [[ 4.86270118e-01 -8.73780124e-01 7.04755430e-03 2.36709291e+02] [ 8.73687902e-01 4.86321185e-01 1.26946774e-02 1.36743987e+02] [-1.45197318e-02 -1.56793492e-05 9.99894583e-01 -4.30490804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38 meters 0.016501584796476603 Centerline is valid? [True, True] Translation: X:236.74, Y:136.80, Z:-4.31 [[ 4.92214419e-01 -8.70443460e-01 7.29024554e-03 2.36738200e+02] [ 8.70344283e-01 4.92268390e-01 1.31400703e-02 1.36795120e+02] [-1.50264457e-02 -1.22708520e-04 9.99887089e-01 -4.30513906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44 meters 0.017059150795998696 Centerline is valid? [True, True] Translation: X:236.77, Y:136.84, Z:-4.31 [[ 5.00169739e-01 -8.65893730e-01 7.63412135e-03 2.36770981e+02] [ 8.65784304e-01 5.00227919e-01 1.37683764e-02 1.36844369e+02] [-1.57407514e-02 -2.77022784e-04 9.99876068e-01 -4.30523814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.5 meters 0.01814039488046056 Centerline is valid? [True, True] Translation: X:236.80, Y:136.89, Z:-4.31 [[ 5.04129197e-01 -8.63599131e-01 7.09184738e-03 2.36804930e+02] [ 8.63504441e-01 5.04178972e-01 1.27924052e-02 1.36894010e+02] [-1.46230703e-02 -3.25183245e-04 9.99893024e-01 -4.30700638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56 meters 0.020209322326501297 Centerline is valid? [True, True] Translation: X:236.84, Y:136.94, Z:-4.31 [[ 5.09673398e-01 -8.60348580e-01 5.77472037e-03 2.36842106e+02] [ 8.60285528e-01 5.09705996e-01 1.04214913e-02 1.36939884e+02] [-1.19095249e-02 -3.43648545e-04 9.99929020e-01 -4.30935639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62 meters 0.021068373440245862 Centerline is valid? [True, True] Translation: X:236.87, Y:136.99, Z:-4.31 [[ 5.11376963e-01 -8.59339904e-01 5.34148423e-03 2.36874018e+02] [ 8.59285903e-01 5.11404746e-01 9.63967441e-03 1.36989135e+02] [-1.10154173e-02 -3.39645318e-04 9.99939271e-01 -4.31057554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68 meters 0.019048531550200306 Centerline is valid? [True, True] Translation: X:236.92, Y:137.03, Z:-4.31 [[ 5.15244556e-01 -8.57028044e-01 5.09702406e-03 2.36922650e+02] [ 8.56978704e-01 5.15269631e-01 9.20369978e-03 1.37030465e+02] [-1.05141705e-02 -3.74115139e-04 9.99944655e-01 -4.30921214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74 meters 0.020731141856849433 Centerline is valid? [True, True] Translation: X:236.96, Y:137.08, Z:-4.31 [[ 5.16732416e-01 -8.56131042e-01 5.22002526e-03 2.36959872e+02] [ 8.56079194e-01 5.16758623e-01 9.43075275e-03 1.37077176e+02] [-1.07714532e-02 -4.04420639e-04 9.99941904e-01 -4.30928269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.8 meters 0.021318570374447215 Centerline is valid? [True, True] Translation: X:237.01, Y:137.12, Z:-4.31 [[ 5.16970790e-01 -8.55986020e-01 5.39773577e-03 2.37006488e+02] [ 8.55930544e-01 5.16998795e-01 9.75443218e-03 1.37118973e+02] [-1.11402805e-02 -4.22669594e-04 9.99937856e-01 -4.30952553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86 meters 0.02146465202482049 Centerline is valid? [True, True] Translation: X:237.05, Y:137.16, Z:-4.31 [[ 5.15885063e-01 -8.56643847e-01 4.89091257e-03 2.37048478e+02] [ 8.56598283e-01 5.15908112e-01 8.84318595e-03 1.37163043e+02] [-1.00987223e-02 -3.72520230e-04 9.99948937e-01 -4.31104557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92 meters 0.019963464931342084 Centerline is valid? [True, True] Translation: X:237.10, Y:137.20, Z:-4.31 [[ 5.11733640e-01 -8.59134059e-01 4.16530611e-03 2.37099844e+02] [ 8.59101062e-01 5.11750517e-01 7.53485198e-03 1.37202411e+02] [-8.60504552e-03 -2.77418327e-04 9.99962937e-01 -4.31243054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97999999999996 meters 0.019337573763466998 Centerline is valid? [True, True] Translation: X:237.15, Y:137.24, Z:-4.31 [[ 5.07789303e-01 -8.61469859e-01 4.43914730e-03 2.37149096e+02] [ 8.61432407e-01 5.07808642e-01 8.03693869e-03 1.37241461e+02] [-9.17781780e-03 -2.57046154e-04 9.99957850e-01 -4.31237576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.03999999999996 meters 0.018059703530693763 Centerline is valid? [True, True] Translation: X:237.19, Y:137.28, Z:-4.31 [[ 5.05461618e-01 -8.62838967e-01 4.17967304e-03 2.37192764e+02] [ 8.62805819e-01 5.05478851e-01 7.56634384e-03 1.37284841e+02] [-8.64127264e-03 -2.18250173e-04 9.99962640e-01 -4.31248737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.09999999999997 meters 0.016680642019544556 Centerline is valid? [True, True] Translation: X:237.24, Y:137.33, Z:-4.31 [[ 5.02316995e-01 -8.64672973e-01 4.27611756e-03 2.37241134e+02] [ 8.64638300e-01 5.02335159e-01 7.74587408e-03 1.37325230e+02] [-8.84569217e-03 -1.93589176e-04 9.99960857e-01 -4.31285015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.15999999999997 meters 0.016565237280207288 Centerline is valid? [True, True] Translation: X:237.28, Y:137.37, Z:-4.31 [[ 5.01147298e-01 -8.65351062e-01 4.35036043e-03 2.37280153e+02] [ 8.65315159e-01 5.01166145e-01 7.88483146e-03 1.37370466e+02] [-9.00340065e-03 -1.87029156e-04 9.99959451e-01 -4.31397234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.21999999999997 meters 0.016323930839722146 Centerline is valid? [True, True] Translation: X:237.32, Y:137.41, Z:-4.32 [[ 5.00046947e-01 -8.65988576e-01 4.10337781e-03 2.37324631e+02] [ 8.65956621e-01 5.00063754e-01 7.44119273e-03 1.37413419e+02] [-8.49593840e-03 -1.67598520e-04 9.99963895e-01 -4.31574516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28 meters 0.016225901709430255 Centerline is valid? [True, True] Translation: X:237.37, Y:137.46, Z:-4.32 [[ 4.99085776e-01 -8.66544877e-01 3.65565807e-03 2.37367269e+02] [ 8.66519511e-01 4.99099144e-01 6.63188901e-03 1.37455689e+02] [-7.57136526e-03 -1.42182433e-04 9.99971327e-01 -4.31754927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34 meters 0.0161757727659976 Centerline is valid? [True, True] Translation: X:237.41, Y:137.50, Z:-4.32 [[ 4.98029012e-01 -8.67153585e-01 3.42975543e-03 2.37405156e+02] [ 8.67131241e-01 4.98040805e-01 6.22636767e-03 1.37501850e+02] [-7.10737520e-03 -1.26863659e-04 9.99974734e-01 -4.31921167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.4 meters 0.0157952642504052 Centerline is valid? [True, True] Translation: X:237.45, Y:137.54, Z:-4.32 [[ 4.95448557e-01 -8.68628475e-01 3.91149956e-03 2.37448752e+02] [ 8.68599396e-01 4.95463982e-01 7.10852138e-03 1.37543955e+02] [-8.11267123e-03 -1.24380509e-04 9.99967084e-01 -4.32037815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46 meters 0.015199386204402327 Centerline is valid? [True, True] Translation: X:237.49, Y:137.59, Z:-4.32 [[ 4.92781938e-01 -8.70142704e-01 4.19945351e-03 2.37488097e+02] [ 8.70109242e-01 4.92799820e-01 7.63181813e-03 1.37589932e+02] [-8.71026080e-03 -1.06838825e-04 9.99962059e-01 -4.32131655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52 meters 0.014180408290055204 Centerline is valid? [True, True] Translation: X:237.53, Y:137.63, Z:-4.32 [[ 4.89678095e-01 -8.71895653e-01 3.65155472e-03 2.37533379e+02] [ 8.71870385e-01 4.89691705e-01 6.63812786e-03 1.37632231e+02] [-7.57589088e-03 -6.68633822e-05 9.99971300e-01 -4.32251140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58 meters 0.014242096877146735 Centerline is valid? [True, True] Translation: X:237.57, Y:137.68, Z:-4.32 [[ 4.89017053e-01 -8.72266836e-01 3.59010563e-03 2.37569175e+02] [ 8.72242386e-01 4.89030228e-01 6.53124205e-03 1.37677446e+02] [-7.45265601e-03 -6.24464437e-05 9.99972227e-01 -4.32429670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64 meters 0.014253884610987885 Centerline is valid? [True, True] Translation: X:237.61, Y:137.72, Z:-4.32 [[ 4.90650329e-01 -8.71346963e-01 4.08968399e-03 2.37609715e+02] [ 8.71315172e-01 4.90667364e-01 7.44365174e-03 1.37722207e+02] [-8.49267780e-03 -8.88264632e-05 9.99963933e-01 -4.32310548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7 meters 0.01454348770653907 Centerline is valid? [True, True] Translation: X:237.64, Y:137.77, Z:-4.32 [[ 4.92798609e-01 -8.70132104e-01 4.43312246e-03 2.37644645e+02] [ 8.70094648e-01 4.92818533e-01 8.07441502e-03 1.37770221e+02] [-9.21053264e-03 -1.21824360e-04 9.99957575e-01 -4.32299742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76 meters 0.015152023522284692 Centerline is valid? [True, True] Translation: X:237.68, Y:137.82, Z:-4.32 [[ 4.95481927e-01 -8.68607250e-01 4.37098837e-03 2.37680931e+02] [ 8.68570714e-01 4.95501183e-01 7.96818140e-03 1.37816136e+02] [-9.08705004e-03 -1.51577380e-04 9.99958700e-01 -4.32415371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82 meters 0.015355127458897864 Centerline is valid? [True, True] Translation: X:237.72, Y:137.86, Z:-4.33 [[ 4.95558642e-01 -8.68561218e-01 4.80026435e-03 2.37719100e+02] [ 8.68517137e-01 4.95581862e-01 8.75220934e-03 1.37860087e+02] [-9.98075355e-03 -1.68121128e-04 9.99950177e-01 -4.32548494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88 meters 0.01484648658279527 Centerline is valid? [True, True] Translation: X:237.76, Y:137.91, Z:-4.33 [[ 4.94110489e-01 -8.69385581e-01 4.85142583e-03 2.37756456e+02] [ 8.69340571e-01 4.94134281e-01 8.84788570e-03 1.37906359e+02] [-1.00894801e-02 -1.54291824e-04 9.99949088e-01 -4.32613722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94 meters 0.014485663615019809 Centerline is valid? [True, True] Translation: X:237.79, Y:137.95, Z:-4.33 [[ 4.91582016e-01 -8.70817214e-01 4.94976140e-03 2.37793477e+02] [ 8.70770374e-01 4.91606918e-01 9.03291030e-03 1.37952727e+02] [-1.02993507e-02 -1.30310670e-04 9.99946952e-01 -4.32738700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.0 meters 0.013644840700496076 Centerline is valid? [True, True] Translation: X:237.84, Y:138.00, Z:-4.33 [[ 4.85898999e-01 -8.73998416e-01 5.37883056e-03 2.37836784e+02] [ 8.73943221e-01 4.85928765e-01 9.82252152e-03 1.37995932e+02] [-1.11985967e-02 -7.19608710e-05 9.99937291e-01 -4.32725582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06 meters 0.013416372459408849 Centerline is valid? [True, True] Translation: X:237.87, Y:138.04, Z:-4.33 [[ 4.81850252e-01 -8.76234302e-01 5.81233995e-03 2.37874677e+02] [ 8.76169931e-01 4.81885306e-01 1.06209649e-02 1.38041095e+02] [-1.21073350e-02 -2.51171286e-05 9.99926703e-01 -4.32748979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12 meters 0.013455551106729802 Centerline is valid? [True, True] Translation: X:237.92, Y:138.08, Z:-4.33 [[ 4.75958265e-01 -8.79447417e-01 5.99766977e-03 2.37915949e+02] [ 8.79379034e-01 4.75996049e-01 1.09670640e-02 1.38084805e+02] [-1.24998232e-02 5.43602859e-05 9.99921873e-01 -4.32900884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18 meters 0.013903085027153032 Centerline is valid? [True, True] Translation: X:237.95, Y:138.13, Z:-4.33 [[ 4.72518499e-01 -8.81302515e-01 5.66959581e-03 2.37951764e+02] [ 8.81241454e-01 4.72552503e-01 1.03746061e-02 1.38130773e+02] [-1.18223482e-02 9.40895302e-05 9.99930109e-01 -4.33048601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24 meters 0.014557839048490812 Centerline is valid? [True, True] Translation: X:237.99, Y:138.18, Z:-4.33 [[ 4.66809811e-01 -8.84341631e-01 5.33656858e-03 2.37990540e+02] [ 8.84287710e-01 4.66840287e-01 9.76693594e-03 1.38176540e+02] [-1.11286333e-02 1.59760485e-04 9.99938062e-01 -4.33134999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.3 meters 0.014891715241445693 Centerline is valid? [True, True] Translation: X:238.02, Y:138.22, Z:-4.33 [[ 4.63446791e-01 -8.86111325e-01 4.87762148e-03 2.38023898e+02] [ 8.86066324e-01 4.63472423e-01 8.93216062e-03 1.38224880e+02] [-1.01755317e-02 1.82314949e-04 9.99948211e-01 -4.33278325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36 meters 0.015930755389771817 Centerline is valid? [True, True] Translation: X:238.06, Y:138.27, Z:-4.33 [[ 4.58539269e-01 -8.88661405e-01 4.75871385e-03 2.38060000e+02] [ 8.88618674e-01 4.58563903e-01 8.71769168e-03 1.38272035e+02] [-9.92925054e-03 2.31278019e-04 9.99950677e-01 -4.33373550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42 meters 0.016890146101941204 Centerline is valid? [True, True] Translation: X:238.09, Y:138.32, Z:-4.33 [[ 4.53241429e-01 -8.91372581e-01 5.20858938e-03 2.38094627e+02] [ 8.91321495e-01 4.53271247e-01 9.54829636e-03 1.38320379e+02] [-1.08719934e-02 3.14844189e-04 9.99940849e-01 -4.33292235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47999999999996 meters 0.01711553082816332 Centerline is valid? [True, True] Translation: X:238.12, Y:138.37, Z:-4.33 [[ 4.50827339e-01 -8.92595228e-01 5.33566751e-03 2.38124442e+02] [ 8.92541636e-01 4.50858776e-01 9.78735970e-03 1.38370845e+02] [-1.11417831e-02 3.49896082e-04 9.99937867e-01 -4.33354958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.53999999999996 meters 0.017842311822616128 Centerline is valid? [True, True] Translation: X:238.15, Y:138.42, Z:-4.33 [[ 4.50156111e-01 -8.92933421e-01 5.42055015e-03 2.38153184e+02] [ 8.92878064e-01 4.50188600e-01 9.94925625e-03 1.38419958e+02] [-1.13242933e-02 3.61171824e-04 9.99935813e-01 -4.33440592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.59999999999997 meters 0.01643535762463724 Centerline is valid? [True, True] Translation: X:238.18, Y:138.47, Z:-4.33 [[ 4.51758707e-01 -8.92120240e-01 5.96224369e-03 2.38179108e+02] [ 8.92053099e-01 4.51797897e-01 1.09511937e-02 1.38473449e+02] [-1.24635107e-02 3.71340866e-04 9.99922258e-01 -4.33437105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.65999999999997 meters 0.015625048977352375 Centerline is valid? [True, True] Translation: X:238.20, Y:138.53, Z:-4.33 [[ 4.56233294e-01 -8.89837204e-01 6.39785155e-03 2.38203530e+02] [ 8.89759571e-01 4.56278033e-01 1.17585248e-02 1.38527301e+02] [-1.33823719e-02 3.27919151e-04 9.99910398e-01 -4.33413240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.71999999999997 meters 0.015585692961009147 Centerline is valid? [True, True] Translation: X:238.23, Y:138.58, Z:-4.34 [[ 4.59910266e-01 -8.87944869e-01 6.03793169e-03 2.38228712e+02] [ 8.87875470e-01 4.59949829e-01 1.11042598e-02 1.38578814e+02] [-1.26371162e-02 2.53968332e-04 9.99920116e-01 -4.33575470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78 meters 0.01390623415118171 Centerline is valid? [True, True] Translation: X:238.25, Y:138.63, Z:-4.34 [[ 4.65623075e-01 -8.84967123e-01 5.32377737e-03 2.38249501e+02] [ 8.84912966e-01 4.65653485e-01 9.79162296e-03 1.38634129e+02] [-1.11442999e-02 1.51874031e-04 9.99937889e-01 -4.33772304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84 meters 0.013611465544756611 Centerline is valid? [True, True] Translation: X:238.28, Y:138.69, Z:-4.34 [[ 4.68327336e-01 -8.83541588e-01 4.87531679e-03 2.38275128e+02] [ 8.83496036e-01 4.68352700e-01 8.97237509e-03 1.38687315e+02] [-1.02108343e-02 1.05314526e-04 9.99947863e-01 -4.33971651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.9 meters 0.013836915876636012 Centerline is valid? [True, True] Translation: X:238.30, Y:138.74, Z:-4.34 [[ 4.69552672e-01 -8.82892823e-01 4.53331787e-03 2.38301509e+02] [ 8.82853364e-01 4.69574548e-01 8.34757670e-03 1.38737894e+02] [-9.49874625e-03 8.26279901e-05 9.99954882e-01 -4.34070058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96 meters 0.013673658752472716 Centerline is valid? [True, True] Translation: X:238.33, Y:138.79, Z:-4.34 [[ 4.71357357e-01 -8.81929678e-01 4.72075917e-03 2.38327677e+02] [ 8.81886787e-01 4.71380992e-01 8.69799426e-03 1.38790410e+02] [-9.89629541e-03 6.33115486e-05 9.99951028e-01 -4.34099343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02 meters 0.01361078317855283 Centerline is valid? [True, True] Translation: X:238.35, Y:138.84, Z:-4.34 [[ 4.73549600e-01 -8.80758560e-01 3.89037037e-03 2.38352771e+02] [ 8.80729367e-01 4.73565579e-01 7.17106463e-03 1.38842443e+02] [-8.15832206e-03 3.05086500e-05 9.99966720e-01 -4.34321940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08 meters 0.01360803359018142 Centerline is valid? [True, True] Translation: X:238.38, Y:138.89, Z:-4.35 [[ 4.76200702e-01 -8.79332006e-01 2.84848139e-03 2.38379145e+02] [ 8.79316323e-01 4.76209222e-01 5.25182273e-03 1.38894343e+02] [-5.97456893e-03 3.79450736e-06 9.99982152e-01 -4.34556765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14 meters 0.013501652687832186 Centerline is valid? [True, True] Translation: X:238.41, Y:138.95, Z:-4.35 [[ 4.76117541e-01 -8.79376286e-01 3.07164956e-03 2.38406923e+02] [ 8.79358024e-01 4.76127449e-01 5.66734700e-03 1.38945625e+02] [-6.44622723e-03 2.75637231e-06 9.99979223e-01 -4.34533440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2 meters 0.013558557139733168 Centerline is valid? [True, True] Translation: X:238.44, Y:138.99, Z:-4.35 [[ 4.73051765e-01 -8.81028141e-01 3.38269010e-03 2.38436870e+02] [ 8.81005996e-01 4.73063858e-01 6.24670075e-03 1.38994975e+02] [-7.10374758e-03 2.51574507e-05 9.99974768e-01 -4.34582156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26 meters 0.013904642077937937 Centerline is valid? [True, True] Translation: X:238.47, Y:139.04, Z:-4.35 [[ 4.68821237e-01 -8.83285103e-01 3.75163703e-03 2.38468044e+02] [ 8.83257868e-01 4.68836244e-01 6.93648169e-03 1.39044233e+02] [-7.88579435e-03 6.16929965e-05 9.99968905e-01 -4.34694083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32 meters 0.015240601114034396 Centerline is valid? [True, True] Translation: X:238.50, Y:139.09, Z:-4.35 [[ 4.60077507e-01 -8.87866891e-01 4.59033754e-03 2.38502873e+02] [ 8.87826322e-01 4.60100375e-01 8.48925749e-03 1.39091963e+02] [-9.64934668e-03 1.69706072e-04 9.99953430e-01 -4.34643418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38 meters 0.016544276486655345 Centerline is valid? [True, True] Translation: X:238.53, Y:139.14, Z:-4.35 [[ 4.53836766e-01 -8.91069155e-01 5.28685083e-03 2.38534293e+02] [ 8.91015472e-01 4.53867478e-01 9.78476011e-03 1.39141309e+02] [-1.11184276e-02 2.69982005e-04 9.99938152e-01 -4.34660827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44 meters 0.01754136627047313 Centerline is valid? [True, True] Translation: X:238.56, Y:139.19, Z:-4.35 [[ 4.46414065e-01 -8.94806539e-01 5.97822951e-03 2.38564528e+02] [ 8.94738122e-01 4.46453908e-01 1.10725200e-02 1.39191339e+02] [-1.25767672e-02 4.06021182e-04 9.99920827e-01 -4.34641978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.5 meters 0.01889072589462937 Centerline is valid? [True, True] Translation: X:238.59, Y:139.24, Z:-4.35 [[ 4.44256289e-01 -8.95879342e-01 6.04598852e-03 2.38593017e+02] [ 8.95809362e-01 4.44297212e-01 1.12059877e-02 1.39241250e+02] [-1.27254287e-02 4.37722622e-04 9.99918933e-01 -4.34718389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56 meters 0.01793082257675554 Centerline is valid? [True, True] Translation: X:238.62, Y:139.30, Z:-4.35 [[ 4.46142617e-01 -8.94944914e-01 5.51059910e-03 2.38615161e+02] [ 8.94886671e-01 4.46176492e-01 1.02168816e-02 1.39296435e+02] [-1.16022460e-02 3.73175366e-04 9.99932622e-01 -4.34943670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62 meters 0.016948543094675254 Centerline is valid? [True, True] Translation: X:238.64, Y:139.35, Z:-4.35 [[ 4.50984345e-01 -8.92519077e-01 4.77684387e-03 2.38635365e+02] [ 8.92475123e-01 4.51009563e-01 8.86164232e-03 1.39352025e+02] [-1.00635871e-02 2.66752364e-04 9.99949325e-01 -4.35227207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68 meters 0.016122777171178732 Centerline is valid? [True, True] Translation: X:238.66, Y:139.41, Z:-4.35 [[ 4.54561044e-01 -8.90703792e-01 4.58385055e-03 2.38658405e+02] [ 8.90663204e-01 4.54584104e-01 8.50582881e-03 1.39406379e+02] [-9.65991957e-03 2.16248588e-04 9.99953319e-01 -4.35305507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74 meters 0.015188985846089128 Centerline is valid? [True, True] Translation: X:238.68, Y:139.46, Z:-4.35 [[ 4.59371201e-01 -8.88232686e-01 4.56020731e-03 2.38679754e+02] [ 8.88192332e-01 4.59393808e-01 8.46819840e-03 1.39461911e+02] [-9.61666161e-03 1.60294696e-04 9.99953746e-01 -4.35418622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.8 meters 0.014645017964690796 Centerline is valid? [True, True] Translation: X:238.70, Y:139.52, Z:-4.36 [[ 4.62011874e-01 -8.86860626e-01 4.82277349e-03 2.38704125e+02] [ 8.86815390e-01 4.62037024e-01 8.95837740e-03 1.39515954e+02] [-1.01731321e-02 1.38033029e-04 9.99948243e-01 -4.35501112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86 meters 0.013589621959250271 Centerline is valid? [True, True] Translation: X:238.72, Y:139.57, Z:-4.36 [[ 4.68908746e-01 -8.83233500e-01 4.81377712e-03 2.38724913e+02] [ 8.83188187e-01 4.68933450e-01 8.94681736e-03 1.39571233e+02] [-1.01594699e-02 5.62301824e-05 9.99948390e-01 -4.35590734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92 meters 0.013540881989808767 Centerline is valid? [True, True] Translation: X:238.75, Y:139.63, Z:-4.36 [[ 4.75940955e-01 -8.79465480e-01 4.54715633e-03 2.38746634e+02] [ 8.79424832e-01 4.75962675e-01 8.45557054e-03 1.39625267e+02] [-9.60065910e-03 -2.54701253e-05 9.99953912e-01 -4.35782308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97999999999996 meters 0.015664866072097074 Centerline is valid? [True, True] Translation: X:238.77, Y:139.68, Z:-4.36 [[ 4.88374496e-01 -8.72620735e-01 4.83791231e-03 2.38765054e+02] [ 8.72574289e-01 4.88398426e-01 9.00484768e-03 1.39680802e+02] [-1.02206456e-02 -1.76300049e-04 9.99947752e-01 -4.35822564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.03999999999996 meters 0.01714290606478476 Centerline is valid? [True, True] Translation: X:238.79, Y:139.73, Z:-4.36 [[ 4.96788183e-01 -8.67852783e-01 5.74872768e-03 2.38791301e+02] [ 8.67786850e-01 4.96821335e-01 1.07025000e-02 1.39733341e+02] [-1.21442850e-02 -3.28205229e-04 9.99926202e-01 -4.35636805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.09999999999997 meters 0.018549249179016708 Centerline is valid? [True, True] Translation: X:238.82, Y:139.78, Z:-4.36 [[ 4.98667957e-01 -8.66771251e-01 6.15363283e-03 2.38819022e+02] [ 8.66695513e-01 4.98705776e-01 1.14645449e-02 1.39784266e+02] [-1.30059901e-02 -3.83675199e-04 9.99915345e-01 -4.35725061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.15999999999997 meters 0.017042558669603906 Centerline is valid? [True, True] Translation: X:238.85, Y:139.83, Z:-4.36 [[ 4.97924481e-01 -8.67197654e-01 6.28013111e-03 2.38852839e+02] [ 8.67118728e-01 4.97963936e-01 1.17059592e-02 1.39832510e+02] [-1.32786591e-02 -3.83064344e-04 9.99911761e-01 -4.35795553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.21999999999997 meters 0.01773457428396193 Centerline is valid? [True, True] Translation: X:238.89, Y:139.88, Z:-4.36 [[ 4.95566647e-01 -8.68548170e-01 6.14604184e-03 2.38885922e+02] [ 8.68472580e-01 4.95604639e-01 1.14638433e-02 1.39880023e+02] [-1.30029069e-02 -3.43429567e-04 9.99915400e-01 -4.35925015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28 meters 0.015869606345258663 Centerline is valid? [True, True] Translation: X:238.93, Y:139.93, Z:-4.36 [[ 4.93579728e-01 -8.69681670e-01 5.73108427e-03 2.38925212e+02] [ 8.69616005e-01 4.93612912e-01 1.06909681e-02 1.39925670e+02] [-1.21266762e-02 -2.93002541e-04 9.99926426e-01 -4.36030533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34 meters 0.01643081709223099 Centerline is valid? [True, True] Translation: X:238.96, Y:139.97, Z:-4.36 [[ 4.92701054e-01 -8.70184478e-01 4.96441892e-03 2.38957178e+02] [ 8.70135166e-01 4.92726002e-01 9.26715966e-03 1.39973792e+02] [-1.05102368e-02 -2.46223849e-04 9.99944736e-01 -4.36251160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.4 meters 0.016333541701031417 Centerline is valid? [True, True] Translation: X:238.99, Y:140.02, Z:-4.36 [[ 4.91968819e-01 -8.70601011e-01 4.53434438e-03 2.38988134e+02] [ 8.70559897e-01 4.91989667e-01 8.46368676e-03 1.40023253e+02] [-9.59934483e-03 -2.16451604e-04 9.99953902e-01 -4.36393457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46 meters 0.015058470343695621 Centerline is valid? [True, True] Translation: X:239.03, Y:140.07, Z:-4.37 [[ 4.89250128e-01 -8.72134948e-01 3.86588068e-03 2.39029145e+02] [ 8.72105063e-01 4.89265375e-01 7.22166541e-03 1.40068669e+02] [-8.18970834e-03 -1.61746616e-04 9.99966451e-01 -4.36529748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52 meters 0.014622529187724465 Centerline is valid? [True, True] Translation: X:239.06, Y:140.12, Z:-4.37 [[ 4.86286075e-01 -8.73789990e-01 4.11168568e-03 2.39064423e+02] [ 8.73756211e-01 4.86303436e-01 7.68450829e-03 1.40115359e+02] [-8.71417330e-03 -1.44258478e-04 9.99962020e-01 -4.36647856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58 meters 0.013843717222831982 Centerline is valid? [True, True] Translation: X:239.11, Y:140.16, Z:-4.37 [[ 4.82203605e-01 -8.76044234e-01 5.11689304e-03 2.39105307e+02] [ 8.75992030e-01 4.82230736e-01 9.56453111e-03 1.40160423e+02] [-1.08464754e-02 -1.29693862e-04 9.99941167e-01 -4.36573076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64 meters 0.01363012785825943 Centerline is valid? [True, True] Translation: X:239.14, Y:140.21, Z:-4.37 [[ 4.80929121e-01 -8.76740826e-01 5.71878024e-03 2.39139584e+02] [ 8.76675579e-01 4.80963103e-01 1.06968484e-02 1.40207793e+02] [-1.21288860e-02 -1.30910931e-04 9.99926434e-01 -4.36554494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7 meters 0.01383509299632776 Centerline is valid? [True, True] Translation: X:239.17, Y:140.25, Z:-4.37 [[ 4.81216942e-01 -8.76581554e-01 5.91889030e-03 2.39173977e+02] [ 8.76511549e-01 4.81253320e-01 1.10791063e-02 1.40253697e+02] [-1.25602258e-02 -1.43477923e-04 9.99921107e-01 -4.36586702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76 meters 0.013879600437535953 Centerline is valid? [True, True] Translation: X:239.21, Y:140.30, Z:-4.37 [[ 4.81587405e-01 -8.76377331e-01 6.02868541e-03 2.39205790e+02] [ 8.76304598e-01 4.81625113e-01 1.12916879e-02 1.40302147e+02] [-1.27993456e-02 -1.54969933e-04 9.99918073e-01 -4.36720462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82 meters 0.014173022242406522 Centerline is valid? [True, True] Translation: X:239.24, Y:140.35, Z:-4.37 [[ 4.82437801e-01 -8.75912782e-01 5.52872145e-03 2.39240250e+02] [ 8.75851506e-01 4.82469454e-01 1.03616903e-02 1.40350214e+02] [-1.17433762e-02 -1.56532093e-04 9.99931032e-01 -4.36911721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88 meters 0.014346691420065347 Centerline is valid? [True, True] Translation: X:239.27, Y:140.40, Z:-4.37 [[ 4.83314246e-01 -8.75433798e-01 4.79638399e-03 2.39272530e+02] [ 8.75387606e-01 4.83338022e-01 8.99415726e-03 1.40400063e+02] [-1.01920640e-02 -1.48309234e-04 9.99948049e-01 -4.37127213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94 meters 0.015029887258983184 Centerline is valid? [True, True] Translation: X:239.31, Y:140.45, Z:-4.37 [[ 4.85084130e-01 -8.74457504e-01 4.17854997e-03 2.39305428e+02] [ 8.74422364e-01 4.85102104e-01 7.84078387e-03 1.40447741e+02] [-8.88345567e-03 -1.49622277e-04 9.99960530e-01 -4.37411735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.0 meters 0.015206814502904948 Centerline is valid? [True, True] Translation: X:239.34, Y:140.50, Z:-4.37 [[ 4.86165900e-01 -8.73857600e-01 3.95132093e-03 2.39338297e+02] [ 8.73826151e-01 4.86181933e-01 7.41527289e-03 1.40497458e+02] [-8.40095342e-03 -1.52285256e-04 9.99964700e-01 -4.37453693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06 meters 0.016080200960715683 Centerline is valid? [True, True] Translation: X:239.37, Y:140.55, Z:-4.37 [[ 4.88079885e-01 -8.72787996e-01 4.37483632e-03 2.39372344e+02] [ 8.72749346e-01 4.88099453e-01 8.21600001e-03 1.40545887e+02] [-9.30618140e-03 -1.91928802e-04 9.99956678e-01 -4.37356525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12 meters 0.017312634631117808 Centerline is valid? [True, True] Translation: X:239.41, Y:140.59, Z:-4.37 [[ 4.89747537e-01 -8.71849876e-01 5.01436899e-03 2.39405378e+02] [ 8.71798978e-01 4.89773146e-01 9.42380627e-03 1.40593864e+02] [-1.06720476e-02 -2.43764150e-04 9.99943022e-01 -4.37271510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18 meters 0.016834380051118987 Centerline is valid? [True, True] Translation: X:239.44, Y:140.64, Z:-4.37 [[ 4.91306929e-01 -8.70974047e-01 4.65950122e-03 2.39438086e+02] [ 8.70930010e-01 4.91328962e-01 8.76182010e-03 1.40643080e+02] [-9.92066581e-03 -2.46643480e-04 9.99950759e-01 -4.37416651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24 meters 0.01817899499746021 Centerline is valid? [True, True] Translation: X:239.47, Y:140.69, Z:-4.38 [[ 4.93479206e-01 -8.69750879e-01 3.41781779e-03 2.39466610e+02] [ 8.69727133e-01 4.93491001e-01 6.43007702e-03 1.40692941e+02] [-7.27922746e-03 -2.00540438e-04 9.99973486e-01 -4.37763408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.3 meters 0.01974574883674797 Centerline is valid? [True, True] Translation: X:239.50, Y:140.74, Z:-4.38 [[ 4.97374873e-01 -8.67533761e-01 1.84634393e-03 2.39496475e+02] [ 8.67526829e-01 4.97378285e-01 3.47023233e-03 1.40743492e+02] [-3.92887509e-03 -1.24253468e-04 9.99992274e-01 -4.38171073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36 meters 0.01936400966470008 Centerline is valid? [True, True] Translation: X:239.53, Y:140.79, Z:-4.38 [[ 4.97267947e-01 -8.67596186e-01 1.20269115e-03 2.39525372e+02] [ 8.67593248e-01 4.97269395e-01 2.25933371e-03 1.40794765e+02] [-2.55825081e-03 -8.00475144e-05 9.99996724e-01 -4.38371253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42 meters 0.022474235639518565 Centerline is valid? [True, True] Translation: X:239.55, Y:140.85, Z:-4.39 [[ 4.97038072e-01 -8.67727705e-01 1.33601139e-03 2.39548856e+02] [ 8.67724069e-01 4.97039859e-01 2.51374549e-03 1.40846829e+02] [-2.84529752e-03 -9.01379672e-05 9.99995948e-01 -4.38587241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47999999999996 meters 0.020376851903772395 Centerline is valid? [True, True] Translation: X:239.58, Y:140.90, Z:-4.38 [[ 4.96173292e-01 -8.68220345e-01 2.34453550e-03 2.39579423e+02] [ 8.68209125e-01 4.96178807e-01 4.41663418e-03 1.40896832e+02] [-4.99792048e-03 -1.55868806e-04 9.99987498e-01 -4.38493415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.53999999999996 meters 0.01966909346949905 Centerline is valid? [True, True] Translation: X:239.61, Y:140.95, Z:-4.39 [[ 4.93729019e-01 -8.69612734e-01 2.31286174e-03 2.39608693e+02] [ 8.69601815e-01 4.93734416e-01 4.35994003e-03 1.40947783e+02] [-4.93339881e-03 -1.41360145e-04 9.99987821e-01 -4.38670765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.59999999999997 meters 0.019322021639831613 Centerline is valid? [True, True] Translation: X:239.64, Y:141.00, Z:-4.39 [[ 4.91800362e-01 -8.70705453e-01 2.10199199e-03 2.39637855e+02] [ 8.70696438e-01 4.91804840e-01 3.96395562e-03 1.40998589e+02] [-4.48520761e-03 -1.19277875e-04 9.99989934e-01 -4.38829535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.65999999999997 meters 0.01736200523444046 Centerline is valid? [True, True] Translation: X:239.67, Y:141.05, Z:-4.39 [[ 4.90498483e-01 -8.71439898e-01 1.93436181e-03 2.39669263e+02] [ 8.71432265e-01 4.90502286e-01 3.64905735e-03 1.41048339e+02] [-4.12874305e-03 -1.04191804e-04 9.99991471e-01 -4.38858973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.71999999999997 meters 0.01728328429419581 Centerline is valid? [True, True] Translation: X:239.70, Y:141.10, Z:-4.39 [[ 4.89957992e-01 -8.71744070e-01 1.85537420e-03 2.39696411e+02] [ 8.71737042e-01 4.89961495e-01 3.50183304e-03 1.41099607e+02] [-3.96176411e-03 -9.83526712e-05 9.99992147e-01 -4.39005512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78 meters 0.01700801789431506 Centerline is valid? [True, True] Translation: X:239.73, Y:141.15, Z:-4.39 [[ 4.88377983e-01 -8.72629561e-01 2.14383501e-03 2.39725517e+02] [ 8.72620161e-01 4.88382676e-01 4.05180158e-03 1.41151495e+02] [-4.58273371e-03 -1.08057036e-04 9.99989493e-01 -4.39153460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84 meters 0.016220769709033737 Centerline is valid? [True, True] Translation: X:239.76, Y:141.20, Z:-4.39 [[ 4.86120435e-01 -8.73888595e-01 2.37605472e-03 2.39755705e+02] [ 8.73877049e-01 4.86126230e-01 4.49358295e-03 1.41202129e+02] [-5.08195342e-03 -1.08042809e-04 9.99987081e-01 -4.39296808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.9 meters 0.015302038828242305 Centerline is valid? [True, True] Translation: X:239.79, Y:141.25, Z:-4.39 [[ 4.80919767e-01 -8.76759074e-01 3.11510363e-03 2.39787672e+02] [ 8.76739249e-01 4.80929845e-01 5.89685382e-03 1.41250441e+02] [-6.66826640e-03 -1.04779947e-04 9.99977761e-01 -4.39371944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96 meters 0.014402875068233076 Centerline is valid? [True, True] Translation: X:239.82, Y:141.30, Z:-4.39 [[ 4.77833577e-01 -8.78444120e-01 3.31663821e-03 2.39818911e+02] [ 8.78421650e-01 4.77845079e-01 6.28374531e-03 1.41300826e+02] [-7.10475836e-03 -8.91776947e-05 9.99974757e-01 -4.39433759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02 meters 0.014449311408091439 Centerline is valid? [True, True] Translation: X:239.85, Y:141.35, Z:-4.40 [[ 4.76134246e-01 -8.79368317e-01 2.74650178e-03 2.39845842e+02] [ 8.79352912e-01 4.76142163e-01 5.20543452e-03 1.41350610e+02] [-5.88521949e-03 -6.33412958e-05 9.99982680e-01 -4.39607678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08 meters 0.014934211879406623 Centerline is valid? [True, True] Translation: X:239.87, Y:141.40, Z:-4.40 [[ 4.76597990e-01 -8.79118715e-01 2.15407259e-03 2.39870867e+02] [ 8.79109229e-01 4.76602855e-01 4.08438505e-03 1.41401753e+02] [-4.61729649e-03 -5.29446080e-05 9.99989339e-01 -4.39789745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14 meters 0.015010385118457556 Centerline is valid? [True, True] Translation: X:239.90, Y:141.45, Z:-4.40 [[ 4.77645374e-01 -8.78550657e-01 1.90765038e-03 2.39895901e+02] [ 8.78543215e-01 4.77649181e-01 3.61661699e-03 1.41454210e+02] [-4.08856887e-03 -5.15070814e-05 9.99991640e-01 -4.39849023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2 meters 0.014979036212387423 Centerline is valid? [True, True] Translation: X:239.92, Y:141.51, Z:-4.40 [[ 4.76847244e-01 -8.78983810e-01 2.04167375e-03 2.39922620e+02] [ 8.78975276e-01 4.76851612e-01 3.87355543e-03 1.41506140e+02] [-4.37836793e-03 -5.25134853e-05 9.99990414e-01 -4.39948327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26 meters 0.014708535648494342 Centerline is valid? [True, True] Translation: X:239.95, Y:141.56, Z:-4.40 [[ 4.74239669e-01 -8.80391889e-01 2.61896020e-03 2.39950344e+02] [ 8.80377824e-01 4.74246897e-01 4.97673962e-03 1.41556080e+02] [-5.62351495e-03 -5.44928666e-05 9.99984186e-01 -4.39906594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32 meters 0.01449490567862538 Centerline is valid? [True, True] Translation: X:239.98, Y:141.61, Z:-4.40 [[ 4.73117767e-01 -8.80994725e-01 2.80601108e-03 2.39978227e+02] [ 8.80978584e-01 4.73126085e-01 5.33317081e-03 1.41607570e+02] [-6.02609239e-03 -5.11821944e-05 9.99981842e-01 -4.39926772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38 meters 0.014535011354719008 Centerline is valid? [True, True] Translation: X:240.01, Y:141.66, Z:-4.40 [[ 4.71824468e-01 -8.81687978e-01 2.82518581e-03 2.40005166e+02] [ 8.81671606e-01 4.71832924e-01 5.37310365e-03 1.41657799e+02] [-6.07041658e-03 -4.42756562e-05 9.99981574e-01 -4.40033000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44 meters 0.014428331372254254 Centerline is valid? [True, True] Translation: X:240.03, Y:141.71, Z:-4.40 [[ 4.70807562e-01 -8.82232936e-01 2.29904332e-03 2.40033839e+02] [ 8.82222095e-01 4.70813174e-01 4.37369952e-03 1.41707987e+02] [-4.94104165e-03 -3.09039942e-05 9.99987793e-01 -4.40033582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.5 meters 0.014534662947013182 Centerline is valid? [True, True] Translation: X:240.06, Y:141.76, Z:-4.40 [[ 4.70173345e-01 -8.82571129e-01 2.28663386e-03 2.40060501e+02] [ 8.82560390e-01 4.70178904e-01 4.35384313e-03 1.41758851e+02] [-4.91770325e-03 -2.89685111e-05 9.99987908e-01 -4.40160988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56 meters 0.014747297338675506 Centerline is valid? [True, True] Translation: X:240.09, Y:141.81, Z:-4.40 [[ 4.71019313e-01 -8.82119056e-01 2.60358451e-03 2.40086198e+02] [ 8.82105106e-01 4.71026507e-01 4.96105531e-03 1.41811350e+02] [-5.60259874e-03 -4.01176693e-05 9.99984305e-01 -4.40231182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62 meters 0.015189746840581808 Centerline is valid? [True, True] Translation: X:240.11, Y:141.86, Z:-4.40 [[ 4.73292516e-01 -8.80901234e-01 2.68507887e-03 2.40111029e+02] [ 8.80886354e-01 4.73300129e-01 5.12048871e-03 1.41864435e+02] [-5.78149300e-03 -5.82396438e-05 9.99983285e-01 -4.40308949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68 meters 0.015645316429978587 Centerline is valid? [True, True] Translation: X:240.14, Y:141.92, Z:-4.41 [[ 4.74559849e-01 -8.80220767e-01 2.08620275e-03 2.40136088e+02] [ 8.80211772e-01 4.74564431e-01 3.97946466e-03 1.41916063e+02] [-4.49284506e-03 -5.21939297e-05 9.99989906e-01 -4.40527642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74 meters 0.015960947528507317 Centerline is valid? [True, True] Translation: X:240.16, Y:141.97, Z:-4.41 [[ 4.75746938e-01 -8.79580567e-01 1.69594708e-03 2.40161258e+02] [ 8.79574617e-01 4.75749959e-01 3.23558206e-03 1.41968262e+02] [-3.65280185e-03 -4.76062507e-05 9.99993327e-01 -4.40754607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.8 meters 0.016098100880679922 Centerline is valid? [True, True] Translation: X:240.19, Y:142.02, Z:-4.41 [[ 4.77988536e-01 -8.78365778e-01 7.20653200e-04 2.40187838e+02] [ 8.78364709e-01 4.77989078e-01 1.37101673e-03 1.42020481e+02] [-1.54871854e-03 -2.23339421e-05 9.99998800e-01 -4.40868519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86 meters 0.016145378127938304 Centerline is valid? [True, True] Translation: X:240.21, Y:142.07, Z:-4.41 [[ 4.77949940e-01 -8.78386531e-01 9.78131325e-04 2.40214695e+02] [ 8.78384554e-01 4.77950940e-01 1.86390694e-03 1.42071905e+02] [-2.10472954e-03 -3.16787641e-05 9.99997785e-01 -4.40870375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92 meters 0.01565690387294483 Centerline is valid? [True, True] Translation: X:240.24, Y:142.12, Z:-4.41 [[ 4.75522651e-01 -8.79701287e-01 1.96318547e-03 2.40243428e+02] [ 8.79693271e-01 4.75526699e-01 3.75601480e-03 1.42123402e+02] [-4.23771816e-03 -5.90690687e-05 9.99991019e-01 -4.40770386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97999999999996 meters 0.015190589695759683 Centerline is valid? [True, True] Translation: X:240.27, Y:142.17, Z:-4.41 [[ 4.72501559e-01 -8.81326243e-01 2.51606140e-03 2.40272515e+02] [ 8.81313090e-01 4.72508254e-01 4.81533632e-03 1.42174679e+02] [-5.43274205e-03 -5.78160690e-05 9.99985241e-01 -4.40801304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.03999999999996 meters 0.014391716954069704 Centerline is valid? [True, True] Translation: X:240.31, Y:142.22, Z:-4.41 [[ 4.65351353e-01 -8.85122353e-01 2.55714086e-03 2.40305464e+02] [ 8.85108808e-01 4.65358378e-01 4.89664772e-03 1.42223686e+02] [-5.52411927e-03 -1.53137425e-05 9.99984742e-01 -4.40926491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.09999999999997 meters 0.014543256723638185 Centerline is valid? [True, True] Translation: X:240.34, Y:142.27, Z:-4.41 [[ 4.55963187e-01 -8.89996193e-01 2.08527502e-03 2.40339129e+02] [ 8.89987230e-01 4.55967954e-01 3.99449333e-03 1.42272204e+02] [-4.50590244e-03 3.45262313e-05 9.99989848e-01 -4.40983205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.15999999999997 meters 0.01542874316497383 Centerline is valid? [True, True] Translation: X:240.37, Y:142.32, Z:-4.41 [[ 4.49606638e-01 -8.93224592e-01 1.92349623e-03 2.40369157e+02] [ 8.93216990e-01 4.49610748e-01 3.68559086e-03 1.42321753e+02] [-4.15688497e-03 6.10333976e-05 9.99991358e-01 -4.41128349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.21999999999997 meters 0.016747283284628173 Centerline is valid? [True, True] Translation: X:240.40, Y:142.37, Z:-4.41 [[ 4.42847628e-01 -8.96595771e-01 1.41456809e-03 2.40397768e+02] [ 8.96591678e-01 4.42849882e-01 2.71014012e-03 1.42372821e+02] [-3.05634148e-03 6.81108497e-05 9.99995327e-01 -4.41255809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28 meters 0.017039277853155014 Centerline is valid? [True, True] Translation: X:240.42, Y:142.43, Z:-4.41 [[ 4.40483404e-01 -8.97759828e-01 1.28892027e-03 2.40424601e+02] [ 8.97756432e-01 4.40485285e-01 2.47034741e-03 1.42425053e+02] [-2.78552908e-03 6.89894232e-05 9.99996118e-01 -4.41302176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34 meters 0.01757797342974786 Centerline is valid? [True, True] Translation: X:240.45, Y:142.48, Z:-4.41 [[ 4.41215271e-01 -8.97400795e-01 9.47732253e-04 2.40449672e+02] [ 8.97398956e-01 4.41216286e-01 1.81701436e-03 1.42476558e+02] [-2.04874504e-03 4.87994493e-05 9.99997900e-01 -4.41452691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.4 meters 0.01606706203319936 Centerline is valid? [True, True] Translation: X:240.47, Y:142.53, Z:-4.41 [[ 4.44438650e-01 -8.95808517e-01 1.17786511e-03 2.40470305e+02] [ 8.95805670e-01 4.44440207e-01 2.25896183e-03 1.42531224e+02] [-2.54708786e-03 5.11682982e-05 9.99996755e-01 -4.41395518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46 meters 0.015290219925265204 Centerline is valid? [True, True] Translation: X:240.49, Y:142.58, Z:-4.41 [[ 4.49683509e-01 -8.93186423e-01 1.66009984e-03 2.40491318e+02] [ 8.93180715e-01 4.49686571e-01 3.19337009e-03 1.42584858e+02] [-3.59879941e-03 4.67632910e-05 9.99993523e-01 -4.41420867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52 meters 0.014255329471005542 Centerline is valid? [True, True] Translation: X:240.51, Y:142.64, Z:-4.42 [[ 4.58247881e-01 -8.88823069e-01 1.55944898e-03 2.40509808e+02] [ 8.88818015e-01 4.58250534e-01 2.99729525e-03 1.42640942e+02] [-3.37868349e-03 1.25621516e-05 9.99994292e-01 -4.41501624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58 meters 0.014308674785960792 Centerline is valid? [True, True] Translation: X:240.53, Y:142.70, Z:-4.42 [[ 4.63930912e-01 -8.85870746e-01 1.06310403e-03 2.40531025e+02] [ 8.85868393e-01 4.63932130e-01 2.04183143e-03 1.42695908e+02] [-2.30200685e-03 -5.49845752e-06 9.99997350e-01 -4.41708881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64 meters 0.015230537898164623 Centerline is valid? [True, True] Translation: X:240.55, Y:142.75, Z:-4.42 [[ 4.71506215e-01 -8.81862037e-01 1.11248313e-03 2.40550485e+02] [ 8.81859444e-01 4.71507527e-01 2.13870715e-03 1.42751626e+02] [-2.41058881e-03 -2.73599594e-05 9.99997094e-01 -4.41825437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7 meters 0.016163279672200097 Centerline is valid? [True, True] Translation: X:240.57, Y:142.81, Z:-4.42 [[ 4.76293038e-01 -8.79284608e-01 1.87609511e-03 2.40572568e+02] [ 8.79277168e-01 4.76296727e-01 3.61785026e-03 1.42806117e+02] [-4.07469801e-03 -7.35492984e-05 9.99991696e-01 -4.41806566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76 meters 0.016080933410463395 Centerline is valid? [True, True] Translation: X:240.60, Y:142.86, Z:-4.42 [[ 4.77057624e-01 -8.78868125e-01 2.61584364e-03 2.40598358e+02] [ 8.78853650e-01 4.77064783e-01 5.04517192e-03 1.42857990e+02] [-5.68196766e-03 -1.07894001e-04 9.99983852e-01 -4.41757036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82 meters 0.016333636959714057 Centerline is valid? [True, True] Translation: X:240.62, Y:142.91, Z:-4.42 [[ 4.76278762e-01 -8.79286043e-01 3.82050663e-03 2.40624868e+02] [ 8.79255075e-01 4.76294059e-01 7.38120898e-03 1.42909617e+02] [-8.30987865e-03 -1.56313230e-04 9.99965460e-01 -4.41799150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88 meters 0.015662855644968724 Centerline is valid? [True, True] Translation: X:240.65, Y:142.96, Z:-4.42 [[ 4.74662698e-01 -8.80160243e-01 3.64286099e-03 2.40653451e+02] [ 8.80132126e-01 4.74676658e-01 7.03641507e-03 1.42960585e+02] [-7.92235388e-03 -1.33724772e-04 9.99968609e-01 -4.41907606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94 meters 0.015441497032073278 Centerline is valid? [True, True] Translation: X:240.68, Y:143.01, Z:-4.42 [[ 4.73509580e-01 -8.80784664e-01 2.65596844e-03 2.40681066e+02] [ 8.80769722e-01 4.73517020e-01 5.13107342e-03 1.43011372e+02] [-5.77701703e-03 -9.03158318e-05 9.99983309e-01 -4.42222631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.0 meters 0.015545394890235664 Centerline is valid? [True, True] Translation: X:240.71, Y:143.06, Z:-4.43 [[ 4.72870809e-01 -8.81130813e-01 1.29889453e-03 2.40709239e+02] [ 8.81127249e-01 4.72872592e-01 2.50677029e-03 1.43062650e+02] [-2.82300417e-03 -4.08871333e-05 9.99996014e-01 -4.42618990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06 meters 0.015312866899983884 Centerline is valid? [True, True] Translation: X:240.74, Y:143.11, Z:-4.43 [[ 4.71722844e-01 -8.81746593e-01 7.09530425e-04 2.40737829e+02] [ 8.81745536e-01 4.71723377e-01 1.36573045e-03 1.43112853e+02] [-1.53893026e-03 -1.86209662e-05 9.99998816e-01 -4.42781372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12 meters 0.01484038548833935 Centerline is valid? [True, True] Translation: X:240.77, Y:143.16, Z:-4.43 [[ 4.69338575e-01 -8.83017071e-01 1.46752732e-03 2.40768553e+02] [ 8.83012514e-01 4.69340868e-01 2.83710229e-03 1.43162554e+02] [-3.19398031e-03 -3.57165547e-05 9.99994899e-01 -4.42721711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18 meters 0.014223591472881145 Centerline is valid? [True, True] Translation: X:240.80, Y:143.21, Z:-4.42 [[ 4.65328005e-01 -8.85133058e-01 3.05244713e-03 2.40800984e+02] [ 8.85113297e-01 4.65338014e-01 5.91475684e-03 1.43211534e+02] [-6.65576649e-03 -5.05404507e-05 9.99977849e-01 -4.42493855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24 meters 0.0139886792898265 Centerline is valid? [True, True] Translation: X:240.83, Y:143.26, Z:-4.42 [[ 4.63596426e-01 -8.86039241e-01 3.58016445e-03 2.40829461e+02] [ 8.86012033e-01 4.63610248e-01 6.94370488e-03 1.43262208e+02] [-7.81219592e-03 -4.70079785e-05 9.99969483e-01 -4.42479706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.3 meters 0.013733127801538132 Centerline is valid? [True, True] Translation: X:240.86, Y:143.31, Z:-4.42 [[ 4.60773426e-01 -8.87507997e-01 4.17199298e-03 2.40859691e+02] [ 8.87471045e-01 4.60792312e-01 8.09867912e-03 1.43312095e+02] [-9.11006477e-03 -2.91331523e-05 9.99958502e-01 -4.42468085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36 meters 0.013560878818533663 Centerline is valid? [True, True] Translation: X:240.89, Y:143.36, Z:-4.42 [[ 4.56711259e-01 -8.89603207e-01 4.57831915e-03 2.40890704e+02] [ 8.89558742e-01 4.56734206e-01 8.89438070e-03 1.43361124e+02] [-1.00035445e-02 1.05200130e-05 9.99949963e-01 -4.42471336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42 meters 0.013633470173640054 Centerline is valid? [True, True] Translation: X:240.92, Y:143.41, Z:-4.43 [[ 4.54994338e-01 -8.90484281e-01 4.23061771e-03 2.40918874e+02] [ 8.90446305e-01 4.55014006e-01 8.22392427e-03 1.43411612e+02] [-9.24826560e-03 2.52989263e-05 9.99957234e-01 -4.42662032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47999999999996 meters 0.013603678589582219 Centerline is valid? [True, True] Translation: X:240.95, Y:143.46, Z:-4.43 [[ 4.55009047e-01 -8.90480242e-01 3.42135610e-03 2.40945709e+02] [ 8.90455385e-01 4.55021910e-01 6.65353296e-03 1.43462897e+02] [-7.48163163e-03 1.91472729e-05 9.99972012e-01 -4.42831531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.53999999999996 meters 0.013682174663191382 Centerline is valid? [True, True] Translation: X:240.97, Y:143.52, Z:-4.43 [[ 4.56148562e-01 -8.89900378e-01 2.40965613e-03 2.40971792e+02] [ 8.89888037e-01 4.56154926e-01 4.68674934e-03 1.43515157e+02] [-5.26991652e-03 6.47018775e-06 9.99986114e-01 -4.43086739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.59999999999997 meters 0.013691698396040385 Centerline is valid? [True, True] Translation: X:241.00, Y:143.57, Z:-4.43 [[ 4.56701042e-01 -8.89617851e-01 2.05850586e-03 2.40997328e+02] [ 8.89608833e-01 4.56705681e-01 4.00555539e-03 1.43566353e+02] [-4.50354490e-03 1.92367984e-06 9.99989859e-01 -4.43331116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.65999999999997 meters 0.01360905852906425 Centerline is valid? [True, True] Translation: X:241.02, Y:143.62, Z:-4.43 [[ 4.56188136e-01 -8.89879481e-01 2.62580040e-03 2.41023904e+02] [ 8.89864782e-01 4.56195692e-01 5.11461381e-03 1.43617885e+02] [-5.74926871e-03 3.38116518e-06 9.99983473e-01 -4.43199232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.71999999999997 meters 0.01357275075762162 Centerline is valid? [True, True] Translation: X:241.05, Y:143.67, Z:-4.43 [[ 4.53400012e-01 -8.91299364e-01 3.72466120e-03 2.41052421e+02] [ 8.91269764e-01 4.53415310e-01 7.26390664e-03 1.43667074e+02] [-8.16313378e-03 2.62225482e-05 9.99966681e-01 -4.43002188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78 meters 0.013646186428384333 Centerline is valid? [True, True] Translation: X:241.08, Y:143.72, Z:-4.43 [[ 4.51972565e-01 -8.92023647e-01 3.82289874e-03 2.41079397e+02] [ 8.91992442e-01 4.51988731e-01 7.46123730e-03 1.43718803e+02] [-8.38350725e-03 3.77222203e-05 9.99964857e-01 -4.43037655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84 meters 0.013602030271999103 Centerline is valid? [True, True] Translation: X:241.10, Y:143.77, Z:-4.43 [[ 4.51089404e-01 -8.92469143e-01 4.14470242e-03 2.41104442e+02] [ 8.92432425e-01 4.51108442e-01 8.09571418e-03 1.43771442e+02] [-9.09488535e-03 4.69759441e-05 9.99958640e-01 -4.43259829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.9 meters 0.013614383499652348 Centerline is valid? [True, True] Translation: X:241.13, Y:143.82, Z:-4.43 [[ 4.50351846e-01 -8.92842840e-01 3.85725409e-03 2.41130024e+02] [ 8.92810999e-01 4.50368362e-01 7.54044595e-03 1.43822680e+02] [-8.46961838e-03 4.79451247e-05 9.99964131e-01 -4.43424056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96 meters 0.013765939032392316 Centerline is valid? [True, True] Translation: X:241.16, Y:143.87, Z:-4.44 [[ 4.47935738e-01 -8.94057496e-01 3.84292666e-03 2.41155683e+02] [ 8.94025917e-01 4.47952217e-01 7.51471022e-03 1.43874698e+02] [-8.44003052e-03 6.95687687e-05 9.99964380e-01 -4.43516422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02 meters 0.014259532384685256 Centerline is valid? [True, True] Translation: X:241.18, Y:143.93, Z:-4.44 [[ 4.44535224e-01 -8.95752723e-01 3.93630621e-03 2.41183066e+02] [ 8.95719606e-01 4.44552639e-01 7.70311884e-03 1.43925605e+02] [-8.64998499e-03 1.01518995e-04 9.99962583e-01 -4.43687127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08 meters 0.015138062362288943 Centerline is valid? [True, True] Translation: X:241.21, Y:143.98, Z:-4.44 [[ 4.38640503e-01 -8.98654894e-01 3.72688276e-03 2.41211257e+02] [ 8.98625276e-01 4.38656311e-01 7.29758626e-03 1.43977655e+02] [-8.19283225e-03 1.48054140e-04 9.99966427e-01 -4.43859119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14 meters 0.01614204381548067 Centerline is valid? [True, True] Translation: X:241.24, Y:144.03, Z:-4.44 [[ 4.35386820e-01 -9.00234946e-01 3.91904977e-03 2.41238844e+02] [ 9.00202216e-01 4.35404419e-01 7.67875802e-03 1.44028106e+02] [-8.61905790e-03 1.84707249e-04 9.99962838e-01 -4.43934072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2 meters 0.015761830421859052 Centerline is valid? [True, True] Translation: X:241.26, Y:144.08, Z:-4.44 [[ 4.33907725e-01 -9.00949133e-01 3.84000853e-03 2.41263351e+02] [ 9.00917694e-01 4.33924674e-01 7.52904587e-03 1.44082077e+02] [-8.44956180e-03 1.92620463e-04 9.99964283e-01 -4.43917884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26 meters 0.01585081061863019 Centerline is valid? [True, True] Translation: X:241.29, Y:144.13, Z:-4.44 [[ 4.35959150e-01 -8.99959184e-01 3.61751873e-03 2.41286549e+02] [ 8.99931208e-01 4.35974128e-01 7.09790051e-03 1.44134509e+02] [-7.96496533e-03 1.61123329e-04 9.99968266e-01 -4.44037193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32 meters 0.014456883570732802 Centerline is valid? [True, True] Translation: X:241.31, Y:144.19, Z:-4.44 [[ 4.41167927e-01 -8.97417056e-01 3.67271065e-03 2.41305767e+02] [ 8.97388115e-01 4.41183199e-01 7.20799518e-03 1.44189959e+02] [-8.08891605e-03 1.15910596e-04 9.99967277e-01 -4.44100369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38 meters 0.013732976508325253 Centerline is valid? [True, True] Translation: X:241.33, Y:144.24, Z:-4.44 [[ 4.45776505e-01 -8.95137116e-01 3.58488847e-03 2.41327377e+02] [ 8.95109427e-01 4.45790914e-01 7.04088991e-03 1.44244902e+02] [-7.90067260e-03 7.02041651e-05 9.99968787e-01 -4.44123072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44 meters 0.013284955635473423 Centerline is valid? [True, True] Translation: X:241.35, Y:144.30, Z:-4.44 [[ 4.52787956e-01 -8.91613195e-01 2.99603185e-03 2.41345999e+02] [ 8.91593766e-01 4.52797868e-01 5.88614767e-03 1.44300875e+02] [-6.60476377e-03 6.06654372e-06 9.99978188e-01 -4.44238538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.5 meters 0.01343250057489298 Centerline is valid? [True, True] Translation: X:241.37, Y:144.35, Z:-4.44 [[ 4.57307272e-01 -8.89304012e-01 2.90407933e-03 2.41367268e+02] [ 8.89285686e-01 4.57316492e-01 5.70921240e-03 1.44354976e+02] [-6.40530886e-03 -2.83081747e-05 9.99979485e-01 -4.44367245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56 meters 0.014226612726223536 Centerline is valid? [True, True] Translation: X:241.39, Y:144.41, Z:-4.44 [[ 4.63408300e-01 -8.86139355e-01 3.12902000e-03 2.41387232e+02] [ 8.86117970e-01 4.63418857e-01 6.15684897e-03 1.44410672e+02] [-6.90587305e-03 -8.04540726e-05 9.99976151e-01 -4.44425937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62 meters 0.015176224852224671 Centerline is valid? [True, True] Translation: X:241.41, Y:144.46, Z:-4.45 [[ 4.66484927e-01 -8.84523348e-01 3.20309646e-03 2.41408736e+02] [ 8.84500873e-01 4.66495911e-01 6.30647291e-03 1.44464077e+02] [-7.07245393e-03 -1.08732938e-04 9.99974984e-01 -4.44591040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68 meters 0.01610927519517943 Centerline is valid? [True, True] Translation: X:241.43, Y:144.52, Z:-4.45 [[ 4.69723966e-01 -8.82806742e-01 3.41348055e-03 2.41431767e+02] [ 8.82781122e-01 4.69736346e-01 6.72723971e-03 1.44517479e+02] [-7.54228845e-03 -1.46589526e-04 9.99971546e-01 -4.44636917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74 meters 0.01611215920705662 Centerline is valid? [True, True] Translation: X:241.46, Y:144.57, Z:-4.45 [[ 4.70672834e-01 -8.82300297e-01 3.64279386e-03 2.41457812e+02] [ 8.82271085e-01 4.70686901e-01 7.18149313e-03 1.44570061e+02] [-8.05084888e-03 -1.66202027e-04 9.99967578e-01 -4.44674739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.8 meters 0.016219889598870618 Centerline is valid? [True, True] Translation: X:241.48, Y:144.62, Z:-4.45 [[ 4.71679267e-01 -8.81763279e-01 3.49128373e-03 2.41484330e+02] [ 8.81736402e-01 4.71692157e-01 6.88663325e-03 1.44623133e+02] [-7.71919147e-03 -1.69890171e-04 9.99970192e-01 -4.44773972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86 meters 0.01714879638182183 Centerline is valid? [True, True] Translation: X:241.51, Y:144.68, Z:-4.45 [[ 4.73517129e-01 -8.80780696e-01 2.62576513e-03 2.41509411e+02] [ 8.80765471e-01 4.73524388e-01 5.18059955e-03 1.44676840e+02] [-5.80633590e-03 -1.40419357e-04 9.99983133e-01 -4.45081585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92 meters 0.016931683752423616 Centerline is valid? [True, True] Translation: X:241.54, Y:144.73, Z:-4.45 [[ 4.73481912e-01 -8.80802381e-01 1.43002785e-03 2.41537294e+02] [ 8.80797863e-01 4.73484065e-01 2.82206970e-03 1.44728130e+02] [-3.16278111e-03 -7.66334849e-05 9.99994995e-01 -4.45433190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97999999999996 meters 0.016543920553931682 Centerline is valid? [True, True] Translation: X:241.57, Y:144.78, Z:-4.46 [[ 4.71426725e-01 -8.81904157e-01 1.37874303e-03 2.41566464e+02] [ 8.81899967e-01 4.71428736e-01 2.71941557e-03 1.44779844e+02] [-3.04824298e-03 -6.60917399e-05 9.99995352e-01 -4.45599768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.03999999999996 meters 0.015719914506684363 Centerline is valid? [True, True] Translation: X:241.60, Y:144.83, Z:-4.46 [[ 4.67910796e-01 -8.83774497e-01 1.45777917e-03 2.41597916e+02] [ 8.83769815e-01 4.67913064e-01 2.87728217e-03 1.44830300e+02] [-3.22498252e-03 -5.79701607e-05 9.99994798e-01 -4.45648058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.09999999999997 meters 0.014548590911336255 Centerline is valid? [True, True] Translation: X:241.63, Y:144.88, Z:-4.46 [[ 4.60596239e-01 -8.87607137e-01 2.16206390e-03 2.41632302e+02] [ 8.87596837e-01 4.60601310e-01 4.27647079e-03 1.44876777e+02] [-4.79167547e-03 -5.06852825e-05 9.99988519e-01 -4.45671452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.15999999999997 meters 0.01396341568614864 Centerline is valid? [True, True] Translation: X:241.67, Y:144.93, Z:-4.46 [[ 4.54656472e-01 -8.90661479e-01 3.10181100e-03 2.41665630e+02] [ 8.90640341e-01 4.54667052e-01 6.13627225e-03 1.44925750e+02] [-6.87563258e-03 -2.72978845e-05 9.99976362e-01 -4.45620347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.21999999999997 meters 0.01393931992266922 Centerline is valid? [True, True] Translation: X:241.70, Y:144.97, Z:-4.46 [[ 4.47833299e-01 -8.94109411e-01 3.70099097e-03 2.41699204e+02] [ 8.94079380e-01 4.47848591e-01 7.32814595e-03 1.44973754e+02] [-8.20964785e-03 2.71919437e-05 9.99966300e-01 -4.45578717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28 meters 0.015297798106069611 Centerline is valid? [True, True] Translation: X:241.74, Y:145.02, Z:-4.46 [[ 4.38331147e-01 -8.98805331e-01 3.84478614e-03 2.41735930e+02] [ 8.98773029e-01 4.38347994e-01 7.62090907e-03 1.45019079e+02] [-8.53506799e-03 1.15108269e-04 9.99963569e-01 -4.45643968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34 meters 0.01601206867965816 Centerline is valid? [True, True] Translation: X:241.77, Y:145.07, Z:-4.46 [[ 4.33257550e-01 -9.01264375e-01 3.22830835e-03 2.41766069e+02] [ 9.01241678e-01 4.33269556e-01 6.39766222e-03 1.45069256e+02] [-7.16471276e-03 1.37650578e-04 9.99974324e-01 -4.45822512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.4 meters 0.01702275583485621 Centerline is valid? [True, True] Translation: X:241.79, Y:145.12, Z:-4.46 [[ 4.29860668e-01 -9.02890886e-01 2.80269289e-03 2.41794965e+02] [ 9.02873797e-01 4.29869781e-01 5.55674494e-03 1.45120212e+02] [-6.22192734e-03 1.41851884e-04 9.99980634e-01 -4.46049310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46 meters 0.017325721363103348 Centerline is valid? [True, True] Translation: X:241.82, Y:145.17, Z:-4.46 [[ 4.27302068e-01 -9.04105140e-01 2.61513774e-03 2.41821616e+02] [ 9.04090269e-01 4.27310045e-01 5.18762979e-03 1.45172756e+02] [-5.80763738e-03 1.47635648e-04 9.99983125e-01 -4.46118722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52 meters 0.01795783143001747 Centerline is valid? [True, True] Translation: X:241.85, Y:145.23, Z:-4.46 [[ 4.24876879e-01 -9.05246761e-01 2.81780157e-03 2.41848801e+02] [ 9.05229492e-01 4.24886187e-01 5.59411734e-03 1.45225033e+02] [-6.26130157e-03 1.73945971e-04 9.99980383e-01 -4.46218307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58 meters 0.019200046227768403 Centerline is valid? [True, True] Translation: X:241.88, Y:145.28, Z:-4.46 [[ 4.19038805e-01 -9.07963961e-01 2.81513297e-03 2.41876903e+02] [ 9.07946766e-01 4.19048207e-01 5.59199966e-03 1.45276119e+02] [-6.25701059e-03 2.12726017e-04 9.99980402e-01 -4.46247815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64 meters 0.020370634831938142 Centerline is valid? [True, True] Translation: X:241.90, Y:145.33, Z:-4.46 [[ 4.15231545e-01 -9.09710438e-01 3.11176994e-03 2.41903464e+02] [ 9.09689437e-01 4.15243122e-01 6.18685679e-03 1.45327501e+02] [-6.92038926e-03 2.61766139e-04 9.99976020e-01 -4.46345792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7 meters 0.020574746630578483 Centerline is valid? [True, True] Translation: X:241.93, Y:145.38, Z:-4.46 [[ 4.13017206e-01 -9.10718948e-01 2.79043450e-03 2.41927394e+02] [ 9.10702062e-01 4.13026557e-01 5.55138608e-03 1.45380940e+02] [-6.20827604e-03 2.48436485e-04 9.99980698e-01 -4.46460610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76 meters 0.020125641589652576 Centerline is valid? [True, True] Translation: X:241.95, Y:145.43, Z:-4.47 [[ 4.15248315e-01 -9.09704615e-01 2.52011814e-03 2.41950475e+02] [ 9.09690812e-01 4.15255909e-01 5.01570977e-03 1.45434247e+02] [-5.60930827e-03 2.09763281e-04 9.99984246e-01 -4.46614022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82 meters 0.01806268440914105 Centerline is valid? [True, True] Translation: X:241.97, Y:145.49, Z:-4.47 [[ 4.21575244e-01 -9.06789284e-01 2.74016369e-03 2.41968185e+02] [ 9.06772874e-01 4.21584109e-01 5.45842726e-03 1.45490712e+02] [-6.10485281e-03 1.83568299e-04 9.99981348e-01 -4.46736695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88 meters 0.016278951936978862 Centerline is valid? [True, True] Translation: X:241.99, Y:145.55, Z:-4.47 [[ 4.27448315e-01 -9.04033529e-01 3.36387999e-03 2.41986846e+02] [ 9.04008661e-01 4.27461516e-01 6.70764961e-03 1.45546344e+02] [-7.50186939e-03 1.73803116e-04 9.99971845e-01 -4.46779771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94 meters 0.014092120597714976 Centerline is valid? [True, True] Translation: X:242.00, Y:145.60, Z:-4.47 [[ 4.37640862e-01 -8.99139613e-01 4.29318857e-03 2.42001891e+02] [ 8.99098785e-01 4.37661906e-01 8.56918940e-03 1.45603847e+02] [-9.58386274e-03 1.09773189e-04 9.99954068e-01 -4.46695913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.0 meters 0.013412431162628335 Centerline is valid? [True, True] Translation: X:242.02, Y:145.66, Z:-4.47 [[ 4.47252715e-01 -8.94395571e-01 4.64454329e-03 2.42017481e+02] [ 8.94347435e-01 4.47276830e-01 9.27913995e-03 1.45660195e+02] [-1.03766183e-02 3.71484372e-06 9.99946161e-01 -4.46737159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06 meters 0.013681322180814125 Centerline is valid? [True, True] Translation: X:242.04, Y:145.72, Z:-4.47 [[ 4.52854829e-01 -8.91573196e-01 4.44293356e-03 2.42037187e+02] [ 8.91528985e-01 4.52876619e-01 8.87900372e-03 1.45716440e+02] [-9.92838245e-03 -5.98956587e-05 9.99950711e-01 -4.46875078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12 meters 0.014470685937319313 Centerline is valid? [True, True] Translation: X:242.06, Y:145.77, Z:-4.47 [[ 4.57351599e-01 -8.89277601e-01 3.85537102e-03 2.42056963e+02] [ 8.89244182e-01 4.57367838e-01 7.71012642e-03 1.45771096e+02] [-8.61976544e-03 -9.78723960e-05 9.99962844e-01 -4.47139822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18 meters 0.015441896481450744 Centerline is valid? [True, True] Translation: X:242.08, Y:145.83, Z:-4.47 [[ 4.61524249e-01 -8.87125087e-01 2.10891880e-03 2.42077641e+02] [ 8.87115080e-01 4.61529061e-01 4.21430872e-03 1.45826122e+02] [-4.71194631e-03 -7.41519964e-05 9.99988896e-01 -4.47445328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24 meters 0.015445209099951989 Centerline is valid? [True, True] Translation: X:242.10, Y:145.88, Z:-4.48 [[ 4.61991348e-01 -8.86883501e-01 1.28477202e-03 2.42102638e+02] [ 8.86879791e-01 4.61993132e-01 2.56569021e-03 1.45879201e+02] [-2.86902417e-03 -4.58883381e-05 9.99995883e-01 -4.47599251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.3 meters 0.015195556329095066 Centerline is valid? [True, True] Translation: X:242.13, Y:145.93, Z:-4.48 [[ 4.59648735e-01 -8.88099936e-01 1.24249778e-03 2.42129429e+02] [ 8.88096454e-01 4.59650413e-01 2.48711069e-03 1.45930700e+02] [-2.77991746e-03 -3.97394117e-05 9.99996135e-01 -4.47698550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36 meters 0.014547369258584828 Centerline is valid? [True, True] Translation: X:242.16, Y:145.98, Z:-4.48 [[ 4.56731189e-01 -8.89602888e-01 1.82279974e-03 2.42159255e+02] [ 8.89595414e-01 4.56734824e-01 3.64688788e-03 1.45981909e+02] [-4.07681811e-03 -4.40931498e-05 9.99991689e-01 -4.47541646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42 meters 0.014059143343923951 Centerline is valid? [True, True] Translation: X:242.19, Y:146.03, Z:-4.47 [[ 4.53293019e-01 -8.91358981e-01 2.14587967e-03 2.42189375e+02] [ 8.91348623e-01 4.53298097e-01 4.29732879e-03 1.46032652e+02] [-4.80318578e-03 -3.52222568e-05 9.99988464e-01 -4.47428837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47999999999996 meters 0.014142458164203394 Centerline is valid? [True, True] Translation: X:242.22, Y:146.08, Z:-4.47 [[ 4.53685746e-01 -8.91158292e-01 2.47819586e-03 2.42215823e+02] [ 8.91144452e-01 4.53692512e-01 4.96680362e-03 1.46083881e+02] [-5.55054713e-03 -4.49375140e-05 9.99984595e-01 -4.47495625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.53999999999996 meters 0.014587488628133092 Centerline is valid? [True, True] Translation: X:242.24, Y:146.14, Z:-4.48 [[ 4.55368345e-01 -8.90300351e-01 2.22609410e-03 2.42240248e+02] [ 8.90289144e-01 4.55373784e-01 4.46736322e-03 1.46136751e+02] [-4.99099994e-03 -5.24283871e-05 9.99987544e-01 -4.47684788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.59999999999997 meters 0.014794133429229875 Centerline is valid? [True, True] Translation: X:242.27, Y:146.19, Z:-4.48 [[ 4.57586390e-01 -8.89163274e-01 1.83518419e-03 2.42266412e+02] [ 8.89155658e-01 4.57590068e-01 3.68038624e-03 1.46189927e+02] [-4.11222634e-03 -5.23302434e-05 9.99991543e-01 -4.47807149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.65999999999997 meters 0.015524245686778139 Centerline is valid? [True, True] Translation: X:242.29, Y:146.24, Z:-4.48 [[ 4.59997634e-01 -8.87919198e-01 1.29422084e-03 2.42289794e+02] [ 8.87915396e-01 4.59999452e-01 2.59864796e-03 1.46242381e+02] [-2.90273029e-03 -4.62133074e-05 9.99995786e-01 -4.48062977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.71999999999997 meters 0.015376603455000174 Centerline is valid? [True, True] Translation: X:242.32, Y:146.29, Z:-4.48 [[ 4.59204552e-01 -8.88328865e-01 1.73421806e-03 2.42316493e+02] [ 8.88322050e-01 4.59207823e-01 3.47998488e-03 1.46294669e+02] [-3.88773752e-03 -5.74807508e-05 9.99992441e-01 -4.48113389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78 meters 0.014563273476597064 Centerline is valid? [True, True] Translation: X:242.35, Y:146.34, Z:-4.48 [[ 4.54337874e-01 -8.90825409e-01 2.68071649e-03 2.42347062e+02] [ 8.90809114e-01 4.54345778e-01 5.38847192e-03 1.46344837e+02] [-6.01815993e-03 -6.01801899e-05 9.99981889e-01 -4.48036974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84 meters 0.01403015827409297 Centerline is valid? [True, True] Translation: X:242.38, Y:146.40, Z:-4.48 [[ 4.49545295e-01 -8.93253226e-01 2.77530531e-03 2.42377946e+02] [ 8.93235779e-01 4.49553861e-01 5.58291990e-03 1.46395393e+02] [-6.23461042e-03 -3.07733769e-05 9.99980564e-01 -4.48070865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.9 meters 0.01388923754868124 Centerline is valid? [True, True] Translation: X:242.41, Y:146.44, Z:-4.48 [[ 4.41616001e-01 -8.97199100e-01 3.01386300e-03 2.42410610e+02] [ 8.97178588e-01 4.41626285e-01 6.06677845e-03 1.46443965e+02] [-6.77410928e-03 2.47869114e-05 9.99977055e-01 -4.48153719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96 meters 0.014224936846961824 Centerline is valid? [True, True] Translation: X:242.44, Y:146.49, Z:-4.48 [[ 4.36727857e-01 -8.99588264e-01 3.11991168e-03 2.42440575e+02] [ 8.99566309e-01 4.36738996e-01 6.28520829e-03 1.46493881e+02] [-7.01668671e-03 6.16418926e-05 9.99975381e-01 -4.48175527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02 meters 0.01474790828763929 Centerline is valid? [True, True] Translation: X:242.47, Y:146.54, Z:-4.48 [[ 4.32837266e-01 -9.01466776e-01 3.09085456e-03 2.42469489e+02] [ 9.01445246e-01 4.32848293e-01 6.23088129e-03 1.46544985e+02] [-6.95480358e-03 8.92785252e-05 9.99975811e-01 -4.48255559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08 meters 0.014838032099192508 Centerline is valid? [True, True] Translation: X:242.50, Y:146.60, Z:-4.48 [[ 4.30824280e-01 -9.02430525e-01 3.09631152e-03 2.42496729e+02] [ 9.02408913e-01 4.30835394e-01 6.24632299e-03 1.46596953e+02] [-6.97087313e-03 1.03071511e-04 9.99975698e-01 -4.48281405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14 meters 0.014911400197918633 Centerline is valid? [True, True] Translation: X:242.52, Y:146.65, Z:-4.48 [[ 4.30060286e-01 -9.02795112e-01 3.02277675e-03 2.42522570e+02] [ 9.02774490e-01 4.30070896e-01 6.10291321e-03 1.46648319e+02] [-6.80968852e-03 1.04265142e-04 9.99976808e-01 -4.48447101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2 meters 0.014686399719775355 Centerline is valid? [True, True] Translation: X:242.55, Y:146.70, Z:-4.48 [[ 4.30724874e-01 -9.02476580e-01 3.47922801e-03 2.42547561e+02] [ 9.02449229e-01 4.30738911e-01 7.02707048e-03 1.46701088e+02] [-7.84040542e-03 1.13092587e-04 9.99969257e-01 -4.48495243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26 meters 0.013982467656057975 Centerline is valid? [True, True] Translation: X:242.57, Y:146.75, Z:-4.48 [[ 4.34056328e-01 -9.00878282e-01 3.66404528e-03 2.42571778e+02] [ 9.00847828e-01 4.34071784e-01 7.40791071e-03 1.46754805e+02] [-8.26408454e-03 8.52967117e-05 9.99965848e-01 -4.48476706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32 meters 0.013606059815081393 Centerline is valid? [True, True] Translation: X:242.60, Y:146.81, Z:-4.49 [[ 4.37747662e-01 -8.99092319e-01 3.16018934e-03 2.42595455e+02] [ 8.99069618e-01 4.37759067e-01 6.38909396e-03 1.46808578e+02] [-7.12778684e-03 4.44192779e-05 9.99974596e-01 -4.48607294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38 meters 0.013342725040973141 Centerline is valid? [True, True] Translation: X:242.62, Y:146.86, Z:-4.49 [[ 4.42285164e-01 -8.96870192e-01 2.77359463e-03 2.42617848e+02] [ 8.96852646e-01 4.42293860e-01 5.61001206e-03 1.46862232e+02] [-6.25819647e-03 6.28058527e-06 9.99980417e-01 -4.48841489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44 meters 0.013817370536922067 Centerline is valid? [True, True] Translation: X:242.64, Y:146.92, Z:-4.49 [[ 4.49176759e-01 -8.93440876e-01 1.90795436e-03 2.42639755e+02] [ 8.93432539e-01 4.49180810e-01 3.85974897e-03 1.46917482e+02] [-4.30547398e-03 -2.90810197e-05 9.99990731e-01 -4.49127084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.5 meters 0.014733149649191467 Centerline is valid? [True, True] Translation: X:242.66, Y:146.97, Z:-4.49 [[ 4.54403704e-01 -8.90794741e-01 1.41515469e-03 2.42663416e+02] [ 8.90790145e-01 4.54405906e-01 2.86199482e-03 1.46970929e+02] [-3.19250459e-03 -3.98951979e-05 9.99994903e-01 -4.49291870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56 meters 0.015057734689051699 Centerline is valid? [True, True] Translation: X:242.69, Y:147.02, Z:-4.49 [[ 4.56432448e-01 -8.89756906e-01 1.43824794e-03 2.42689664e+02] [ 8.89752145e-01 4.56434711e-01 2.91113338e-03 1.47023441e+02] [-3.24666731e-03 -4.90515485e-05 9.99994728e-01 -4.49266527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62 meters 0.015457912605238485 Centerline is valid? [True, True] Translation: X:242.72, Y:147.08, Z:-4.49 [[ 4.58330121e-01 -8.88780735e-01 1.51816138e-03 2.42716067e+02] [ 8.88775407e-01 4.58332631e-01 3.07809331e-03 1.47075557e+02] [-3.43157294e-03 -6.14783755e-05 9.99994110e-01 -4.49268979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68 meters 0.015887549707043144 Centerline is valid? [True, True] Translation: X:242.74, Y:147.13, Z:-4.49 [[ 4.59344188e-01 -8.88256489e-01 1.82361016e-03 2.42741546e+02] [ 8.88248800e-01 4.59347802e-01 3.69673858e-03 1.47128461e+02] [-4.12132336e-03 -7.82558482e-05 9.99991504e-01 -4.49346434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74 meters 0.01659272309210798 Centerline is valid? [True, True] Translation: X:242.77, Y:147.18, Z:-4.49 [[ 4.60968478e-01 -8.87415030e-01 1.62066094e-03 2.42767340e+02] [ 8.87408947e-01 4.60971321e-01 3.28678115e-03 1.47181156e+02] [-3.66381721e-03 -7.69134900e-05 9.99993285e-01 -4.49430507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.8 meters 0.016372402203052184 Centerline is valid? [True, True] Translation: X:242.80, Y:147.23, Z:-4.50 [[ 4.61390561e-01 -8.87196519e-01 1.04228125e-03 2.42795188e+02] [ 8.87194006e-01 4.61391735e-01 2.11236368e-03 1.47233614e+02] [-2.35498166e-03 -4.99189821e-05 9.99997226e-01 -4.49530576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86 meters 0.016599965460359637 Centerline is valid? [True, True] Translation: X:242.82, Y:147.29, Z:-4.50 [[ 4.60856024e-01 -8.87474419e-01 9.38320156e-04 2.42821908e+02] [ 8.87472384e-01 4.60856978e-01 1.90105579e-03 1.47285038e+02] [-2.11956977e-03 -4.33797858e-05 9.99997753e-01 -4.49715619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92 meters 0.01592662862603386 Centerline is valid? [True, True] Translation: X:242.85, Y:147.34, Z:-4.50 [[ 4.59012656e-01 -8.88429344e-01 8.25897007e-04 2.42851870e+02] [ 8.88427767e-01 4.59013397e-01 1.67434163e-03 1.47336110e+02] [-1.86663202e-03 -3.47941622e-05 9.99998257e-01 -4.49854001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97999999999996 meters 0.014975064258082536 Centerline is valid? [True, True] Translation: X:242.88, Y:147.39, Z:-4.50 [[ 4.54665751e-01 -8.90661983e-01 5.36493691e-04 2.42884746e+02] [ 8.90661321e-01 4.54666067e-01 1.08530646e-03 1.47385824e+02] [-1.21056668e-03 -1.56174954e-05 9.99999267e-01 -4.49910337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.03999999999996 meters 0.014459925127211526 Centerline is valid? [True, True] Translation: X:242.92, Y:147.44, Z:-4.50 [[ 4.51127586e-01 -8.92458650e-01 1.20811190e-03 2.42915510e+02] [ 8.92455270e-01 4.51129202e-01 2.45623067e-03 1.47436100e+02] [-2.73709887e-03 -2.98875823e-05 9.99996254e-01 -4.49932781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.09999999999997 meters 0.01361750854872017 Centerline is valid? [True, True] Translation: X:242.95, Y:147.48, Z:-4.50 [[ 4.45741767e-01 -8.95158725e-01 2.26590332e-03 2.42948855e+02] [ 8.95146819e-01 4.45747525e-01 4.61701790e-03 1.47484511e+02] [-5.14298465e-03 -2.96815659e-05 9.99986774e-01 -4.49808316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.15999999999997 meters 0.013393747232695678 Centerline is valid? [True, True] Translation: X:242.98, Y:147.53, Z:-4.50 [[ 4.42192705e-01 -8.96915958e-01 2.71598374e-03 2.42979104e+02] [ 8.96898849e-01 4.42201045e-01 5.53992609e-03 1.47534875e+02] [-6.16985896e-03 -1.37522153e-05 9.99980966e-01 -4.49830677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.21999999999997 meters 0.013496615522365817 Centerline is valid? [True, True] Translation: X:243.01, Y:147.58, Z:-4.50 [[ 4.39632119e-01 -8.98173915e-01 2.68661976e-03 2.43008836e+02] [ 8.98157171e-01 4.39640328e-01 5.48433867e-03 1.47584141e+02] [-6.10703633e-03 1.91537453e-06 9.99981352e-01 -4.50094228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28 meters 0.013599634627700615 Centerline is valid? [True, True] Translation: X:243.03, Y:147.63, Z:-4.50 [[ 4.40130673e-01 -8.97930609e-01 2.36909734e-03 2.43034726e+02] [ 8.97917578e-01 4.40137049e-01 4.83750983e-03 1.47634682e+02] [-5.38647566e-03 -1.88231928e-06 9.99985493e-01 -4.50257567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34 meters 0.013971241933256417 Centerline is valid? [True, True] Translation: X:243.06, Y:147.69, Z:-4.50 [[ 4.43873756e-01 -8.96086563e-01 2.22736566e-03 2.43057362e+02] [ 8.96075003e-01 4.43879344e-01 4.55166751e-03 1.47688610e+02] [-5.06736970e-03 -2.44790684e-05 9.99987161e-01 -4.50331718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.4 meters 0.014193244642296265 Centerline is valid? [True, True] Translation: X:243.08, Y:147.74, Z:-4.50 [[ 4.46601574e-01 -8.94730488e-01 2.09467750e-03 2.43080374e+02] [ 8.94720240e-01 4.46606485e-01 4.28254468e-03 1.47742188e+02] [-4.76721985e-03 -3.84408462e-05 9.99988636e-01 -4.50370207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46 meters 0.014630693071862051 Centerline is valid? [True, True] Translation: X:243.10, Y:147.80, Z:-4.51 [[ 4.50124308e-01 -8.92964309e-01 1.68830343e-03 2.43102161e+02] [ 8.92957637e-01 4.50127472e-01 3.45215106e-03 1.47796191e+02] [-3.84259944e-03 -4.63136664e-05 9.99992616e-01 -4.50549742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52 meters 0.01491944878523639 Centerline is valid? [True, True] Translation: X:243.13, Y:147.85, Z:-4.51 [[ 4.50745746e-01 -8.92650752e-01 1.70514667e-03 2.43125531e+02] [ 8.92643935e-01 4.50748968e-01 3.48903192e-03 1.47849195e+02] [-3.88308007e-03 -5.05774680e-05 9.99992460e-01 -4.50712276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58 meters 0.015075645972774674 Centerline is valid? [True, True] Translation: X:243.15, Y:147.90, Z:-4.51 [[ 4.50601864e-01 -8.92723044e-01 1.87782345e-03 2.43149872e+02] [ 8.92714760e-01 4.50605773e-01 3.84631443e-03 1.47902514e+02] [-4.27985161e-03 -5.67957442e-05 9.99990840e-01 -4.50768913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64 meters 0.015038742043686338 Centerline is valid? [True, True] Translation: X:243.17, Y:147.95, Z:-4.51 [[ 4.49587321e-01 -8.93234151e-01 1.99807404e-03 2.43173986e+02] [ 8.93224765e-01 4.49591757e-01 4.09533326e-03 1.47954414e+02] [-4.55640915e-03 -5.64806949e-05 9.99989618e-01 -4.50833050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7 meters 0.014495555643790771 Centerline is valid? [True, True] Translation: X:243.20, Y:148.01, Z:-4.51 [[ 4.46370226e-01 -8.94845758e-01 2.16581331e-03 2.43200126e+02] [ 8.94834725e-01 4.46375478e-01 4.44386661e-03 1.48006622e+02] [-4.94334114e-03 -4.55647883e-05 9.99987781e-01 -4.50918253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76 meters 0.013861403832224572 Centerline is valid? [True, True] Translation: X:243.23, Y:148.06, Z:-4.51 [[ 4.41591662e-01 -8.97213562e-01 2.15120626e-03 2.43228739e+02] [ 8.97202693e-01 4.41596901e-01 4.41646239e-03 1.48057636e+02] [-4.91247597e-03 -2.02049196e-05 9.99987934e-01 -4.50908502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82 meters 0.01408339771931082 Centerline is valid? [True, True] Translation: X:243.26, Y:148.11, Z:-4.51 [[ 4.31557728e-01 -9.02083132e-01 1.98736651e-03 2.43260140e+02] [ 9.02073897e-01 4.31562303e-01 4.08208916e-03 1.48107254e+02] [-4.54005624e-03 3.10943285e-05 9.99989693e-01 -4.51009142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88 meters 0.015240470767668027 Centerline is valid? [True, True] Translation: X:243.29, Y:148.16, Z:-4.51 [[ 4.24665618e-01 -9.05348163e-01 1.95373921e-03 2.43289198e+02] [ 9.05339258e-01 4.24670108e-01 4.01585978e-03 1.48157008e+02] [-4.46544591e-03 6.33992352e-05 9.99990028e-01 -4.51138153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94 meters 0.015664712797034384 Centerline is valid? [True, True] Translation: X:243.32, Y:148.21, Z:-4.51 [[ 4.17992953e-01 -9.08448375e-01 1.85487984e-03 2.43315627e+02] [ 9.08440368e-01 4.17997059e-01 3.81527296e-03 1.48209694e+02] [-4.24131284e-03 9.02905105e-05 9.99991002e-01 -4.51129408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.0 meters 0.017913557784373375 Centerline is valid? [True, True] Translation: X:243.34, Y:148.26, Z:-4.51 [[ 4.12435216e-01 -9.10985295e-01 1.72742271e-03 2.43344425e+02] [ 9.10978362e-01 4.12438820e-01 3.55591808e-03 1.48259003e+02] [-3.95184527e-03 1.07058868e-04 9.99992186e-01 -4.51273966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06 meters 0.01853639478409317 Centerline is valid? [True, True] Translation: X:243.37, Y:148.31, Z:-4.51 [[ 4.06278025e-01 -9.13748552e-01 1.32282658e-03 2.43368974e+02] [ 9.13744498e-01 4.06280165e-01 2.72381577e-03 1.48311568e+02] [-3.02632092e-03 1.02099019e-04 9.99995415e-01 -4.51283782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12 meters 0.018966036272467877 Centerline is valid? [True, True] Translation: X:243.39, Y:148.36, Z:-4.51 [[ 4.03237375e-01 -9.15093705e-01 1.76906407e-03 2.43393161e+02] [ 9.15086462e-01 4.03241228e-01 3.64398165e-03 1.48364699e+02] [-4.04794424e-03 1.49456988e-04 9.99991796e-01 -4.51247355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18 meters 0.02018763334353612 Centerline is valid? [True, True] Translation: X:243.42, Y:148.42, Z:-4.51 [[ 4.00806901e-01 -9.16157741e-01 2.97005351e-03 2.43415973e+02] [ 9.16137283e-01 4.00817818e-01 6.12828445e-03 1.48417749e+02] [-6.80492561e-03 2.64718047e-04 9.99976811e-01 -4.51251552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24 meters 0.019772792843511394 Centerline is valid? [True, True] Translation: X:243.44, Y:148.47, Z:-4.51 [[ 4.01199408e-01 -9.15985366e-01 3.13747821e-03 2.43437400e+02] [ 9.15962495e-01 4.01211582e-01 6.47879021e-03 1.48471940e+02] [-7.19326962e-03 2.74525573e-04 9.99974090e-01 -4.51294510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.3 meters 0.019756738139238526 Centerline is valid? [True, True] Translation: X:243.46, Y:148.53, Z:-4.51 [[ 4.05387353e-01 -9.14139618e-01 3.13900292e-03 2.43455535e+02] [ 9.14116638e-01 4.05399435e-01 6.48619257e-03 1.48526677e+02] [-7.20183561e-03 2.39994358e-04 9.99974038e-01 -4.51450315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36 meters 0.017982517127416286 Centerline is valid? [True, True] Translation: X:243.47, Y:148.58, Z:-4.51 [[ 4.09661622e-01 -9.12231595e-01 3.29721705e-03 2.43473414e+02] [ 9.12206121e-01 4.09674836e-01 6.82070900e-03 1.48582701e+02] [-7.57285310e-03 2.13558865e-04 9.99971303e-01 -4.51494295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42 meters 0.016644930665860178 Centerline is valid? [True, True] Translation: X:243.49, Y:148.64, Z:-4.52 [[ 4.15654126e-01 -9.09515705e-01 3.58178681e-03 2.43488958e+02] [ 9.09485512e-01 4.15669521e-01 7.41296558e-03 1.48638169e+02] [-8.23104823e-03 1.76353480e-04 9.99966109e-01 -4.51618937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.47999999999996 meters 0.015960814076773962 Centerline is valid? [True, True] Translation: X:243.51, Y:148.69, Z:-4.52 [[ 4.18754753e-01 -9.08091650e-01 3.74331695e-03 2.43508681e+02] [ 9.08058587e-01 4.18771456e-01 7.75047937e-03 1.48693519e+02] [-8.60573988e-03 1.53601023e-04 9.99962958e-01 -4.51746985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.53999999999996 meters 0.014437759079900865 Centerline is valid? [True, True] Translation: X:243.52, Y:148.75, Z:-4.52 [[ 4.22604543e-01 -9.06303589e-01 4.38221458e-03 2.43524588e+02] [ 9.06258105e-01 4.22627242e-01 9.08082123e-03 1.48750638e+02] [-1.00820241e-02 1.33821171e-04 9.99949166e-01 -4.51739029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.59999999999997 meters 0.014207737569676415 Centerline is valid? [True, True] Translation: X:243.55, Y:148.80, Z:-4.52 [[ 4.24951477e-01 -9.05204096e-01 4.66761658e-03 2.43545070e+02] [ 9.05152346e-01 4.24977096e-01 9.67981121e-03 1.48804999e+02] [-1.07458349e-02 1.11454027e-04 9.99942256e-01 -4.51811952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.65999999999997 meters 0.013711093742999548 Centerline is valid? [True, True] Translation: X:243.56, Y:148.86, Z:-4.52 [[ 4.28794484e-01 -9.03392420e-01 4.17429900e-03 2.43562687e+02] [ 9.03350897e-01 4.28814799e-01 8.66167419e-03 1.48861301e+02] [-9.61489199e-03 5.67786326e-05 9.99953774e-01 -4.52049030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.71999999999997 meters 0.013602318321084281 Centerline is valid? [True, True] Translation: X:243.58, Y:148.92, Z:-4.52 [[ 4.32557464e-01 -9.01598546e-01 3.75529161e-03 2.43580064e+02] [ 9.01564835e-01 4.32573764e-01 7.79655468e-03 1.48917729e+02] [-8.65380299e-03 1.31809437e-05 9.99962555e-01 -4.52252135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78 meters 0.013624102529302266 Centerline is valid? [True, True] Translation: X:243.60, Y:148.97, Z:-4.52 [[ 4.34238050e-01 -9.00791936e-01 3.34724839e-03 2.43600855e+02] [ 9.00765094e-01 4.34250951e-01 6.95393822e-03 1.48971290e+02] [-7.71759726e-03 -4.58006371e-06 9.99970219e-01 -4.52409199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84 meters 0.013655245343086632 Centerline is valid? [True, True] Translation: X:243.62, Y:149.02, Z:-4.52 [[ 4.34571813e-01 -9.00632237e-01 2.98558686e-03 2.43623387e+02] [ 9.00610861e-01 4.34582068e-01 6.20514063e-03 1.49024931e+02] [-6.88603220e-03 -7.72726166e-06 9.99976291e-01 -4.52491241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.9 meters 0.013713363618155075 Centerline is valid? [True, True] Translation: X:243.65, Y:149.08, Z:-4.53 [[ 4.33776523e-01 -9.01015145e-01 3.10438436e-03 2.43646103e+02] [ 9.00992002e-01 4.33787631e-01 6.45790152e-03 1.49077291e+02] [-7.16531061e-03 -4.26058446e-06 9.99974329e-01 -4.52503484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96 meters 0.013621380170856411 Centerline is valid? [True, True] Translation: X:243.67, Y:149.13, Z:-4.53 [[ 4.32300376e-01 -9.01723076e-01 3.44658423e-03 2.43670016e+02] [ 9.01694530e-01 4.32314115e-01 7.17507295e-03 1.49130288e+02] [-7.95993587e-03 5.97941831e-06 9.99968319e-01 -4.52521205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02 meters 0.01367518591356873 Centerline is valid? [True, True] Translation: X:243.70, Y:149.18, Z:-4.53 [[ 4.31323957e-01 -9.02190626e-01 3.42325139e-03 2.43695689e+02] [ 9.02162438e-01 4.31337541e-01 7.13166344e-03 1.49182095e+02] [-7.91069674e-03 1.22715291e-05 9.99968710e-01 -4.52585324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08 meters 0.013689338469363467 Centerline is valid? [True, True] Translation: X:243.72, Y:149.23, Z:-4.53 [[ 4.31138931e-01 -9.02279349e-01 3.34634082e-03 2.43721271e+02] [ 9.02252378e-01 4.31151917e-01 6.97643657e-03 1.49234159e+02] [-7.73747591e-03 1.14305592e-05 9.99970065e-01 -4.52608046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14 meters 0.013728035807929405 Centerline is valid? [True, True] Translation: X:243.75, Y:149.29, Z:-4.53 [[ 4.32318950e-01 -9.01715488e-01 3.08278551e-03 2.43745565e+02] [ 9.01692557e-01 4.32329941e-01 6.43078333e-03 1.49287199e+02] [-7.13151740e-03 -4.24746010e-07 9.99974570e-01 -4.52771417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2 meters 0.013838005425640097 Centerline is valid? [True, True] Translation: X:243.77, Y:149.34, Z:-4.53 [[ 4.35986919e-01 -8.99949821e-01 2.39313082e-03 2.43770030e+02] [ 8.99935948e-01 4.35993486e-01 4.99695961e-03 1.49340240e+02] [-5.54040236e-03 -2.49445739e-05 9.99984652e-01 -4.52894251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26 meters 0.01406244331132625 Centerline is valid? [True, True] Translation: X:243.80, Y:149.39, Z:-4.53 [[ 4.38805390e-01 -8.98579031e-01 2.35674684e-03 2.43795540e+02] [ 8.98565563e-01 4.38811717e-01 4.91995788e-03 1.49393670e+02] [-5.45513911e-03 -4.12124828e-05 9.99985120e-01 -4.52933579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32 meters 0.014583119543430263 Centerline is valid? [True, True] Translation: X:243.82, Y:149.45, Z:-4.53 [[ 4.42665153e-01 -8.96682162e-01 2.94327123e-03 2.43820205e+02] [ 8.96661070e-01 4.42674930e-01 6.15073553e-03 1.49447213e+02] [-6.81816722e-03 -8.35995579e-05 9.99976753e-01 -4.52921504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38 meters 0.015077061668916213 Centerline is valid? [True, True] Translation: X:243.85, Y:149.50, Z:-4.53 [[ 4.44689159e-01 -8.95675104e-01 4.20242901e-03 2.43846205e+02] [ 8.95631970e-01 4.44708992e-01 8.79133478e-03 1.49499734e+02] [-9.74303766e-03 -1.45581494e-04 9.99952525e-01 -4.52845651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44 meters 0.015212990093183602 Centerline is valid? [True, True] Translation: X:243.87, Y:149.55, Z:-4.53 [[ 4.46235797e-01 -8.94906619e-01 3.96944829e-03 2.43872857e+02] [ 8.94868052e-01 4.46253424e-01 8.30963582e-03 1.49552748e+02] [-9.20772799e-03 -1.55924497e-04 9.99957596e-01 -4.52961255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.5 meters 0.015604369747860294 Centerline is valid? [True, True] Translation: X:243.90, Y:149.60, Z:-4.53 [[ 4.48517655e-01 -8.93771260e-01 2.20161115e-03 2.43899876e+02] [ 8.93759386e-01 4.48523048e-01 4.60816127e-03 1.49604680e+02] [-5.10611544e-03 -9.91310579e-05 9.99986959e-01 -4.53404004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56 meters 0.01603114044368646 Centerline is valid? [True, True] Translation: X:243.93, Y:149.66, Z:-4.54 [[ 4.48799383e-01 -8.93631798e-01 1.15035586e-03 2.43926292e+02] [ 8.93628555e-01 4.48800854e-01 2.40797909e-03 1.49656534e+02] [-2.66812737e-03 -5.27086876e-05 9.99996439e-01 -4.53712103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62 meters 0.015503311320703941 Centerline is valid? [True, True] Translation: X:243.96, Y:149.71, Z:-4.54 [[ 4.46773140e-01 -8.94646749e-01 9.77838862e-04 2.43957622e+02] [ 8.94644416e-01 4.46774208e-01 2.04369725e-03 1.49706592e+02] [-2.26526028e-03 -3.82509585e-05 9.99997434e-01 -4.53729437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68 meters 0.014819663515986311 Centerline is valid? [True, True] Translation: X:243.99, Y:149.76, Z:-4.54 [[ 4.43963102e-01 -8.96044029e-01 1.36474051e-03 2.43989069e+02] [ 8.96039473e-01 4.43965197e-01 2.85759480e-03 1.49756838e+02] [-3.16642805e-03 -4.58052858e-05 9.99994986e-01 -4.53586946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74 meters 0.014211245045104766 Centerline is valid? [True, True] Translation: X:244.02, Y:149.81, Z:-4.53 [[ 4.39955093e-01 -8.98016293e-01 2.50082189e-03 2.44021473e+02] [ 8.98000965e-01 4.39962196e-01 5.24726970e-03 1.49806621e+02] [-5.81240078e-03 -6.28225581e-05 9.99983106e-01 -4.53377438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.8 meters 0.014129789530422205 Centerline is valid? [True, True] Translation: X:244.05, Y:149.86, Z:-4.53 [[ 4.38380036e-01 -8.98783358e-01 3.37924822e-03 2.44050538e+02] [ 8.98755304e-01 4.38393054e-01 7.10168835e-03 1.49856760e+02] [-7.86431825e-03 -7.61211339e-05 9.99969073e-01 -4.53332259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86 meters 0.014138450464609424 Centerline is valid? [True, True] Translation: X:244.08, Y:149.91, Z:-4.53 [[ 4.37888427e-01 -8.99023012e-01 3.36895451e-03 2.44076406e+02] [ 8.98995148e-01 4.37901381e-01 7.07841564e-03 1.49908748e+02] [-7.83892838e-03 -7.08825329e-05 9.99969273e-01 -4.53429244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92 meters 0.014089954224111117 Centerline is valid? [True, True] Translation: X:244.10, Y:149.96, Z:-4.54 [[ 4.36905805e-01 -8.99502100e-01 3.04795644e-03 2.44103509e+02] [ 8.99479279e-01 4.36916432e-01 6.40771821e-03 1.49959935e+02] [-7.09545824e-03 -5.79956228e-05 9.99974825e-01 -4.53585671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.97999999999996 meters 0.013878486663928918 Centerline is valid? [True, True] Translation: X:244.13, Y:150.01, Z:-4.54 [[ 4.35018855e-01 -9.00418458e-01 2.27969924e-03 2.44132508e+02] [ 9.00405698e-01 4.35024827e-01 4.79359230e-03 1.50010309e+02] [-5.30796475e-03 -3.26488460e-05 9.99985912e-01 -4.53800511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.03999999999996 meters 0.013731353115068934 Centerline is valid? [True, True] Translation: X:244.16, Y:150.06, Z:-4.54 [[ 4.32758623e-01 -9.01508075e-01 1.77870306e-03 2.44160783e+02] [ 9.01500315e-01 4.32762279e-01 3.74069149e-03 1.50061075e+02] [-4.14201917e-03 -1.53151319e-05 9.99991422e-01 -4.53916560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.09999999999997 meters 0.013706458565674108 Centerline is valid? [True, True] Translation: X:244.19, Y:150.11, Z:-4.54 [[ 4.29382246e-01 -9.03121380e-01 1.63106615e-03 2.44190772e+02] [ 9.03114859e-01 4.29385344e-01 3.43196740e-03 1.50111133e+02] [-3.79983904e-03 -5.85794098e-07 9.99992781e-01 -4.54091649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.15999999999997 meters 0.013697914198510725 Centerline is valid? [True, True] Translation: X:244.22, Y:150.16, Z:-4.54 [[ 4.27306653e-01 -9.04104484e-01 2.02653419e-03 2.44218775e+02] [ 9.04094402e-01 4.27311459e-01 4.26964367e-03 1.50162044e+02] [-4.72616526e-03 7.73107324e-06 9.99988832e-01 -4.54116673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.21999999999997 meters 0.013747262043531645 Centerline is valid? [True, True] Translation: X:244.25, Y:150.21, Z:-4.54 [[ 4.24927108e-01 -9.05224034e-01 2.53013050e-03 2.44248531e+02] [ 9.05208300e-01 4.24934640e-01 5.33718109e-03 1.50211968e+02] [-5.90648468e-03 2.23822041e-05 9.99982556e-01 -4.54065131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28 meters 0.013815992034887132 Centerline is valid? [True, True] Translation: X:244.28, Y:150.26, Z:-4.54 [[ 4.24052456e-01 -9.05633098e-01 2.86467235e-03 2.44275163e+02] [ 9.05612899e-01 4.24062131e-01 6.04861178e-03 1.50263667e+02] [-6.69262209e-03 2.93555531e-05 9.99977604e-01 -4.54147475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34 meters 0.013795576271861992 Centerline is valid? [True, True] Translation: X:244.30, Y:150.32, Z:-4.54 [[ 4.25223755e-01 -9.05085719e-01 2.14465494e-03 2.44301516e+02] [ 9.05074387e-01 4.25229164e-01 4.52915791e-03 1.50315256e+02] [-5.01124597e-03 1.51667168e-05 9.99987444e-01 -4.54259539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.4 meters 0.013800937181058362 Centerline is valid? [True, True] Translation: X:244.33, Y:150.37, Z:-4.54 [[ 4.27784640e-01 -9.03878707e-01 1.89310287e-03 2.44325487e+02] [ 9.03869858e-01 4.27788829e-01 3.99959855e-03 1.50368446e+02] [-4.42500023e-03 1.51794485e-07 9.99990210e-01 -4.54392710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46 meters 0.014110298508687493 Centerline is valid? [True, True] Translation: X:244.35, Y:150.42, Z:-4.55 [[ 4.32433775e-01 -9.01664110e-01 1.69229640e-03 2.44347062e+02] [ 9.01657011e-01 4.32437086e-01 3.57779652e-03 1.50421997e+02] [-3.95778243e-03 -2.12891388e-05 9.99992168e-01 -4.54562062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52 meters 0.014209962206846408 Centerline is valid? [True, True] Translation: X:244.37, Y:150.48, Z:-4.54 [[ 4.35035040e-01 -9.00411015e-01 2.12571717e-03 2.44371149e+02] [ 9.00399777e-01 4.35040231e-01 4.49880910e-03 1.50475654e+02] [-4.97554975e-03 -4.31443372e-05 9.99987621e-01 -4.54484021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58 meters 0.014454933608767616 Centerline is valid? [True, True] Translation: X:244.40, Y:150.53, Z:-4.55 [[ 4.37379922e-01 -8.99273963e-01 2.26783863e-03 2.44396028e+02] [ 8.99261133e-01 4.37385797e-01 4.80417125e-03 1.50529134e+02] [-5.31218653e-03 -6.18689114e-05 9.99985888e-01 -4.54542872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64 meters 0.014932195811421503 Centerline is valid? [True, True] Translation: X:244.42, Y:150.58, Z:-4.55 [[ 4.36923206e-01 -8.99497132e-01 1.73831879e-03 2.44420073e+02] [ 8.99489587e-01 4.36926661e-01 3.68446832e-03 1.50580891e+02] [-4.07368651e-03 -4.62300550e-05 9.99991701e-01 -4.54811780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7 meters 0.014327257944018939 Centerline is valid? [True, True] Translation: X:244.45, Y:150.63, Z:-4.55 [[ 4.35599781e-01 -9.00138867e-01 1.68845549e-03 2.44447295e+02] [ 9.00131758e-01 4.35603051e-01 3.57780668e-03 1.50632193e+02] [-3.95601922e-03 -3.86593993e-05 9.99992174e-01 -4.54769773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76 meters 0.014051181985413774 Centerline is valid? [True, True] Translation: X:244.47, Y:150.68, Z:-4.55 [[ 4.32000262e-01 -9.01872051e-01 1.60515028e-03 2.44474784e+02] [ 9.01865630e-01 4.32003244e-01 3.40337789e-03 1.50683685e+02] [-3.76284153e-03 -2.26302738e-05 9.99992920e-01 -4.54896184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82 meters 0.013783252795900059 Centerline is valid? [True, True] Translation: X:244.50, Y:150.74, Z:-4.55 [[ 4.28460547e-01 -9.03559434e-01 1.38190312e-03 2.44501814e+02] [ 9.03554681e-01 4.28462775e-01 2.93069225e-03 1.50735148e+02] [-3.24014867e-03 -7.06097255e-06 9.99994751e-01 -4.55014891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88 meters 0.013894156993072608 Centerline is valid? [True, True] Translation: X:244.53, Y:150.78, Z:-4.55 [[ 4.22350851e-01 -9.06431394e-01 1.37350518e-03 2.44530294e+02] [ 9.06426709e-01 4.22353084e-01 2.91454611e-03 1.50784664e+02] [-3.22194025e-03 1.40207539e-05 9.99994809e-01 -4.55095887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94 meters 0.01406163222706443 Centerline is valid? [True, True] Translation: X:244.56, Y:150.84, Z:-4.55 [[ 4.17937275e-01 -9.08474833e-01 1.38295012e-03 2.44557297e+02] [ 9.08470083e-01 4.17939562e-01 2.93766520e-03 1.50836648e+02] [-3.24678447e-03 2.86090242e-05 9.99994729e-01 -4.55046458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.0 meters 0.014748661943315557 Centerline is valid? [True, True] Translation: X:244.58, Y:150.89, Z:-4.55 [[ 4.13405645e-01 -9.10546005e-01 1.32082519e-03 2.44583995e+02] [ 9.10541666e-01 4.13407753e-01 2.81155040e-03 1.50887096e+02] [-3.10608535e-03 4.03555589e-05 9.99995175e-01 -4.55083273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06 meters 0.016102759528482887 Centerline is valid? [True, True] Translation: X:244.61, Y:150.94, Z:-4.55 [[ 4.06706894e-01 -9.13557214e-01 1.64865055e-03 2.44611683e+02] [ 9.13550483e-01 4.06710228e-01 3.50790198e-03 1.50938552e+02] [-3.87519220e-03 7.94375867e-05 9.99992488e-01 -4.55065950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12 meters 0.016420296573043155 Centerline is valid? [True, True] Translation: X:244.64, Y:150.99, Z:-4.55 [[ 4.03425676e-01 -9.15010392e-01 1.92540581e-03 2.44636662e+02] [ 9.15001207e-01 4.03430256e-01 4.10105080e-03 1.50991190e+02] [-4.52927106e-03 1.07279450e-04 9.99989737e-01 -4.55044558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18 meters 0.016546958329889297 Centerline is valid? [True, True] Translation: X:244.66, Y:151.04, Z:-4.55 [[ 4.02124482e-01 -9.15583573e-01 1.61935303e-03 2.44660613e+02] [ 9.15577078e-01 4.02127731e-01 3.44996792e-03 1.51044778e+02] [-3.80992071e-03 9.53259541e-05 9.99992738e-01 -4.55143774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24 meters 0.015929861569070367 Centerline is valid? [True, True] Translation: X:244.68, Y:151.10, Z:-4.55 [[ 4.05575134e-01 -9.14061084e-01 1.07054400e-03 2.44681921e+02] [ 9.14058243e-01 4.05576543e-01 2.27951948e-03 1.51099800e+02] [-2.51780758e-03 5.40231473e-05 9.99996829e-01 -4.55277127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.3 meters 0.01537700068489141 Centerline is valid? [True, True] Translation: X:244.70, Y:151.15, Z:-4.55 [[ 4.09606986e-01 -9.12261781e-01 7.48249682e-04 2.44702239e+02] [ 9.12260388e-01 4.09607669e-01 1.59440168e-03 1.51153616e+02] [-1.76100052e-03 2.95204797e-05 9.99998449e-01 -4.55432509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36 meters 0.014168150569340092 Centerline is valid? [True, True] Translation: X:244.72, Y:151.21, Z:-4.55 [[ 4.16759463e-01 -9.09016603e-01 6.04846821e-04 2.44718764e+02] [ 9.09015695e-01 4.16759901e-01 1.28457243e-03 1.51209883e+02] [-1.41977357e-03 1.44575372e-05 9.99998992e-01 -4.55485495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42 meters 0.013903140247057813 Centerline is valid? [True, True] Translation: X:244.74, Y:151.26, Z:-4.56 [[ 4.21286778e-01 -9.06927157e-01 7.63273629e-04 2.44737743e+02] [ 9.06925702e-01 4.21287470e-01 1.62477274e-03 1.51263707e+02] [-1.79510814e-03 7.73719654e-06 9.99998389e-01 -4.55607920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.47999999999996 meters 0.013872842020328091 Centerline is valid? [True, True] Translation: X:244.76, Y:151.32, Z:-4.56 [[ 4.26753684e-01 -9.04366769e-01 1.42856868e-03 2.44755870e+02] [ 9.04361619e-01 4.26756075e-01 3.05203948e-03 1.51319474e+02] [-3.36981345e-03 -1.05264076e-05 9.99994322e-01 -4.55541063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.53999999999996 meters 0.014252858454410558 Centerline is valid? [True, True] Translation: X:244.78, Y:151.37, Z:-4.56 [[ 4.30206911e-01 -9.02728487e-01 1.81468685e-03 2.44775985e+02] [ 9.02720137e-01 4.30210737e-01 3.88275439e-03 1.51374868e+02] [-4.28577076e-03 -3.22334130e-05 9.99990816e-01 -4.55563196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.59999999999997 meters 0.015332325678173445 Centerline is valid? [True, True] Translation: X:244.79, Y:151.43, Z:-4.56 [[ 4.36302771e-01 -8.99797501e-01 2.08544887e-03 2.44792941e+02] [ 8.99786416e-01 4.36307749e-01 4.46693141e-03 1.51431877e+02] [-4.92923122e-03 -7.24759897e-05 9.99987849e-01 -4.55635565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.65999999999997 meters 0.01592228383262388 Centerline is valid? [True, True] Translation: X:244.81, Y:151.49, Z:-4.56 [[ 4.39518233e-01 -8.98231770e-01 1.84683630e-03 2.44813557e+02] [ 8.98223054e-01 4.39522106e-01 3.95787695e-03 1.51487614e+02] [-4.36681620e-03 -8.06881368e-05 9.99990462e-01 -4.55731939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.71999999999997 meters 0.01707911139279168 Centerline is valid? [True, True] Translation: X:244.83, Y:151.54, Z:-4.56 [[ 4.42087766e-01 -8.96970462e-01 1.54859277e-03 2.44832352e+02] [ 8.96964326e-01 4.42090471e-01 3.31862969e-03 1.51542622e+02] [-3.66133091e-03 -7.80931176e-05 9.99993294e-01 -4.55972589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78 meters 0.017002168490340478 Centerline is valid? [True, True] Translation: X:244.86, Y:151.60, Z:-4.56 [[ 4.42129341e-01 -8.96950240e-01 1.38275745e-03 2.44856223e+02] [ 8.96945344e-01 4.42131498e-01 2.96452041e-03 1.51595342e+02] [-3.27038791e-03 -7.04435959e-05 9.99994650e-01 -4.56070099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84 meters 0.016452206321889564 Centerline is valid? [True, True] Translation: X:244.88, Y:151.65, Z:-4.56 [[ 4.41333233e-01 -8.97342986e-01 7.36601693e-04 2.44880656e+02] [ 8.97341604e-01 4.41333846e-01 1.57529720e-03 1.51648308e+02] [-1.73866916e-03 -3.42476622e-05 9.99998488e-01 -4.56172581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.9 meters 0.015900407165137288 Centerline is valid? [True, True] Translation: X:244.91, Y:151.70, Z:-4.56 [[ 4.38747941e-01 -8.98609487e-01 1.11084349e-03 2.44905280e+02] [ 8.98606325e-01 4.38749344e-01 2.38443890e-03 1.51702239e+02] [-2.63006127e-03 -4.79566709e-05 9.99996540e-01 -4.56215541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96 meters 0.01565380718574021 Centerline is valid? [True, True] Translation: X:244.93, Y:151.75, Z:-4.56 [[ 4.36607103e-01 -8.99650986e-01 1.53038060e-03 2.44929382e+02] [ 8.99644966e-01 4.36609781e-01 3.29162986e-03 1.51754496e+02] [-3.62949719e-03 -6.03497696e-05 9.99993412e-01 -4.56279318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02 meters 0.014901761312603866 Centerline is valid? [True, True] Translation: X:244.96, Y:151.81, Z:-4.56 [[ 4.33349929e-01 -9.01224006e-01 1.76914029e-03 2.44955931e+02] [ 9.01215968e-01 4.33353537e-01 3.80677414e-03 1.51807772e+02] [-4.19741944e-03 -5.52878199e-05 9.99991189e-01 -4.56227193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08 meters 0.01448271646071981 Centerline is valid? [True, True] Translation: X:244.98, Y:151.86, Z:-4.56 [[ 4.29795103e-01 -9.02922263e-01 2.74872960e-03 2.44982312e+02] [ 9.02902844e-01 4.29803888e-01 5.92210347e-03 1.51860153e+02] [-6.52861374e-03 -6.34552964e-05 9.99978686e-01 -4.56135339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14 meters 0.014304549960819446 Centerline is valid? [True, True] Translation: X:245.01, Y:151.91, Z:-4.56 [[ 4.26850879e-01 -9.04317183e-01 2.95985841e-03 2.45007497e+02] [ 9.04294663e-01 4.26861138e-01 6.38206522e-03 1.51911662e+02] [-7.03485977e-03 -4.76059837e-05 9.99975254e-01 -4.56162318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2 meters 0.013903989775847614 Centerline is valid? [True, True] Translation: X:245.03, Y:151.96, Z:-4.56 [[ 4.22866663e-01 -9.06187847e-01 2.71502532e-03 2.45033681e+02] [ 9.06168914e-01 4.22875378e-01 5.85781060e-03 1.51963995e+02] [-6.45639414e-03 -1.68012746e-05 9.99979157e-01 -4.56296634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26 meters 0.013889016386305039 Centerline is valid? [True, True] Translation: X:245.06, Y:152.02, Z:-4.56 [[ 4.20314202e-01 -9.07375457e-01 2.39810461e-03 2.45059339e+02] [ 9.07360691e-01 4.20321043e-01 5.17657968e-03 1.52016017e+02] [-5.70507519e-03 1.55899008e-07 9.99983726e-01 -4.56470380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32 meters 0.014025151028512033 Centerline is valid? [True, True] Translation: X:245.09, Y:152.07, Z:-4.57 [[ 4.16395633e-01 -9.09181576e-01 1.88121236e-03 2.45085618e+02] [ 9.09172502e-01 4.16399882e-01 4.06198211e-03 1.52067861e+02] [-4.47641590e-03 1.89549388e-05 9.99989981e-01 -4.56694170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38 meters 0.014175953572493962 Centerline is valid? [True, True] Translation: X:245.11, Y:152.12, Z:-4.57 [[ 4.14262259e-01 -9.10155557e-01 1.90874563e-03 2.45110861e+02] [ 9.10146213e-01 4.14266656e-01 4.12425239e-03 1.52120426e+02] [-4.54444090e-03 2.87154946e-05 9.99989674e-01 -4.56801229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44 meters 0.014145925404537915 Centerline is valid? [True, True] Translation: X:245.14, Y:152.17, Z:-4.57 [[ 4.13338339e-01 -9.10574015e-01 2.52592335e-03 2.45135389e+02] [ 9.10557616e-01 4.13346055e-01 5.46510131e-03 1.52172876e+02] [-6.02045970e-03 4.10628482e-05 9.99981876e-01 -4.56612905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.5 meters 0.01408125753083572 Centerline is valid? [True, True] Translation: X:245.16, Y:152.23, Z:-4.57 [[ 4.15205400e-01 -9.09724061e-01 2.57089582e-03 2.45158011e+02] [ 9.09707029e-01 4.15213358e-01 5.56672492e-03 1.52226250e+02] [-6.13165388e-03 2.74277515e-05 9.99981201e-01 -4.56609456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56 meters 0.014052778088889469 Centerline is valid? [True, True] Translation: X:245.18, Y:152.28, Z:-4.57 [[ 4.21090724e-01 -9.07015458e-01 2.35830862e-03 2.45175586e+02] [ 9.07001067e-01 4.21097327e-01 5.10937967e-03 1.52281548e+02] [-5.62736380e-03 -1.25239424e-05 9.99984166e-01 -4.56834763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62 meters 0.014571549086606834 Centerline is valid? [True, True] Translation: X:245.20, Y:152.34, Z:-4.57 [[ 4.26541675e-01 -9.04464926e-01 2.32333969e-03 2.45195245e+02] [ 9.04450898e-01 4.26548000e-01 5.03747257e-03 1.52337158e+02] [-5.54723315e-03 -4.73453185e-05 9.99984613e-01 -4.56881806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68 meters 0.015934995760754564 Centerline is valid? [True, True] Translation: X:245.21, Y:152.39, Z:-4.57 [[ 4.33803627e-01 -9.01003294e-01 2.73445650e-03 2.45212918e+02] [ 9.00983754e-01 4.33812231e-01 5.93490538e-03 1.52393571e+02] [-6.53360997e-03 -1.10882599e-04 9.99978650e-01 -4.56848809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74 meters 0.017084961407264395 Centerline is valid? [True, True] Translation: X:245.23, Y:152.45, Z:-4.57 [[ 4.39132283e-01 -8.98417846e-01 2.86570792e-03 2.45231631e+02] [ 8.98396294e-01 4.39141605e-01 6.22487950e-03 1.52449576e+02] [-6.85099440e-03 -1.59004169e-04 9.99976519e-01 -4.56918177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.8 meters 0.017523050863549515 Centerline is valid? [True, True] Translation: X:245.25, Y:152.50, Z:-4.57 [[ 4.39866786e-01 -8.98058692e-01 2.79235782e-03 2.45254199e+02] [ 8.98038197e-01 4.39875619e-01 6.06938855e-03 1.52504137e+02] [-6.67895727e-03 -1.62078454e-04 9.99977682e-01 -4.57102340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86 meters 0.0163068117227124 Centerline is valid? [True, True] Translation: X:245.28, Y:152.56, Z:-4.57 [[ 4.37344125e-01 -8.99291605e-01 2.17394043e-03 2.45280719e+02] [ 8.99279190e-01 4.37349514e-01 4.72661661e-03 1.52557334e+02] [-5.20137842e-03 -1.12178616e-04 9.99986466e-01 -4.57217951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92 meters 0.016198151232892026 Centerline is valid? [True, True] Translation: X:245.30, Y:152.61, Z:-4.57 [[ 4.34598712e-01 -9.00621564e-01 2.18110391e-03 2.45304455e+02] [ 9.00609050e-01 4.34604174e-01 4.74872333e-03 1.52609787e+02] [-5.22471950e-03 -9.94671262e-05 9.99986346e-01 -4.57328712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.97999999999996 meters 0.01550673373624786 Centerline is valid? [True, True] Translation: X:245.33, Y:152.66, Z:-4.57 [[ 4.31678875e-01 -9.02024531e-01 2.25710603e-03 2.45330189e+02] [ 9.02011164e-01 4.31684768e-01 4.91128508e-03 1.52661907e+02] [-5.40445791e-03 -8.41631851e-05 9.99985392e-01 -4.57359461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.03999999999996 meters 0.014448875561174409 Centerline is valid? [True, True] Translation: X:245.36, Y:152.71, Z:-4.57 [[ 4.28799155e-01 -9.03397258e-01 2.16326976e-03 2.45357517e+02] [ 9.03384980e-01 4.28804607e-01 4.71027622e-03 1.52713876e+02] [-5.18287066e-03 -6.54970507e-05 9.99986567e-01 -4.57314182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.09999999999997 meters 0.01469525323372514 Centerline is valid? [True, True] Translation: X:245.38, Y:152.77, Z:-4.58 [[ 4.28470825e-01 -9.03553887e-01 1.76768661e-03 2.45380286e+02] [ 9.03545688e-01 4.28474468e-01 3.84964886e-03 1.52766586e+02] [-4.23577377e-03 -5.22766086e-05 9.99991028e-01 -4.57534372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.15999999999997 meters 0.014921394598830785 Centerline is valid? [True, True] Translation: X:245.40, Y:152.82, Z:-4.58 [[ 4.29768837e-01 -9.02938008e-01 1.30391286e-03 2.45403644e+02] [ 9.02933535e-01 4.29770812e-01 2.84265626e-03 1.52820044e+02] [-3.12712607e-03 -4.43384292e-05 9.99995110e-01 -4.57725942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.21999999999997 meters 0.015513187384038764 Centerline is valid? [True, True] Translation: X:245.43, Y:152.87, Z:-4.58 [[ 4.31595438e-01 -9.02066720e-01 1.00522981e-03 2.45426071e+02] [ 9.02064061e-01 4.31596607e-01 2.19078635e-03 1.52873608e+02] [-2.41008924e-03 -3.87517081e-05 9.99997095e-01 -4.57878010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28 meters 0.016080119587192056 Centerline is valid? [True, True] Translation: X:245.45, Y:152.93, Z:-4.58 [[ 4.35613094e-01 -9.00133688e-01 7.59381830e-04 2.45447976e+02] [ 9.00132174e-01 4.35613755e-01 1.65126709e-03 1.52927754e+02] [-1.81715831e-03 -3.57695494e-05 9.99998348e-01 -4.57937695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34 meters 0.01751962205751589 Centerline is valid? [True, True] Translation: X:245.47, Y:152.98, Z:-4.58 [[ 4.39608067e-01 -8.98189401e-01 7.39790242e-04 2.45469319e+02] [ 8.98187960e-01 4.39608688e-01 1.60952218e-03 1.52982666e+02] [-1.77087398e-03 -4.30882481e-05 9.99998431e-01 -4.58035673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.4 meters 0.01833423198874589 Centerline is valid? [True, True] Translation: X:245.49, Y:153.04, Z:-4.58 [[ 4.41070436e-01 -8.97471571e-01 1.28478188e-03 2.45492930e+02] [ 8.97467194e-01 4.41072299e-01 2.80392321e-03 1.53037015e+02] [-3.08312306e-03 -8.36780455e-05 9.99995244e-01 -4.58029512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46 meters 0.01882881271127556 Centerline is valid? [True, True] Translation: X:245.52, Y:153.09, Z:-4.58 [[ 4.41117740e-01 -8.97446887e-01 2.05515370e-03 2.45516750e+02] [ 8.97435652e-01 4.41122506e-01 4.49284636e-03 1.53090238e+02] [-4.93866553e-03 -1.37506029e-04 9.99987795e-01 -4.57980732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52 meters 0.017693232469161387 Centerline is valid? [True, True] Translation: X:245.54, Y:153.14, Z:-4.58 [[ 4.40244944e-01 -8.97874731e-01 2.31445363e-03 2.45543161e+02] [ 8.97860445e-01 4.40251001e-01 5.06733640e-03 1.53142789e+02] [-5.56877384e-03 -1.52812865e-04 9.99984483e-01 -4.57967930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58 meters 0.01749465290568277 Centerline is valid? [True, True] Translation: X:245.57, Y:153.20, Z:-4.58 [[ 4.38361392e-01 -8.98796403e-01 2.07753118e-03 2.45569206e+02] [ 8.98784905e-01 4.38366297e-01 4.54804663e-03 1.53195374e+02] [-4.99848760e-03 -1.26434390e-04 9.99987499e-01 -4.58153556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64 meters 0.01746316222926885 Centerline is valid? [True, True] Translation: X:245.59, Y:153.25, Z:-4.58 [[ 4.37570552e-01 -8.99182225e-01 1.82695799e-03 2.45593553e+02] [ 8.99173334e-01 4.37574353e-01 4.00019053e-03 1.53248178e+02] [-4.39633018e-03 -1.07613672e-04 9.99990330e-01 -4.58331573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7 meters 0.016498243177649377 Centerline is valid? [True, True] Translation: X:245.62, Y:153.30, Z:-4.59 [[ 4.35558385e-01 -9.00159938e-01 9.89400831e-04 2.45619692e+02] [ 9.00157340e-01 4.35559506e-01 2.16334846e-03 1.53300014e+02] [-2.37830255e-03 -5.16481410e-05 9.99997171e-01 -4.58608487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76 meters 0.016286656309389504 Centerline is valid? [True, True] Translation: X:245.64, Y:153.35, Z:-4.59 [[ 4.34558558e-01 -9.00643089e-01 9.41501300e-04 2.45644961e+02] [ 9.00640735e-01 4.34559576e-01 2.05955088e-03 1.53352269e+02] [-2.26405867e-03 -4.70410379e-05 9.99997436e-01 -4.58668746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82 meters 0.01560138841341526 Centerline is valid? [True, True] Translation: X:245.67, Y:153.40, Z:-4.59 [[ 4.32298726e-01 -9.01728873e-01 1.68850649e-03 2.45673102e+02] [ 9.01721261e-01 4.32302017e-01 3.70590605e-03 1.53404870e+02] [-4.07166725e-03 -7.94962649e-05 9.99991708e-01 -4.58513468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88 meters 0.01518615489833499 Centerline is valid? [True, True] Translation: X:245.70, Y:153.46, Z:-4.59 [[ 4.30403688e-01 -9.02633436e-01 2.35479043e-03 2.45699052e+02] [ 9.02618610e-01 4.30410118e-01 5.17449575e-03 1.53458152e+02] [-5.68419851e-03 -1.01644397e-04 9.99983840e-01 -4.58506421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94 meters 0.014900076117713702 Centerline is valid? [True, True] Translation: X:245.73, Y:153.51, Z:-4.59 [[ 4.28089880e-01 -9.03731308e-01 2.96282185e-03 2.45725151e+02] [ 9.03707817e-01 4.28100118e-01 6.51695503e-03 1.53510424e+02] [-7.15796068e-03 -1.12317229e-04 9.99974375e-01 -4.58544562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.0 meters 0.014580859231381312 Centerline is valid? [True, True] Translation: X:245.75, Y:153.56, Z:-4.59 [[ 4.26903586e-01 -9.04292301e-01 2.96024720e-03 2.45751220e+02] [ 9.04268832e-01 4.26913837e-01 6.51579495e-03 1.53562017e+02] [-7.15595369e-03 -1.04756951e-04 9.99974390e-01 -4.58569792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06 meters 0.014309346603104268 Centerline is valid? [True, True] Translation: X:245.78, Y:153.61, Z:-4.59 [[ 4.24974630e-01 -9.05203263e-01 1.90164577e-03 2.45777871e+02] [ 9.05193590e-01 4.24978881e-01 4.18506731e-03 1.53613391e+02] [-4.59649587e-03 -5.71898691e-05 9.99989434e-01 -4.58858753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12 meters 0.014416536533089655 Centerline is valid? [True, True] Translation: X:245.80, Y:153.67, Z:-4.59 [[ 4.23816025e-01 -9.05747364e-01 1.29975039e-03 2.45802349e+02] [ 9.05742843e-01 4.23818016e-01 2.86203155e-03 1.53665167e+02] [-3.14313516e-03 -3.57352161e-05 9.99995060e-01 -4.59146325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18 meters 0.013874337111622457 Centerline is valid? [True, True] Translation: X:245.83, Y:153.72, Z:-4.59 [[ 4.20791912e-01 -9.07155985e-01 1.47834486e-03 2.45831051e+02] [ 9.07150141e-01 4.20794508e-01 3.25634093e-03 1.53717129e+02] [-3.57608856e-03 -2.91611809e-05 9.99993605e-01 -4.59044460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24 meters 0.013620382958671793 Centerline is valid? [True, True] Translation: X:245.86, Y:153.77, Z:-4.59 [[ 4.17364484e-01 -9.08738033e-01 1.44025909e-03 2.45859036e+02] [ 9.08732492e-01 4.17366968e-01 3.17357195e-03 1.53768849e+02] [-3.48506211e-03 -1.57259898e-05 9.99993927e-01 -4.58993012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.3 meters 0.013470236351187511 Centerline is valid? [True, True] Translation: X:245.89, Y:153.82, Z:-4.59 [[ 4.11555369e-01 -9.11383924e-01 1.23345032e-03 2.45888225e+02] [ 9.11379870e-01 4.11557218e-01 2.71826836e-03 1.53819006e+02] [-2.98502147e-03 5.42385200e-06 9.99995545e-01 -4.59101251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36 meters 0.013809512861962704 Centerline is valid? [True, True] Translation: X:245.92, Y:153.87, Z:-4.59 [[ 4.06792949e-01 -9.13519976e-01 8.66263771e-04 2.45915989e+02] [ 9.13517983e-01 4.06793871e-01 1.90846452e-03 1.53868985e+02] [-2.09581125e-03 1.49976232e-05 9.99997804e-01 -4.59244966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42 meters 0.014265164289162233 Centerline is valid? [True, True] Translation: X:245.94, Y:153.92, Z:-4.59 [[ 4.03082292e-01 -9.15163545e-01 5.92800160e-04 2.45942870e+02] [ 9.15162617e-01 4.03082728e-01 1.30360749e-03 1.53921041e+02] [-1.43196156e-03 1.70474494e-05 9.99998975e-01 -4.59362557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.47999999999996 meters 0.014884362424399387 Centerline is valid? [True, True] Translation: X:245.97, Y:153.97, Z:-4.59 [[ 3.96005366e-01 -9.18247983e-01 6.25394376e-04 2.45971640e+02] [ 9.18246951e-01 3.96005859e-01 1.37701606e-03 1.53972697e+02] [-1.51210206e-03 2.89607288e-05 9.99998856e-01 -4.59230296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.53999999999996 meters 0.0160277398608814 Centerline is valid? [True, True] Translation: X:246.00, Y:154.02, Z:-4.59 [[ 3.91839046e-01 -9.20033170e-01 1.06262949e-03 2.45999260e+02] [ 9.20030177e-01 3.91840482e-01 2.34714142e-03 1.54023483e+02] [-2.57582922e-03 5.79495447e-05 9.99996681e-01 -4.59213988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.59999999999997 meters 0.017040501144705365 Centerline is valid? [True, True] Translation: X:246.02, Y:154.07, Z:-4.59 [[ 3.89067521e-01 -9.21207976e-01 1.52575581e-03 2.46024871e+02] [ 9.21201789e-01 3.89070502e-01 3.37757048e-03 1.54074979e+02] [-3.70507145e-03 9.14260082e-05 9.99993132e-01 -4.59306683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.65999999999997 meters 0.01644159846263234 Centerline is valid? [True, True] Translation: X:246.05, Y:154.13, Z:-4.59 [[ 3.89868648e-01 -9.20869334e-01 1.45155546e-03 2.46047109e+02] [ 9.20863728e-01 3.89871341e-01 3.21445438e-03 1.54128437e+02] [-3.52601233e-03 8.34697854e-05 9.99993780e-01 -4.59371180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.71999999999997 meters 0.015468151744806697 Centerline is valid? [True, True] Translation: X:246.07, Y:154.18, Z:-4.60 [[ 3.94337116e-01 -9.18965566e-01 7.26625780e-04 2.46067667e+02] [ 9.18964163e-01 3.94337784e-01 1.60586357e-03 1.54183657e+02] [-1.76226932e-03 3.44914439e-05 9.99998447e-01 -4.59506726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78 meters 0.014961101031584734 Centerline is valid? [True, True] Translation: X:246.09, Y:154.24, Z:-4.60 [[ 3.97644477e-01 -9.17539475e-01 4.25424476e-04 2.46088249e+02] [ 9.17538998e-01 3.97644704e-01 9.36613556e-04 1.54238102e+02] [-1.02854770e-03 1.79043390e-05 9.99999471e-01 -4.59616616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84 meters 0.014646982970532496 Centerline is valid? [True, True] Translation: X:246.11, Y:154.29, Z:-4.60 [[ 4.01368029e-01 -9.15916681e-01 5.82024929e-04 2.46108105e+02] [ 9.15915778e-01 4.01368451e-01 1.28609161e-03 1.54292555e+02] [-1.41155921e-03 1.68897595e-05 9.99999004e-01 -4.59780308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.9 meters 0.01420142700065507 Centerline is valid? [True, True] Translation: X:246.13, Y:154.35, Z:-4.60 [[ 4.03396313e-01 -9.15025193e-01 5.57715235e-04 2.46128804e+02] [ 9.15024363e-01 4.03396699e-01 1.23257751e-03 1.54346528e+02] [-1.35281996e-03 1.31058020e-05 9.99999085e-01 -4.59841296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96 meters 0.013860602557913097 Centerline is valid? [True, True] Translation: X:246.15, Y:154.40, Z:-4.60 [[ 4.06943190e-01 -9.13453078e-01 8.45923295e-04 2.46148569e+02] [ 9.13451146e-01 4.06944069e-01 1.87842956e-03 1.54400302e+02] [-2.06010073e-03 8.29548592e-06 9.99997878e-01 -4.59835911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02 meters 0.013866928929133568 Centerline is valid? [True, True] Translation: X:246.17, Y:154.45, Z:-4.60 [[ 4.09574032e-01 -9.12276599e-01 7.20825653e-04 2.46168479e+02] [ 9.12275199e-01 4.09574666e-01 1.59822979e-03 1.54454499e+02] [-1.75325956e-03 2.99794757e-06 9.99998463e-01 -4.59975913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08 meters 0.01445508844179005 Centerline is valid? [True, True] Translation: X:246.19, Y:154.51, Z:-4.60 [[ 4.14858776e-01 -9.09885814e-01 -4.41170617e-05 2.46186115e+02] [ 9.09885807e-01 4.14858779e-01 -1.06290222e-04 1.54508656e+02] [ 1.15014315e-04 3.95394293e-06 9.99999993e-01 -4.60215764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14 meters 0.014299911056235251 Centerline is valid? [True, True] Translation: X:246.21, Y:154.56, Z:-4.60 [[ 4.17977347e-01 -9.08457281e-01 -5.53123850e-04 2.46208736e+02] [ 9.08456429e-01 4.17977712e-01 -1.24478088e-03 1.54563521e+02] [ 1.36202369e-03 1.78012907e-05 9.99999072e-01 -4.60084789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2 meters 0.014609943014010404 Centerline is valid? [True, True] Translation: X:246.23, Y:154.62, Z:-4.60 [[ 4.20932616e-01 -9.07091278e-01 -1.07038395e-03 2.46230953e+02] [ 9.07088106e-01 4.20933975e-01 -2.39939585e-03 1.54617509e+02] [ 2.62703203e-03 3.90514204e-05 9.99996549e-01 -4.60171132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26 meters 0.01684362697889495 Centerline is valid? [True, True] Translation: X:246.25, Y:154.67, Z:-4.61 [[ 4.21700175e-01 -9.06734635e-01 -1.12467713e-03 2.46250532e+02] [ 9.06731122e-01 4.21701672e-01 -2.52449478e-03 1.54671197e+02] [ 2.76332508e-03 4.48001331e-05 9.99996181e-01 -4.60674754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32 meters 0.014693760539949263 Centerline is valid? [True, True] Translation: X:246.28, Y:154.72, Z:-4.60 [[ 4.22231987e-01 -9.06487563e-01 -6.68109232e-04 2.46280139e+02] [ 9.06486313e-01 4.22232515e-01 -1.50613269e-03 1.54721383e+02] [ 1.64738799e-03 3.03055247e-05 9.99998643e-01 -4.59931496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38 meters 0.014940938184794758 Centerline is valid? [True, True] Translation: X:246.30, Y:154.77, Z:-4.60 [[ 4.22378670e-01 -9.06419250e-01 -6.34171835e-04 2.46304090e+02] [ 9.06418123e-01 4.22379145e-01 -1.43008599e-03 1.54773635e+02] [ 1.56411843e-03 2.92129754e-05 9.99998776e-01 -4.60023207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44 meters 0.015234279964254282 Centerline is valid? [True, True] Translation: X:246.33, Y:154.83, Z:-4.60 [[ 4.23704297e-01 -9.05799871e-01 -1.12332161e-03 2.46329356e+02] [ 9.05796349e-01 4.23705782e-01 -2.52684935e-03 1.54826512e+02] [ 2.76477768e-03 5.31363122e-05 9.99996177e-01 -4.60036460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.5 meters 0.015555003984154088 Centerline is valid? [True, True] Translation: X:246.35, Y:154.88, Z:-4.60 [[ 4.25401431e-01 -9.05003488e-01 -1.51977851e-03 2.46354387e+02] [ 9.04997037e-01 4.25404138e-01 -3.41780515e-03 1.54879676e+02] [ 3.73964564e-03 7.85441524e-05 9.99993004e-01 -4.60028605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56 meters 0.015996441931695783 Centerline is valid? [True, True] Translation: X:246.38, Y:154.93, Z:-4.60 [[ 4.25769317e-01 -9.04830293e-01 -1.62151518e-03 2.46377408e+02] [ 9.04822941e-01 4.25772396e-01 -3.64857777e-03 1.54932548e+02] [ 3.99174010e-03 8.62683276e-05 9.99992029e-01 -4.60178561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62 meters 0.016264311875216042 Centerline is valid? [True, True] Translation: X:246.40, Y:154.99, Z:-4.60 [[ 4.26636940e-01 -9.04420120e-01 -2.27326924e-03 2.46401826e+02] [ 9.04405663e-01 4.26642978e-01 -5.11536681e-03 1.54985983e+02] [ 5.59631502e-03 1.26446868e-04 9.99984333e-01 -4.60330014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68 meters 0.016179229891068743 Centerline is valid? [True, True] Translation: X:246.43, Y:155.04, Z:-4.60 [[ 4.26396543e-01 -9.04531918e-01 -2.82804241e-03 2.46428394e+02] [ 9.04509529e-01 4.26405893e-01 -6.36608669e-03 1.55038141e+02] [ 6.96422255e-03 1.56486055e-04 9.99975737e-01 -4.60498320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74 meters 0.015372330008361797 Centerline is valid? [True, True] Translation: X:246.46, Y:155.09, Z:-4.60 [[ 4.24859201e-01 -9.05255283e-01 -2.74438008e-03 2.46457010e+02] [ 9.05234187e-01 4.24868041e-01 -6.18174826e-03 1.55089561e+02] [ 6.76205966e-03 1.42065957e-04 9.99977127e-01 -4.60307269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.8 meters 0.015613028223075814 Centerline is valid? [True, True] Translation: X:246.48, Y:155.14, Z:-4.60 [[ 4.23851995e-01 -9.05728182e-01 -2.43864087e-03 2.46482227e+02] [ 9.05711518e-01 4.23858993e-01 -5.49542120e-03 1.55140877e+02] [ 6.01099771e-03 1.20540116e-04 9.99981927e-01 -4.60392472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86 meters 0.015837854381592516 Centerline is valid? [True, True] Translation: X:246.51, Y:155.19, Z:-4.60 [[ 4.23153134e-01 -9.06055380e-01 -2.25230527e-03 2.46507858e+02] [ 9.06041128e-01 4.23159114e-01 -5.08324798e-03 1.55191765e+02] [ 5.55878768e-03 1.10311111e-04 9.99984544e-01 -4.60453456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92 meters 0.015431678685570218 Centerline is valid? [True, True] Translation: X:246.53, Y:155.24, Z:-4.61 [[ 4.21707145e-01 -9.06728070e-01 -2.70012247e-03 2.46534807e+02] [ 9.06707585e-01 4.21715771e-01 -6.09614003e-03 1.55243020e+02] [ 6.66622551e-03 1.22564280e-04 9.99977773e-01 -4.60519663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.97999999999996 meters 0.014716132350883992 Centerline is valid? [True, True] Translation: X:246.56, Y:155.29, Z:-4.61 [[ 4.18764493e-01 -9.08091957e-01 -2.30141958e-03 2.46561995e+02] [ 9.08077067e-01 4.18770808e-01 -5.20097363e-03 1.55294601e+02] [ 5.68672966e-03 8.81167456e-05 9.99983827e-01 -4.60566082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.03999999999996 meters 0.013800974401177155 Centerline is valid? [True, True] Translation: X:246.59, Y:155.34, Z:-4.61 [[ 4.12823555e-01 -9.10809605e-01 -1.60508799e-03 2.46591335e+02] [ 9.10802357e-01 4.12826673e-01 -3.63373772e-03 1.55344926e+02] [ 3.97226636e-03 3.81745970e-05 9.99992110e-01 -4.60569333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.09999999999997 meters 0.01352017965436348 Centerline is valid? [True, True] Translation: X:246.62, Y:155.40, Z:-4.61 [[ 4.07801557e-01 -9.13070182e-01 -8.55914328e-04 2.46619474e+02] [ 9.13068114e-01 4.07802455e-01 -1.94352842e-03 1.55396709e+02] [ 2.12362181e-03 1.10658363e-05 9.99997745e-01 -4.60615999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.15999999999997 meters 0.01384364502329686 Centerline is valid? [True, True] Translation: X:246.65, Y:155.45, Z:-4.61 [[ 3.99693035e-01 -9.16649017e-01 -2.39959919e-04 2.46650208e+02] [ 9.16648850e-01 3.99693107e-01 -5.53073069e-04 1.55447087e+02] [ 6.02884210e-04 1.10046974e-06 9.99999818e-01 -4.60633304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.21999999999997 meters 0.014411766060360216 Centerline is valid? [True, True] Translation: X:246.68, Y:155.50, Z:-4.61 [[ 3.94717239e-01 -9.18802607e-01 2.67270503e-04 2.46677784e+02] [ 9.18802414e-01 3.94717329e-01 5.94591127e-04 1.55498700e+02] [-6.51808177e-04 1.08734155e-05 9.99999788e-01 -4.60690438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28 meters 0.01551333975548317 Centerline is valid? [True, True] Translation: X:246.70, Y:155.55, Z:-4.61 [[ 3.89894918e-01 -9.20859334e-01 1.98792699e-04 2.46704601e+02] [ 9.20859229e-01 3.89894968e-01 4.39831011e-04 1.55550307e+02] [-4.82530765e-04 1.15722159e-05 9.99999884e-01 -4.60878932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34 meters 0.015368461223428134 Centerline is valid? [True, True] Translation: X:246.73, Y:155.60, Z:-4.61 [[ 3.87732588e-01 -9.21771885e-01 1.80717409e-04 2.46727848e+02] [ 9.21771797e-01 3.87732630e-01 4.02550316e-04 1.55603446e+02] [-4.41129600e-04 1.04983348e-05 9.99999903e-01 -4.60956775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.4 meters 0.016326546570037664 Centerline is valid? [True, True] Translation: X:246.75, Y:155.66, Z:-4.61 [[ 3.85027978e-01 -9.22904854e-01 2.94885947e-04 2.46753393e+02] [ 9.22904619e-01 3.85028090e-01 6.58459151e-04 1.55655363e+02] [-7.21234520e-04 1.86264073e-05 9.99999740e-01 -4.61125121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46 meters 0.016512493332148447 Centerline is valid? [True, True] Translation: X:246.78, Y:155.71, Z:-4.61 [[ 3.84596206e-01 -9.23084881e-01 2.46601795e-04 2.46776899e+02] [ 9.23084718e-01 3.84596285e-01 5.48738471e-04 1.55708475e+02] [-6.01374321e-04 1.65916141e-05 9.99999819e-01 -4.61194015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52 meters 0.015976618369718143 Centerline is valid? [True, True] Translation: X:246.80, Y:155.76, Z:-4.61 [[ 3.87374194e-01 -9.21922529e-01 2.91339780e-04 2.46797191e+02] [ 9.21922299e-01 3.87374304e-01 6.51123659e-04 1.55763686e+02] [-7.13143114e-04 1.63641365e-05 9.99999746e-01 -4.61196628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58 meters 0.0153761718710658 Centerline is valid? [True, True] Translation: X:246.82, Y:155.82, Z:-4.61 [[ 3.91544754e-01 -9.20159055e-01 1.35826195e-04 2.46816788e+02] [ 9.20159007e-01 3.91544777e-01 2.98367426e-04 1.55819122e+02] [-3.27727526e-04 8.15749589e-06 9.99999946e-01 -4.61303631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64 meters 0.01468393185095209 Centerline is valid? [True, True] Translation: X:246.83, Y:155.88, Z:-4.62 [[ 3.99954241e-01 -9.16534905e-01 -6.10312481e-04 2.46833096e+02] [ 9.16533846e-01 3.99954707e-01 -1.39326798e-03 1.55876148e+02] [ 1.52107609e-03 -2.12860668e-06 9.99998843e-01 -4.61522549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7 meters 0.01482559006208922 Centerline is valid? [True, True] Translation: X:246.85, Y:155.93, Z:-4.62 [[ 4.05503686e-01 -9.14093120e-01 -7.27377189e-04 2.46850605e+02] [ 9.14091602e-01 4.05504338e-01 -1.66562276e-03 1.55930634e+02] [ 1.81748891e-03 1.05267891e-05 9.99998348e-01 -4.61759330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76 meters 0.015401087805581337 Centerline is valid? [True, True] Translation: X:246.87, Y:155.99, Z:-4.62 [[ 4.13272974e-01 -9.10607043e-01 -5.11223965e-04 2.46868139e+02] [ 9.10606287e-01 4.13273290e-01 -1.17388145e-03 1.55987005e+02] [ 1.28021993e-03 1.96097225e-05 9.99999180e-01 -4.61653294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82 meters 0.016104891869131912 Centerline is valid? [True, True] Translation: X:246.89, Y:156.04, Z:-4.62 [[ 4.17239566e-01 -9.08796493e-01 -2.80765052e-04 2.46888820e+02] [ 9.08796261e-01 4.17239660e-01 -6.49804957e-04 1.56041463e+02] [ 7.07686781e-04 1.59661086e-05 9.99999749e-01 -4.61675488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88 meters 0.017140527889563738 Centerline is valid? [True, True] Translation: X:246.91, Y:156.10, Z:-4.62 [[ 4.20864659e-01 -9.07123434e-01 -1.20561800e-04 2.46910442e+02] [ 9.07123389e-01 4.20864677e-01 -2.84879369e-04 1.56095745e+02] [ 3.09160954e-04 1.05312299e-05 9.99999952e-01 -4.61753032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94 meters 0.017804942966561065 Centerline is valid? [True, True] Translation: X:246.93, Y:156.15, Z:-4.62 [[ 4.21764995e-01 -9.06705103e-01 3.82429570e-04 2.46934471e+02] [ 9.06704693e-01 4.21765168e-01 8.61919451e-04 1.56148165e+02] [-9.42802236e-04 -1.67767667e-05 9.99999555e-01 -4.61731867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.0 meters 0.017267087792363918 Centerline is valid? [True, True] Translation: X:246.96, Y:156.20, Z:-4.62 [[ 4.21402703e-01 -9.06873533e-01 3.95896807e-04 2.46960676e+02] [ 9.06873094e-01 4.21402889e-01 8.93037083e-04 1.56200244e+02] [-9.76703753e-04 -1.73000790e-05 9.99999523e-01 -4.61700912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06 meters 0.01770775401815824 Centerline is valid? [True, True] Translation: X:246.99, Y:156.25, Z:-4.62 [[ 4.22172848e-01 -9.06515217e-01 -4.98259168e-04 2.46985428e+02] [ 9.06514490e-01 4.22173141e-01 -1.14856294e-03 1.56253512e+02] [ 1.25154142e-03 3.32129306e-05 9.99999216e-01 -4.61997856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12 meters 0.01881906256665461 Centerline is valid? [True, True] Translation: X:247.01, Y:156.31, Z:-4.62 [[ 4.22683007e-01 -9.06277036e-01 -1.00445422e-03 2.47008099e+02] [ 9.06274119e-01 4.22684196e-01 -2.30047594e-03 1.56305683e+02] [ 2.50943544e-03 6.20612234e-05 9.99996849e-01 -4.62303422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18 meters 0.01799213660474907 Centerline is valid? [True, True] Translation: X:247.04, Y:156.36, Z:-4.62 [[ 4.21889437e-01 -9.06646617e-01 -1.10262013e-03 2.47035713e+02] [ 9.06643081e-01 4.21890872e-01 -2.53308358e-03 1.56356513e+02] [ 2.76179703e-03 6.89982903e-05 9.99996184e-01 -4.62269610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24 meters 0.01799376819498423 Centerline is valid? [True, True] Translation: X:247.06, Y:156.41, Z:-4.62 [[ 4.20447994e-01 -9.07316354e-01 -7.20507724e-04 2.47061049e+02] [ 9.07314843e-01 4.20448609e-01 -1.65601326e-03 1.56408378e+02] [ 1.80546438e-03 4.25401011e-05 9.99998369e-01 -4.62297060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.3 meters 0.017239902722069628 Centerline is valid? [True, True] Translation: X:247.09, Y:156.46, Z:-4.62 [[ 4.18625339e-01 -9.08158985e-01 -2.87379299e-04 2.47088001e+02] [ 9.08158740e-01 4.18625437e-01 -6.67864634e-04 1.56460871e+02] [ 7.26831553e-04 1.85990364e-05 9.99999736e-01 -4.62251555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36 meters 0.01754274863721077 Centerline is valid? [True, True] Translation: X:247.11, Y:156.51, Z:-4.62 [[ 4.18152931e-01 -9.08376624e-01 -1.90009882e-04 2.47111496e+02] [ 9.08376514e-01 4.18152974e-01 -4.46225654e-04 1.56513803e+02] [ 4.84794150e-04 1.39900507e-05 9.99999882e-01 -4.62346312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42 meters 0.0174473164955848 Centerline is valid? [True, True] Translation: X:247.14, Y:156.57, Z:-4.62 [[ 4.16578661e-01 -9.09099628e-01 -2.93442641e-04 2.47135867e+02] [ 9.09099371e-01 4.16578764e-01 -6.83754514e-04 1.56566483e+02] [ 7.43842947e-04 1.80690196e-05 9.99999723e-01 -4.62433314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.47999999999996 meters 0.017313856851449743 Centerline is valid? [True, True] Translation: X:247.16, Y:156.62, Z:-4.62 [[ 4.15426905e-01 -9.09626514e-01 -3.01983189e-04 2.47159976e+02] [ 9.09626242e-01 4.15427015e-01 -7.03848173e-04 1.56619333e+02] [ 7.65690935e-04 1.77056348e-05 9.99999707e-01 -4.62489484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.53999999999996 meters 0.016436109990756766 Centerline is valid? [True, True] Translation: X:247.19, Y:156.67, Z:-4.62 [[ 4.11331907e-01 -9.11485635e-01 -2.02103689e-06 2.47186521e+02] [ 9.11485634e-01 4.11331907e-01 -1.51604120e-05 1.56671042e+02] [ 1.46498146e-05 4.39381509e-06 1.00000000e+00 -4.62411796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.59999999999997 meters 0.01626095610061633 Centerline is valid? [True, True] Translation: X:247.21, Y:156.73, Z:-4.62 [[ 4.09999624e-01 -9.12085490e-01 6.06227072e-04 2.47209967e+02] [ 9.12084435e-01 4.10000072e-01 1.38706459e-03 1.56725088e+02] [-1.51367463e-03 -1.57656851e-05 9.99998854e-01 -4.62401464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.65999999999997 meters 0.015815263346893923 Centerline is valid? [True, True] Translation: X:247.24, Y:156.78, Z:-4.63 [[ 4.06513070e-01 -9.13644813e-01 5.29011196e-04 2.47235817e+02] [ 9.13644012e-01 4.06513414e-01 1.20965882e-03 1.56777629e+02] [-1.32024865e-03 -8.41420713e-06 9.99999128e-01 -4.62566551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.71999999999997 meters 0.015364113534785782 Centerline is valid? [True, True] Translation: X:247.26, Y:156.83, Z:-4.63 [[ 4.01157508e-01 -9.16008581e-01 9.66447805e-04 2.47263704e+02] [ 9.16005906e-01 4.01158672e-01 2.21361300e-03 1.56829008e+02] [-2.41538742e-03 -2.73557574e-06 9.99997083e-01 -4.62596225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78 meters 0.015166701947417446 Centerline is valid? [True, True] Translation: X:247.29, Y:156.88, Z:-4.63 [[ 3.98074096e-01 -9.17352302e-01 1.32975451e-03 2.47289550e+02] [ 9.17347226e-01 3.98076317e-01 3.05159861e-03 1.56881496e+02] [-3.32873479e-03 5.08425551e-06 9.99994460e-01 -4.62592904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84 meters 0.015168378749462039 Centerline is valid? [True, True] Translation: X:247.31, Y:156.93, Z:-4.63 [[ 3.96103727e-01 -9.18204753e-01 1.36670696e-03 2.47313405e+02] [ 9.18199388e-01 3.96106085e-01 3.13905983e-03 1.56934372e+02] [-3.42366060e-03 1.15161920e-05 9.99994139e-01 -4.62684863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.9 meters 0.015122989266708697 Centerline is valid? [True, True] Translation: X:247.34, Y:156.99, Z:-4.63 [[ 3.95358867e-01 -9.18525675e-01 1.39683681e-03 2.47335605e+02] [ 9.18520062e-01 3.95361334e-01 3.21106805e-03 1.56988432e+02] [-3.50170371e-03 1.34984130e-05 9.99993869e-01 -4.62818216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96 meters 0.015231365923454244 Centerline is valid? [True, True] Translation: X:247.36, Y:157.04, Z:-4.63 [[ 3.92429852e-01 -9.19781260e-01 1.11578104e-03 2.47357743e+02] [ 9.19777681e-01 3.92431438e-01 2.56583998e-03 1.57040910e+02] [-2.79787909e-03 1.93582955e-05 9.99996086e-01 -4.62939643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02 meters 0.015446631928287888 Centerline is valid? [True, True] Translation: X:247.38, Y:157.09, Z:-4.63 [[ 3.88128262e-01 -9.21604611e-01 1.18040625e-03 2.47381865e+02] [ 9.21600608e-01 3.88130056e-01 2.71644665e-03 1.57094416e+02] [-2.96164090e-03 3.35333991e-05 9.99995614e-01 -4.62944439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08 meters 0.01638961309948856 Centerline is valid? [True, True] Translation: X:247.41, Y:157.15, Z:-4.63 [[ 3.81945041e-01 -9.24183778e-01 1.52629888e-03 2.47406623e+02] [ 9.24177086e-01 3.81948085e-01 3.51775342e-03 1.57146877e+02] [-3.83401758e-03 6.69819805e-05 9.99992648e-01 -4.63039088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14 meters 0.018244898249692953 Centerline is valid? [True, True] Translation: X:247.43, Y:157.20, Z:-4.63 [[ 3.70963422e-01 -9.28644767e-01 2.24413536e-03 2.47431438e+02] [ 9.28630325e-01 3.70970174e-01 5.18161633e-03 1.57200115e+02] [-5.64438818e-03 1.61782025e-04 9.99984057e-01 -4.63059654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2 meters 0.021805541459855252 Centerline is valid? [True, True] Translation: X:247.46, Y:157.25, Z:-4.63 [[ 3.59809053e-01 -9.33021680e-01 2.82688338e-03 2.47456958e+02] [ 9.32998844e-01 3.59820043e-01 6.53403212e-03 1.57251426e+02] [-7.11356293e-03 2.86475014e-04 9.99974657e-01 -4.63052785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26 meters 0.02137007843976161 Centerline is valid? [True, True] Translation: X:247.48, Y:157.31, Z:-4.63 [[ 3.54643469e-01 -9.34996694e-01 3.03187732e-03 2.47475852e+02] [ 9.34970447e-01 3.54656259e-01 7.01435939e-03 1.57306402e+02] [-7.63367711e-03 3.47118949e-04 9.99970803e-01 -4.63021789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32 meters 0.022439417386109235 Centerline is valid? [True, True] Translation: X:247.49, Y:157.36, Z:-4.63 [[ 3.51503214e-01 -9.36179386e-01 3.69423458e-03 2.47493211e+02] [ 9.36140395e-01 3.51522337e-01 8.55615375e-03 1.57362778e+02] [-9.30870074e-03 4.50806679e-04 9.99956571e-01 -4.63122703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38 meters 0.021923854824378496 Centerline is valid? [True, True] Translation: X:247.51, Y:157.42, Z:-4.63 [[ 3.51699090e-01 -9.36103063e-01 4.33653637e-03 2.47510113e+02] [ 9.36049224e-01 3.51725434e-01 1.00533119e-02 1.57419502e+02] [-1.09362062e-02 5.23470861e-04 9.99940061e-01 -4.63137785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44 meters 0.021229789301633502 Centerline is valid? [True, True] Translation: X:247.52, Y:157.48, Z:-4.63 [[ 3.56110194e-01 -9.34431742e-01 4.78017340e-03 2.47522751e+02] [ 9.34366068e-01 3.56141900e-01 1.10904642e-02 1.57476859e+02] [-1.20657018e-02 5.17004487e-04 9.99927073e-01 -4.63221746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.5 meters 0.018491945938413235 Centerline is valid? [True, True] Translation: X:247.53, Y:157.54, Z:-4.63 [[ 3.64654338e-01 -9.31129967e-01 4.91919762e-03 2.47530533e+02] [ 9.31059989e-01 3.64687281e-01 1.14229891e-02 1.57537415e+02] [-1.24302562e-02 4.14625556e-04 9.99922655e-01 -4.63404780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56 meters 0.01771485983860139 Centerline is valid? [True, True] Translation: X:247.54, Y:157.59, Z:-4.64 [[ 3.70823375e-01 -9.28689385e-01 5.10401475e-03 2.47544456e+02] [ 9.28613688e-01 3.70858342e-01 1.18620194e-02 1.57593208e+02] [-1.29089980e-02 3.40943890e-04 9.99916617e-01 -4.63545139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62 meters 0.016283844905914512 Centerline is valid? [True, True] Translation: X:247.56, Y:157.65, Z:-4.64 [[ 3.75924736e-01 -9.26635403e-01 5.23676867e-03 2.47557892e+02] [ 9.26555462e-01 3.75961108e-01 1.21746180e-02 1.57650447e+02] [-1.32502534e-02 2.75416555e-04 9.99912174e-01 -4.63721102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68 meters 0.015289575735864641 Centerline is valid? [True, True] Translation: X:247.57, Y:157.71, Z:-4.64 [[ 3.80611079e-01 -9.24722590e-01 4.83097276e-03 2.47569385e+02] [ 9.24654307e-01 3.80641690e-01 1.12390380e-02 1.57708071e+02] [-1.22318619e-02 1.89277397e-04 9.99925170e-01 -4.63998246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74 meters 0.014433639937494603 Centerline is valid? [True, True] Translation: X:247.58, Y:157.77, Z:-4.64 [[ 3.81168611e-01 -9.24488699e-01 5.57985069e-03 2.47583347e+02] [ 9.24397418e-01 3.81209395e-01 1.29926882e-02 1.57765253e+02] [-1.41386849e-02 2.05594668e-04 9.99900023e-01 -4.64053403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.8 meters 0.014780667312945474 Centerline is valid? [True, True] Translation: X:247.60, Y:157.82, Z:-4.64 [[ 3.79714159e-01 -9.25083110e-01 6.19651095e-03 2.47602955e+02] [ 9.24970421e-01 3.79764634e-01 1.44410310e-02 1.57818927e+02] [-1.57123696e-02 2.48125422e-04 9.99876522e-01 -4.64040625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86 meters 0.015246765386439034 Centerline is valid? [True, True] Translation: X:247.62, Y:157.87, Z:-4.64 [[ 3.76112648e-01 -9.26549122e-01 6.78238248e-03 2.47621719e+02] [ 9.26414150e-01 3.76173648e-01 1.58180090e-02 1.57874003e+02] [-1.72075159e-02 3.33941870e-04 9.99851884e-01 -4.64148315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92 meters 0.016082440524625118 Centerline is valid? [True, True] Translation: X:247.64, Y:157.93, Z:-4.64 [[ 3.72805482e-01 -9.27887574e-01 6.38138502e-03 2.47643333e+02] [ 9.27768171e-01 3.72859911e-01 1.48898831e-02 1.57928680e+02] [-1.61955002e-02 3.69415848e-04 9.99868776e-01 -4.64354921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.97999999999996 meters 0.016481768666089896 Centerline is valid? [True, True] Translation: X:247.66, Y:157.98, Z:-4.65 [[ 3.67516229e-01 -9.30001141e-01 5.44972527e-03 2.47662450e+02] [ 9.29914179e-01 3.67556424e-01 1.27238221e-02 1.57984619e+02] [-1.38362506e-02 3.91565678e-04 9.99904198e-01 -4.64772798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.03999999999996 meters 0.01765418931891619 Centerline is valid? [True, True] Translation: X:247.68, Y:158.04, Z:-4.65 [[ 3.62247701e-01 -9.32065577e-01 5.51040256e-03 2.47683121e+02] [ 9.31976773e-01 3.62289302e-01 1.28746212e-02 1.58039461e+02] [-1.39963511e-02 4.71765271e-04 9.99901935e-01 -4.64833540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.09999999999997 meters 0.01810370979788978 Centerline is valid? [True, True] Translation: X:247.70, Y:158.10, Z:-4.65 [[ 3.59552483e-01 -9.33106810e-01 5.80463433e-03 2.47703213e+02] [ 9.33008244e-01 3.59598936e-01 1.35728669e-02 1.58095034e+02] [-1.47522749e-02 5.35613676e-04 9.99891036e-01 -4.64862803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.15999999999997 meters 0.017951558998306572 Centerline is valid? [True, True] Translation: X:247.72, Y:158.15, Z:-4.65 [[ 3.58132638e-01 -9.33650544e-01 6.13809478e-03 2.47720178e+02] [ 9.33540239e-01 3.58184755e-01 1.43632668e-02 1.58152177e+02] [-1.56088438e-02 5.86203848e-04 9.99878003e-01 -4.64935536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.21999999999997 meters 0.017613187328582514 Centerline is valid? [True, True] Translation: X:247.74, Y:158.21, Z:-4.65 [[ 3.59847418e-01 -9.32991470e-01 6.06244923e-03 2.47735505e+02] [ 9.32883620e-01 3.59898067e-01 1.41962205e-02 1.58209420e+02] [-1.54268163e-02 5.47086310e-04 9.99880850e-01 -4.65096466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28 meters 0.01684732020433156 Centerline is valid? [True, True] Translation: X:247.75, Y:158.27, Z:-4.65 [[ 3.62604560e-01 -9.31922971e-01 6.12449403e-03 2.47752588e+02] [ 9.31812590e-01 3.62655930e-01 1.43518033e-02 1.58265351e+02] [-1.55958593e-02 5.02851317e-04 9.99878251e-01 -4.65234868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34 meters 0.015007314535825073 Centerline is valid? [True, True] Translation: X:247.77, Y:158.32, Z:-4.65 [[ 3.69681638e-01 -9.29137829e-01 6.19519030e-03 2.47765506e+02] [ 9.29024310e-01 3.69733345e-01 1.45287955e-02 1.58323846e+02] [-1.57898219e-02 3.84453475e-04 9.99875259e-01 -4.65391220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.4 meters 0.01491690125882493 Centerline is valid? [True, True] Translation: X:247.79, Y:158.38, Z:-4.65 [[ 3.72417975e-01 -9.28044879e-01 6.12809685e-03 2.47786107e+02] [ 9.27933487e-01 3.72468244e-01 1.43822930e-02 1.58378526e+02] [-1.56299349e-02 3.30241822e-04 9.99877791e-01 -4.65495932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46 meters 0.013353577884449479 Centerline is valid? [True, True] Translation: X:247.80, Y:158.44, Z:-4.66 [[ 3.81160648e-01 -9.24488465e-01 6.13506986e-03 2.47798654e+02] [ 9.24376189e-01 3.81209977e-01 1.44088252e-02 1.58435690e+02] [-1.56595425e-02 1.79035362e-04 9.99877366e-01 -4.65645544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52 meters 0.012540486254410073 Centerline is valid? [True, True] Translation: X:247.82, Y:158.49, Z:-4.66 [[ 3.85499997e-01 -9.22685158e-01 6.46929068e-03 2.47815899e+02] [ 9.22559855e-01 3.85554261e-01 1.52061197e-02 1.58492007e+02] [-1.65247235e-02 1.06348784e-04 9.99863452e-01 -4.65708158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58 meters 0.012254079915669212 Centerline is valid? [True, True] Translation: X:247.83, Y:158.55, Z:-4.66 [[ 3.90539359e-01 -9.20561472e-01 6.75174199e-03 2.47833478e+02] [ 9.20424462e-01 3.90597717e-01 1.58818597e-02 1.58547533e+02] [-1.72574432e-02 1.19771797e-05 9.99851079e-01 -4.65742758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64 meters 0.0121858838790395 Centerline is valid? [True, True] Translation: X:247.85, Y:158.60, Z:-4.66 [[ 3.92662597e-01 -9.19657704e-01 6.76698757e-03 2.47853975e+02] [ 9.19519716e-01 3.92720901e-01 1.59306640e-02 1.58601959e+02] [-1.73082953e-02 -3.29974100e-05 9.99850200e-01 -4.65930686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7 meters 0.012257514741818503 Centerline is valid? [True, True] Translation: X:247.88, Y:158.66, Z:-4.66 [[ 3.94384870e-01 -9.18922814e-01 6.43717782e-03 2.47876600e+02] [ 9.18797653e-01 3.94437395e-01 1.51662509e-02 1.58655491e+02] [-1.64756776e-02 -6.68760024e-05 9.99864265e-01 -4.66027357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76 meters 0.012161874478046777 Centerline is valid? [True, True] Translation: X:247.90, Y:158.71, Z:-4.66 [[ 3.93150515e-01 -9.19455745e-01 5.81418953e-03 2.47901051e+02] [ 9.19353545e-01 3.93193503e-01 1.37086999e-02 1.58707527e+02] [-1.48906445e-02 -4.42866923e-05 9.99889127e-01 -4.66101986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82 meters 0.01209319424408729 Centerline is valid? [True, True] Translation: X:247.93, Y:158.76, Z:-4.66 [[ 3.92089728e-01 -9.19909150e-01 5.72721822e-03 2.47925781e+02] [ 9.19809891e-01 3.92131553e-01 1.35133074e-02 1.58760147e+02] [-1.46768381e-02 -3.04770457e-05 9.99892289e-01 -4.66170346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88 meters 0.012023909814951562 Centerline is valid? [True, True] Translation: X:247.95, Y:158.81, Z:-4.66 [[ 3.90879832e-01 -9.20424503e-01 5.62940947e-03 2.47951723e+02] [ 9.20328506e-01 3.90920367e-01 1.32931842e-02 1.58812582e+02] [-1.44360232e-02 -1.51315903e-05 9.99895795e-01 -4.66222520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94 meters 0.011935086494380617 Centerline is valid? [True, True] Translation: X:247.98, Y:158.87, Z:-4.66 [[ 3.90678612e-01 -9.20511904e-01 5.29686681e-03 2.47975669e+02] [ 9.20426794e-01 3.90714517e-01 1.25173240e-02 1.58865219e+02] [-1.35919085e-02 -1.48726175e-05 9.99907626e-01 -4.66331101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.0 meters 0.011969497842902903 Centerline is valid? [True, True] Translation: X:248.00, Y:158.92, Z:-4.67 [[ 3.92703099e-01 -9.19653853e-01 4.58980194e-03 2.47999020e+02] [ 9.19589802e-01 3.92729918e-01 1.08538953e-02 1.58918121e+02] [-1.17843792e-02 -4.16232571e-05 9.99930561e-01 -4.66500251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06 meters 0.012149250717178045 Centerline is valid? [True, True] Translation: X:248.02, Y:158.97, Z:-4.67 [[ 3.96301319e-01 -9.18109953e-01 4.40225496e-03 2.48021342e+02] [ 9.18050825e-01 3.96325759e-01 1.04199511e-02 1.58971817e+02] [-1.13113879e-02 -8.79465659e-05 9.99936020e-01 -4.66571038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12 meters 0.012429171191908225 Centerline is valid? [True, True] Translation: X:248.04, Y:159.03, Z:-4.67 [[ 3.97850214e-01 -9.17440242e-01 4.31395155e-03 2.48044153e+02] [ 9.17383397e-01 3.97873587e-01 1.02132870e-02 1.59025797e+02] [-1.10864878e-02 -1.05810869e-04 9.99938537e-01 -4.66683150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18 meters 0.012456678573763131 Centerline is valid? [True, True] Translation: X:248.07, Y:159.08, Z:-4.67 [[ 3.97090280e-01 -9.17769985e-01 4.19085637e-03 2.48068690e+02] [ 9.17716274e-01 3.97112383e-01 9.92953381e-03 1.59077822e+02] [-1.07772691e-02 -9.69042727e-05 9.99941919e-01 -4.66814874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24 meters 0.012014014336008003 Centerline is valid? [True, True] Translation: X:248.10, Y:159.13, Z:-4.67 [[ 3.94337815e-01 -9.18956841e-01 4.00138572e-03 2.48095293e+02] [ 9.18907876e-01 3.94358111e-01 9.48661135e-03 1.59129423e+02] [-1.02957653e-02 -6.40247386e-05 9.99946995e-01 -4.66985175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.3 meters 0.011645050587743358 Centerline is valid? [True, True] Translation: X:248.12, Y:159.18, Z:-4.67 [[ 3.88254698e-01 -9.21542727e-01 4.15829329e-03 2.48123900e+02] [ 9.21489894e-01 3.88276965e-01 9.86776515e-03 1.59179797e+02] [-1.07081367e-02 6.19070506e-07 9.99942666e-01 -4.67062950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36 meters 0.0118274889143523 Centerline is valid? [True, True] Translation: X:248.15, Y:159.23, Z:-4.67 [[ 3.83291356e-01 -9.23618594e-01 4.05338195e-03 2.48151056e+02] [ 9.23568450e-01 3.83312784e-01 9.62433268e-03 1.59230835e+02] [-1.04429257e-02 5.46521635e-05 9.99945470e-01 -4.67194846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42 meters 0.012912707039657367 Centerline is valid? [True, True] Translation: X:248.18, Y:159.28, Z:-4.67 [[ 3.75054146e-01 -9.26998472e-01 2.86703271e-03 2.48180254e+02] [ 9.26973468e-01 3.75065090e-01 6.80946047e-03 1.59282551e+02] [-7.38768333e-03 1.03746865e-04 9.99972705e-01 -4.67451235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.47999999999996 meters 0.01543458324563383 Centerline is valid? [True, True] Translation: X:248.21, Y:159.33, Z:-4.68 [[ 3.65213820e-01 -9.30921640e-01 1.94036272e-03 2.48209000e+02] [ 9.30910231e-01 3.65218954e-01 4.61049695e-03 1.59332277e+02] [-5.00066863e-03 1.22486308e-04 9.99987489e-01 -4.67624732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.53999999999996 meters 0.01899267100638309 Centerline is valid? [True, True] Translation: X:248.24, Y:159.38, Z:-4.68 [[ 3.53529442e-01 -9.35421051e-01 2.09522995e-03 2.48238368e+02] [ 9.35407820e-01 3.53535595e-01 4.97928614e-03 1.59383497e+02] [-5.39846745e-03 1.99570229e-04 9.99985408e-01 -4.67595829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.59999999999997 meters 0.021829267036307415 Centerline is valid? [True, True] Translation: X:248.27, Y:159.44, Z:-4.68 [[ 3.45473635e-01 -9.38426136e-01 2.08694514e-03 2.48265102e+02] [ 9.38413041e-01 3.45479853e-01 4.96340924e-03 1.59435458e+02] [-5.37879046e-03 2.43689500e-04 9.99985505e-01 -4.67626986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.65999999999997 meters 0.027040530697475685 Centerline is valid? [True, True] Translation: X:248.29, Y:159.49, Z:-4.68 [[ 3.35785966e-01 -9.41935142e-01 2.44384239e-03 2.48292629e+02] [ 9.41917225e-01 3.35794679e-01 5.82014348e-03 1.59485338e+02] [-6.30282695e-03 3.47574740e-04 9.99980077e-01 -4.67611522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.71999999999997 meters 0.029284266285471965 Centerline is valid? [True, True] Translation: X:248.32, Y:159.54, Z:-4.68 [[ 3.32578069e-01 -9.43073140e-01 2.20921684e-03 2.48315411e+02] [ 9.43058507e-01 3.32585240e-01 5.26414209e-03 1.59538857e+02] [-5.69922392e-03 3.32682524e-04 9.99983704e-01 -4.67703958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78 meters 0.023074445156032526 Centerline is valid? [True, True] Translation: X:248.32, Y:159.60, Z:-4.68 [[ 3.33133378e-01 -9.42878765e-01 1.33690388e-03 2.48324684e+02] [ 9.42873419e-01 3.33136000e-01 3.18130995e-03 1.59598599e+02] [-3.44496041e-03 2.00730607e-04 9.99994046e-01 -4.67795406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84 meters 0.03023107359751526 Centerline is valid? [True, True] Translation: X:248.35, Y:159.65, Z:-4.68 [[ 3.35571432e-01 -9.42014677e-01 4.03741614e-04 2.48350701e+02] [ 9.42014193e-01 3.35571669e-01 9.56821555e-04 1.59649303e+02] [-1.03682420e-03 5.92483511e-05 9.99999461e-01 -4.68335676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.9 meters 0.02054717445907853 Centerline is valid? [True, True] Translation: X:248.35, Y:159.71, Z:-4.68 [[ 3.41661252e-01 -9.39823120e-01 -3.05015670e-04 2.48353528e+02] [ 9.39822829e-01 3.41661386e-01 -7.40232747e-04 1.59711211e+02] [ 7.99899926e-04 -3.37518429e-05 9.99999680e-01 -4.68276749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96 meters 0.026481113649899187 Centerline is valid? [True, True] Translation: X:248.37, Y:159.76, Z:-4.69 [[ 3.48309364e-01 -9.37379584e-01 -3.19789591e-04 2.48374809e+02] [ 9.37379266e-01 3.48309509e-01 -7.73185066e-04 1.59763904e+02] [ 8.36153651e-04 -3.04565333e-05 9.99999650e-01 -4.68727454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02 meters 0.017512307824858065 Centerline is valid? [True, True] Translation: X:248.38, Y:159.83, Z:-4.68 [[ 3.52591377e-01 -9.35777387e-01 5.18928695e-05 2.48380590e+02] [ 9.35777380e-01 3.52591380e-01 1.13557465e-04 1.59825168e+02] [-1.24561487e-04 8.52079051e-06 9.99999992e-01 -4.68338270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08 meters 0.016930772853537387 Centerline is valid? [True, True] Translation: X:248.39, Y:159.88, Z:-4.68 [[ 3.60174794e-01 -9.32884614e-01 6.43518649e-04 2.48394480e+02] [ 9.32883356e-01 3.60175366e-01 1.53275769e-03 1.59881588e+02] [-1.66166563e-03 4.82671519e-05 9.99998618e-01 -4.68349331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14 meters 0.014566020481938394 Centerline is valid? [True, True] Translation: X:248.41, Y:159.94, Z:-4.68 [[ 3.66794627e-01 -9.30301531e-01 8.73210092e-04 2.48407999e+02] [ 9.30299200e-01 3.66795663e-01 2.08317680e-03 1.59939036e+02] [-2.25827224e-03 4.82485934e-05 9.99997449e-01 -4.68324372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2 meters 0.012410663606745472 Centerline is valid? [True, True] Translation: X:248.42, Y:160.00, Z:-4.69 [[ 3.79706805e-01 -9.25106677e-01 6.14416894e-04 2.48417240e+02] [ 9.25105520e-01 3.79707302e-01 1.46330844e-03 1.59997540e+02] [-1.58701499e-03 1.27722893e-05 9.99998741e-01 -4.68503083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26 meters 0.012142788973967792 Centerline is valid? [True, True] Translation: X:248.44, Y:160.05, Z:-4.69 [[ 3.83739580e-01 -9.23441272e-01 3.90571500e-04 2.48435481e+02] [ 9.23440806e-01 3.83739779e-01 9.26971865e-04 1.60053261e+02] [-1.00588190e-03 4.95386655e-06 9.99999494e-01 -4.68684147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32 meters 0.01240786754357432 Centerline is valid? [True, True] Translation: X:248.45, Y:160.11, Z:-4.69 [[ 3.93478698e-01 -9.19333557e-01 5.70902869e-04 2.48449816e+02] [ 9.19332548e-01 3.93479112e-01 1.36196289e-03 1.60110702e+02] [-1.47673654e-03 -1.10537962e-05 9.99998910e-01 -4.68593204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38 meters 0.013301257897899883 Centerline is valid? [True, True] Translation: X:248.47, Y:160.17, Z:-4.69 [[ 3.98244904e-01 -9.17278350e-01 1.19367884e-03 2.48468934e+02] [ 9.17273882e-01 3.98246691e-01 2.86336561e-03 1.60166066e+02] [-3.10188193e-03 -4.53903355e-05 9.99995188e-01 -4.68598027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44 meters 0.014036014915583525 Centerline is valid? [True, True] Translation: X:248.49, Y:160.22, Z:-4.69 [[ 4.02350419e-01 -9.15484627e-01 1.42736952e-03 2.48490496e+02] [ 9.15478226e-01 4.02352945e-01 3.42419950e-03 1.60221034e+02] [-3.70910833e-03 -7.10023914e-05 9.99993119e-01 -4.68670209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.5 meters 0.013906552628036266 Centerline is valid? [True, True] Translation: X:248.52, Y:160.27, Z:-4.69 [[ 4.02886444e-01 -9.15248680e-01 1.53872627e-03 2.48517291e+02] [ 9.15241226e-01 4.02889374e-01 3.69463826e-03 1.60273317e+02] [-4.00144926e-03 -8.02139573e-05 9.99991991e-01 -4.68802647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56 meters 0.013884700049492408 Centerline is valid? [True, True] Translation: X:248.54, Y:160.33, Z:-4.69 [[ 4.01633912e-01 -9.15798381e-01 1.87764962e-03 2.48544028e+02] [ 9.15787261e-01 4.01638290e-01 4.51409884e-03 1.60326011e+02] [-4.88814039e-03 -9.34875686e-05 9.99988049e-01 -4.68900621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62 meters 0.01361733498634896 Centerline is valid? [True, True] Translation: X:248.57, Y:160.38, Z:-4.69 [[ 3.99051892e-01 -9.16925939e-01 2.09968592e-03 2.48573223e+02] [ 9.16911999e-01 3.99057406e-01 5.05698789e-03 1.60376356e+02] [-5.47477858e-03 -9.27733764e-05 9.99985009e-01 -4.69065544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68 meters 0.01372072929920493 Centerline is valid? [True, True] Translation: X:248.60, Y:160.43, Z:-4.69 [[ 3.98200215e-01 -9.17295717e-01 2.27100200e-03 2.48600536e+02] [ 9.17279431e-01 3.98206679e-01 5.46674731e-03 1.60428131e+02] [-5.91895205e-03 -9.37165276e-05 9.99982478e-01 -4.69139563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74 meters 0.014054865945715518 Centerline is valid? [True, True] Translation: X:248.63, Y:160.48, Z:-4.69 [[ 3.98645702e-01 -9.17100849e-01 2.76374440e-03 2.48628797e+02] [ 9.17076666e-01 3.98655263e-01 6.66108790e-03 1.60477824e+02] [-7.21067062e-03 -1.20848557e-04 9.99973995e-01 -4.69264969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.8 meters 0.014248218937671255 Centerline is valid? [True, True] Translation: X:248.66, Y:160.53, Z:-4.69 [[ 3.98198449e-01 -9.17293318e-01 3.31121138e-03 2.48660314e+02] [ 9.17258533e-01 3.98212190e-01 7.98969794e-03 1.60528115e+02] [-8.64746127e-03 -1.44248431e-04 9.99962600e-01 -4.69293118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86 meters 0.013383464312480975 Centerline is valid? [True, True] Translation: X:248.69, Y:160.58, Z:-4.69 [[ 3.97174910e-01 -9.17736411e-01 3.45986710e-03 2.48691405e+02] [ 9.17698426e-01 3.97189955e-01 8.35092313e-03 1.60578686e+02] [-9.03817068e-03 -1.41662558e-04 9.99959145e-01 -4.69224988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92 meters 0.013504845528880607 Centerline is valid? [True, True] Translation: X:248.72, Y:160.63, Z:-4.69 [[ 3.95913032e-01 -9.18278671e-01 4.14174572e-03 2.48722503e+02] [ 9.18224154e-01 3.95934664e-01 1.00072626e-02 1.60628545e+02] [-1.08293165e-02 -1.58954699e-04 9.99941349e-01 -4.69202819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.97999999999996 meters 0.013565977950771016 Centerline is valid? [True, True] Translation: X:248.75, Y:160.68, Z:-4.69 [[ 3.95440367e-01 -9.18481169e-01 4.38844188e-03 2.48750400e+02] [ 9.18419873e-01 3.95464682e-01 1.06123526e-02 1.60679328e+02] [-1.14827198e-02 -1.66120355e-04 9.99934058e-01 -4.69247992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.03999999999996 meters 0.013536033766528392 Centerline is valid? [True, True] Translation: X:248.78, Y:160.73, Z:-4.69 [[ 3.95535055e-01 -9.18443510e-01 3.67957151e-03 2.48781374e+02] [ 9.18400364e-01 3.95552144e-01 8.90356314e-03 1.60729209e+02] [-9.63288218e-03 -1.42351524e-04 9.99953593e-01 -4.69445511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.09999999999997 meters 0.013954587095371004 Centerline is valid? [True, True] Translation: X:248.81, Y:160.78, Z:-4.70 [[ 3.95397038e-01 -9.18505421e-01 2.99576269e-03 2.48810430e+02] [ 9.18476789e-01 3.95408370e-01 7.25318568e-03 1.60779224e+02] [-7.84664001e-03 -1.16349635e-04 9.99969208e-01 -4.69703029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.15999999999997 meters 0.014167100461571583 Centerline is valid? [True, True] Translation: X:248.84, Y:160.83, Z:-4.70 [[ 3.94703370e-01 -9.18803530e-01 3.05338322e-03 2.48841006e+02] [ 9.18773753e-01 3.94715164e-01 7.39795463e-03 1.60829751e+02] [-8.00248348e-03 -1.14629267e-04 9.99967973e-01 -4.69772400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.21999999999997 meters 0.014126386151696995 Centerline is valid? [True, True] Translation: X:248.87, Y:160.88, Z:-4.70 [[ 3.94518522e-01 -9.18882364e-01 3.21512971e-03 2.48869028e+02] [ 9.18849294e-01 3.94531604e-01 7.79671249e-03 1.60881154e+02] [-8.43273189e-03 -1.21727822e-04 9.99964436e-01 -4.69844367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28 meters 0.014258717436461128 Centerline is valid? [True, True] Translation: X:248.90, Y:160.93, Z:-4.70 [[ 3.95454839e-01 -9.18477406e-01 3.83742668e-03 2.48898755e+02] [ 9.18430176e-01 3.95473425e-01 9.31564454e-03 1.60931476e+02] [-1.00738093e-02 -1.59508246e-04 9.99949245e-01 -4.69871103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34 meters 0.015009451416768873 Centerline is valid? [True, True] Translation: X:248.92, Y:160.98, Z:-4.70 [[ 3.97990606e-01 -9.17380232e-01 4.12163542e-03 2.48924374e+02] [ 9.17325589e-01 3.98011895e-01 1.00147894e-02 1.60984066e+02] [-1.08278297e-02 -2.04910455e-04 9.99941356e-01 -4.69968636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.4 meters 0.016947325497550205 Centerline is valid? [True, True] Translation: X:248.95, Y:161.04, Z:-4.70 [[ 4.04276912e-01 -9.14628612e-01 3.83152017e-03 2.48950313e+02] [ 9.14581202e-01 4.04294983e-01 9.31622609e-03 1.61036562e+02] [-1.00699513e-02 -2.62098798e-04 9.99949262e-01 -4.70238872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46 meters 0.018573942879807452 Centerline is valid? [True, True] Translation: X:248.98, Y:161.09, Z:-4.70 [[ 4.10398501e-01 -9.11900687e-01 3.19486179e-03 2.48977082e+02] [ 9.11867604e-01 4.10410844e-01 7.77247644e-03 1.61088631e+02] [-8.39893252e-03 -2.76521719e-04 9.99964690e-01 -4.70471100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52 meters 0.020029759918263643 Centerline is valid? [True, True] Translation: X:249.00, Y:161.14, Z:-4.71 [[ 4.11990509e-01 -9.11182309e-01 3.25903266e-03 2.49002434e+02] [ 9.11147806e-01 4.12003290e-01 7.93503872e-03 1.61140133e+02] [-8.57299908e-03 -2.99700183e-04 9.99963206e-01 -4.70596574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58 meters 0.01888816615891076 Centerline is valid? [True, True] Translation: X:249.04, Y:161.19, Z:-4.71 [[ 4.09753257e-01 -9.12187836e-01 3.95228815e-03 2.49036486e+02] [ 9.12137034e-01 4.09772175e-01 9.63305312e-03 1.61189371e+02] [-1.04066916e-02 -3.42146499e-04 9.99945790e-01 -4.70550879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64 meters 0.01748253422381081 Centerline is valid? [True, True] Translation: X:249.07, Y:161.24, Z:-4.71 [[ 4.05878429e-01 -9.13916256e-01 4.44720514e-03 2.49067581e+02] [ 9.13851916e-01 4.05902651e-01 1.08495823e-02 1.61239139e+02] [-1.17207420e-02 -3.39524478e-04 9.99931252e-01 -4.70529179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7 meters 0.015781290101268088 Centerline is valid? [True, True] Translation: X:249.10, Y:161.29, Z:-4.71 [[ 4.00727293e-01 -9.16184693e-01 4.82129210e-03 2.49102352e+02] [ 9.16109098e-01 4.00756182e-01 1.17729360e-02 1.61287604e+02] [-1.27183464e-02 -3.00907218e-04 9.99919073e-01 -4.70559964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76 meters 0.01565627490655195 Centerline is valid? [True, True] Translation: X:249.13, Y:161.34, Z:-4.71 [[ 3.98779721e-01 -9.17036084e-01 4.42217038e-03 2.49130763e+02] [ 9.16972435e-01 3.98804158e-01 1.08072260e-02 1.61337897e+02] [-1.16741961e-02 -2.54694207e-04 9.99931822e-01 -4.70755076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82 meters 0.014782108271294753 Centerline is valid? [True, True] Translation: X:249.16, Y:161.39, Z:-4.71 [[ 3.96782704e-01 -9.17906067e-01 3.45526486e-03 2.49163527e+02] [ 9.17867227e-01 3.96797708e-01 8.44592369e-03 1.61387289e+02] [-9.12360577e-03 -1.79722061e-04 9.99958363e-01 -4.70931617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88 meters 0.014686764074284167 Centerline is valid? [True, True] Translation: X:249.19, Y:161.44, Z:-4.71 [[ 3.94656202e-01 -9.18822280e-01 3.47846943e-03 2.49193560e+02] [ 9.18782876e-01 3.94671498e-01 8.51093066e-03 1.61436878e+02] [-9.19288546e-03 -1.62933425e-04 9.99957731e-01 -4.71047928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94 meters 0.013766883856713694 Centerline is valid? [True, True] Translation: X:249.23, Y:161.49, Z:-4.71 [[ 3.89907885e-01 -9.20844906e-01 4.06203359e-03 2.49226004e+02] [ 9.20791215e-01 3.89929019e-01 9.94479165e-03 1.61486574e+02] [-1.07415155e-02 -1.37267824e-04 9.99942299e-01 -4.71005277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.0 meters 0.012947925157930716 Centerline is valid? [True, True] Translation: X:249.25, Y:161.54, Z:-4.71 [[ 3.84351974e-01 -9.23176102e-01 4.40967966e-03 2.49254301e+02] [ 9.23112863e-01 3.84377260e-01 1.08056999e-02 1.61537700e+02] [-1.16705445e-02 -8.25600679e-05 9.99931893e-01 -4.71011827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06 meters 0.012646414251744854 Centerline is valid? [True, True] Translation: X:249.28, Y:161.59, Z:-4.71 [[ 3.79901039e-01 -9.25014282e-01 4.87635710e-03 2.49276887e+02] [ 9.24936965e-01 3.79932332e-01 1.19596960e-02 1.61590356e+02] [-1.29155753e-02 -3.31779970e-05 9.99916590e-01 -4.70978571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12 meters 0.012638899997620474 Centerline is valid? [True, True] Translation: X:249.30, Y:161.65, Z:-4.71 [[ 3.80115088e-01 -9.24925517e-01 5.03080340e-03 2.49295614e+02] [ 9.24843075e-01 3.80148375e-01 1.23490662e-02 1.61645257e+02] [-1.33344181e-02 -4.13626805e-05 9.99911092e-01 -4.71036029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18 meters 0.01282108946344152 Centerline is valid? [True, True] Translation: X:249.31, Y:161.70, Z:-4.71 [[ 3.81742649e-01 -9.24254487e-01 5.11791863e-03 2.49314560e+02] [ 9.24168968e-01 3.81776948e-01 1.25729938e-02 1.61700532e+02] [-1.35745493e-02 -6.98263967e-05 9.99907859e-01 -4.71081805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24 meters 0.013260890382392471 Centerline is valid? [True, True] Translation: X:249.33, Y:161.75, Z:-4.71 [[ 3.84621124e-01 -9.23064763e-01 4.24662093e-03 2.49332536e+02] [ 9.23005734e-01 3.84644555e-01 1.04394184e-02 1.61754988e+02] [-1.12696989e-02 -9.55653841e-05 9.99936490e-01 -4.71363769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.3 meters 0.013478215293699329 Centerline is valid? [True, True] Translation: X:249.35, Y:161.81, Z:-4.72 [[ 3.85971590e-01 -9.22503090e-01 3.73908247e-03 2.49352950e+02] [ 9.22457249e-01 3.85989688e-01 9.19694484e-03 1.61809787e+02] [-9.92745731e-03 -1.00615701e-04 9.99950717e-01 -4.71538509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36 meters 0.013940473399724379 Centerline is valid? [True, True] Translation: X:249.37, Y:161.86, Z:-4.72 [[ 3.86885722e-01 -9.22119645e-01 3.84683089e-03 2.49371264e+02] [ 9.22071030e-01 3.86904829e-01 9.46936008e-03 1.61863713e+02] [-1.02202404e-02 -1.16508892e-04 9.99947765e-01 -4.71714451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42 meters 0.013830590665403741 Centerline is valid? [True, True] Translation: X:249.39, Y:161.92, Z:-4.71 [[ 3.86598890e-01 -9.22235700e-01 4.75519600e-03 2.49393525e+02] [ 9.22161258e-01 3.86628106e-01 1.17184597e-02 1.61917816e+02] [-1.26456743e-02 -1.45286003e-04 9.99920030e-01 -4.71493122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.47999999999996 meters 0.013978405281809181 Centerline is valid? [True, True] Translation: X:249.42, Y:161.97, Z:-4.71 [[ 3.84262761e-01 -9.23208204e-01 5.36115220e-03 2.49415167e+02] [ 9.23113498e-01 3.84300135e-01 1.32240377e-02 1.61970519e+02] [-1.42688317e-02 -1.32553295e-04 9.99898186e-01 -4.71486023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.53999999999996 meters 0.01356642979394189 Centerline is valid? [True, True] Translation: X:249.44, Y:162.02, Z:-4.72 [[ 3.81810584e-01 -9.24223768e-01 5.57710024e-03 2.49438537e+02] [ 9.24121211e-01 3.81851300e-01 1.37685303e-02 1.62023564e+02] [-1.48548259e-02 -1.03053948e-04 9.99889656e-01 -4.71616814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.59999999999997 meters 0.013513294380439016 Centerline is valid? [True, True] Translation: X:249.46, Y:162.08, Z:-4.72 [[ 3.79757707e-01 -9.25069948e-01 5.44744985e-03 2.49459811e+02] [ 9.24972038e-01 3.79796769e-01 1.34589498e-02 1.62076549e+02] [-1.45193938e-02 -7.24011197e-05 9.99894585e-01 -4.71874331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.65999999999997 meters 0.013395048253706804 Centerline is valid? [True, True] Translation: X:249.48, Y:162.13, Z:-4.72 [[ 3.78880701e-01 -9.25433583e-01 4.70094896e-03 2.49481730e+02] [ 9.25360635e-01 3.78909859e-01 1.16195329e-02 1.62129862e+02] [-1.25343418e-02 -5.23436424e-05 9.99921441e-01 -4.72125789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.71999999999997 meters 0.013369616087820805 Centerline is valid? [True, True] Translation: X:249.50, Y:162.18, Z:-4.72 [[ 3.78330215e-01 -9.25660631e-01 4.31798621e-03 2.49502928e+02] [ 9.25599008e-01 3.78354853e-01 1.06808883e-02 1.62183604e+02] [-1.15206088e-02 -4.41790138e-05 9.99933635e-01 -4.72346203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78 meters 0.01332903917678118 Centerline is valid? [True, True] Translation: X:249.52, Y:162.24, Z:-4.73 [[ 3.78305111e-01 -9.25670480e-01 4.40518238e-03 2.49524423e+02] [ 9.25606237e-01 3.78330756e-01 1.09056262e-02 1.62237610e+02] [-1.17616322e-02 -4.81898606e-05 9.99930828e-01 -4.72512380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84 meters 0.01330865101637002 Centerline is valid? [True, True] Translation: X:249.55, Y:162.29, Z:-4.72 [[ 3.79249981e-01 -9.25283296e-01 4.50261044e-03 2.49546107e+02] [ 9.25216038e-01 3.79276703e-01 1.11564068e-02 1.62291654e+02] [-1.20305721e-02 -6.51796627e-05 9.99927628e-01 -4.72479758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.9 meters 0.013528607753696286 Centerline is valid? [True, True] Translation: X:249.57, Y:162.34, Z:-4.73 [[ 3.80679885e-01 -9.24697659e-01 4.13082667e-03 2.49567028e+02] [ 9.24640923e-01 3.80702288e-01 1.02435779e-02 1.62344850e+02] [-1.10448277e-02 -7.99926825e-05 9.99939001e-01 -4.72612604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96 meters 0.01367934105095654 Centerline is valid? [True, True] Translation: X:249.59, Y:162.40, Z:-4.73 [[ 3.81630731e-01 -9.24304619e-01 4.35396571e-03 2.49588833e+02] [ 9.24241490e-01 3.81655554e-01 1.08030854e-02 1.62399037e+02] [-1.16470569e-02 -9.86736199e-05 9.99932166e-01 -4.72660180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02 meters 0.014035276739959253 Centerline is valid? [True, True] Translation: X:249.61, Y:162.45, Z:-4.73 [[ 3.82938951e-01 -9.23763536e-01 4.32306117e-03 2.49609104e+02] [ 9.23701160e-01 3.82963334e-01 1.07355427e-02 1.62452252e+02] [-1.15726768e-02 -1.17840831e-04 9.99933027e-01 -4.72744399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08 meters 0.014257554162733171 Centerline is valid? [True, True] Translation: X:249.63, Y:162.51, Z:-4.73 [[ 3.84656880e-01 -9.23050515e-01 4.10267863e-03 2.49631492e+02] [ 9.22994222e-01 3.84678735e-01 1.01949372e-02 1.62505915e+02] [-1.09886552e-02 -1.34804055e-04 9.99939614e-01 -4.72833773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14 meters 0.014619046211252483 Centerline is valid? [True, True] Translation: X:249.65, Y:162.56, Z:-4.73 [[ 3.84195609e-01 -9.23241450e-01 4.35418803e-03 2.49652128e+02] [ 9.23177951e-01 3.84220256e-01 1.08289488e-02 1.62559524e+02] [-1.16707016e-02 -1.40744190e-04 9.99931885e-01 -4.72893517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2 meters 0.013908144698849708 Centerline is valid? [True, True] Translation: X:249.68, Y:162.61, Z:-4.73 [[ 3.81899137e-01 -9.24191909e-01 4.72904414e-03 2.49677443e+02] [ 9.24116932e-01 3.81928395e-01 1.17727616e-02 1.62612101e+02] [-1.26864472e-02 -1.25817714e-04 9.99919516e-01 -4.72838539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26 meters 0.01357672987144242 Centerline is valid? [True, True] Translation: X:249.70, Y:162.66, Z:-4.73 [[ 3.77826513e-01 -9.25867800e-01 3.99296423e-03 2.49701779e+02] [ 9.25814372e-01 3.77847607e-01 9.94659512e-03 1.62664850e+02] [-1.07179641e-02 -6.13436826e-05 9.99942559e-01 -4.73050777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32 meters 0.013427318959431694 Centerline is valid? [True, True] Translation: X:249.73, Y:162.72, Z:-4.73 [[ 3.74813520e-01 -9.27093538e-01 3.52104602e-03 2.49726005e+02] [ 9.27051990e-01 3.74830057e-01 8.77703705e-03 1.62718242e+02] [-9.45692821e-03 -2.55594360e-05 9.99955282e-01 -4.73225935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38 meters 0.013403418936168997 Centerline is valid? [True, True] Translation: X:249.75, Y:162.77, Z:-4.73 [[ 3.72736084e-01 -9.27932263e-01 3.08678921e-03 2.49748718e+02] [ 9.27900319e-01 3.72748865e-01 7.69948521e-03 1.62771258e+02] [-8.29519790e-03 -5.64326961e-06 9.99965594e-01 -4.73352475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44 meters 0.013449367542800445 Centerline is valid? [True, True] Translation: X:249.77, Y:162.82, Z:-4.73 [[ 3.70841324e-01 -9.28692400e-01 2.67181433e-03 2.49771271e+02] [ 9.28668461e-01 3.70850948e-01 6.66815531e-03 1.62824599e+02] [-7.18351004e-03 8.40216044e-06 9.99974198e-01 -4.73446478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.5 meters 0.013452116550304823 Centerline is valid? [True, True] Translation: X:249.79, Y:162.88, Z:-4.74 [[ 3.70434592e-01 -9.28854815e-01 2.63536103e-03 2.49793001e+02] [ 9.28831490e-01 3.70443966e-01 6.58261348e-03 1.62878797e+02] [-7.09054582e-03 9.37857092e-06 9.99974862e-01 -4.73521064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56 meters 0.01339017448068774 Centerline is valid? [True, True] Translation: X:249.81, Y:162.93, Z:-4.74 [[ 3.70677715e-01 -9.28757561e-01 2.72490119e-03 2.49814219e+02] [ 9.28732577e-01 3.70687730e-01 6.81225367e-03 1.62933412e+02] [-7.33701954e-03 5.55388526e-06 9.99973084e-01 -4.73525928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62 meters 0.013349893275287949 Centerline is valid? [True, True] Translation: X:249.84, Y:162.99, Z:-4.74 [[ 3.71712610e-01 -9.28343907e-01 2.70676052e-03 2.49835000e+02] [ 9.28319202e-01 3.71722465e-01 6.77256991e-03 1.62987829e+02] [-7.29343770e-03 -4.71187344e-06 9.99973403e-01 -4.73566017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68 meters 0.013357871566555178 Centerline is valid? [True, True] Translation: X:249.86, Y:163.04, Z:-4.74 [[ 3.72604010e-01 -9.27986337e-01 2.75873954e-03 2.49855576e+02] [ 9.27960620e-01 3.72614222e-01 6.90862618e-03 1.63042082e+02] [-7.43905629e-03 -1.41801653e-05 9.99972330e-01 -4.73629876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74 meters 0.01346451346803326 Centerline is valid? [True, True] Translation: X:249.88, Y:163.10, Z:-4.74 [[ 3.73690506e-01 -9.27549691e-01 2.64136270e-03 2.49876196e+02] [ 9.27526070e-01 3.73699840e-01 6.61958998e-03 1.63096800e+02] [-7.12707546e-03 -2.37451637e-05 9.99974602e-01 -4.73751011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.8 meters 0.01374269173749989 Centerline is valid? [True, True] Translation: X:249.90, Y:163.15, Z:-4.74 [[ 3.75863452e-01 -9.26670577e-01 2.88208819e-03 2.49896157e+02] [ 9.26642373e-01 3.75874499e-01 7.23007036e-03 1.63151553e+02] [-7.78319693e-03 -4.68541612e-05 9.99969709e-01 -4.73780483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86 meters 0.014113625833817815 Centerline is valid? [True, True] Translation: X:249.92, Y:163.21, Z:-4.74 [[ 3.78044901e-01 -9.25781027e-01 3.39740874e-03 2.49916475e+02] [ 9.25741716e-01 3.78060158e-01 8.53188872e-03 1.63206291e+02] [-9.18308559e-03 -8.03140315e-05 9.99957831e-01 -4.73670150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92 meters 0.014445770111782979 Centerline is valid? [True, True] Translation: X:249.94, Y:163.26, Z:-4.74 [[ 3.79720638e-01 -9.25095548e-01 3.23489889e-03 2.49936057e+02] [ 9.25059825e-01 3.79734405e-01 8.13032943e-03 1.63261503e+02] [-8.74973396e-03 -9.47788805e-05 9.99961716e-01 -4.73868025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.97999999999996 meters 0.014704172391667979 Centerline is valid? [True, True] Translation: X:249.96, Y:163.32, Z:-4.74 [[ 3.80994976e-01 -9.24573668e-01 2.52217530e-03 2.49955860e+02] [ 9.24551923e-01 3.81003315e-01 6.34163895e-03 1.63316066e+02] [-6.82426953e-03 -8.42505512e-05 9.99976711e-01 -4.74164323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.03999999999996 meters 0.015094114174363647 Centerline is valid? [True, True] Translation: X:249.98, Y:163.37, Z:-4.74 [[ 3.80926151e-01 -9.24602280e-01 2.42731769e-03 2.49975873e+02] [ 9.24582116e-01 3.80933876e-01 6.10687578e-03 1.63369968e+02] [-6.57107881e-03 -8.20141590e-05 9.99978407e-01 -4.74394614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.09999999999997 meters 0.014914722217309792 Centerline is valid? [True, True] Translation: X:250.00, Y:163.42, Z:-4.74 [[ 3.80736052e-01 -9.24681131e-01 2.20550615e-03 2.49998390e+02] [ 9.24664461e-01 3.80742433e-01 5.55295698e-03 1.63423735e+02] [-5.97444432e-03 -7.48577630e-05 9.99982150e-01 -4.74379389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.15999999999997 meters 0.014823983615587961 Centerline is valid? [True, True] Translation: X:250.02, Y:163.48, Z:-4.74 [[ 3.80471788e-01 -9.24789895e-01 2.20658166e-03 2.50019971e+02] [ 9.24773182e-01 3.80478180e-01 5.56034606e-03 1.63477313e+02] [-5.98170802e-03 -7.49672675e-05 9.99982107e-01 -4.74449919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.21999999999997 meters 0.015010551621326407 Centerline is valid? [True, True] Translation: X:250.04, Y:163.53, Z:-4.75 [[ 3.80357744e-01 -9.24836680e-01 2.25874903e-03 2.50040674e+02] [ 9.24819139e-01 3.80364443e-01 5.69654712e-03 1.63530865e+02] [-6.12752354e-03 -7.77914798e-05 9.99981224e-01 -4.74595082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28 meters 0.014886922314640085 Centerline is valid? [True, True] Translation: X:250.06, Y:163.58, Z:-4.75 [[ 3.80515379e-01 -9.24771225e-01 2.49569424e-03 2.50062346e+02] [ 9.24749761e-01 3.80523552e-01 6.30119362e-03 1.63584554e+02] [-6.77683298e-03 -8.98084188e-05 9.99977033e-01 -4.74644683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34 meters 0.014947832229189816 Centerline is valid? [True, True] Translation: X:250.08, Y:163.64, Z:-4.75 [[ 3.80554073e-01 -9.24754974e-01 2.61464034e-03 2.50084117e+02] [ 9.24731372e-01 3.80563042e-01 6.60758304e-03 1.63638896e+02] [-7.10543077e-03 -9.67026869e-05 9.99974751e-01 -4.74809984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.4 meters 0.014747621576581826 Centerline is valid? [True, True] Translation: X:250.11, Y:163.69, Z:-4.75 [[ 3.78548522e-01 -9.25578597e-01 2.29734468e-03 2.50107740e+02] [ 9.25560369e-01 3.78555486e-01 5.80924249e-03 1.63691891e+02] [-6.24658295e-03 -7.27489686e-05 9.99980487e-01 -4.74980589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46 meters 0.014693948096551626 Centerline is valid? [True, True] Translation: X:250.13, Y:163.75, Z:-4.75 [[ 3.77824089e-01 -9.25874542e-01 2.29982441e-03 2.50130302e+02] [ 9.25856250e-01 3.77831082e-01 5.82041229e-03 1.63745818e+02] [-6.25791671e-03 -6.97851712e-05 9.99980417e-01 -4.75045549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52 meters 0.014871496828633281 Centerline is valid? [True, True] Translation: X:250.15, Y:163.80, Z:-4.75 [[ 3.77945852e-01 -9.25825225e-01 2.14163327e-03 2.50150988e+02] [ 9.25809341e-01 3.77951914e-01 5.42350124e-03 1.63799313e+02] [-5.83064865e-03 -6.70457151e-05 9.99982999e-01 -4.75198668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58 meters 0.014828114621001216 Centerline is valid? [True, True] Translation: X:250.17, Y:163.85, Z:-4.75 [[ 3.77643032e-01 -9.25948669e-01 2.19167206e-03 2.50172769e+02] [ 9.25932003e-01 3.77649385e-01 5.55584536e-03 1.63852918e+02] [-5.97211122e-03 -6.87869881e-05 9.99982164e-01 -4.75240333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64 meters 0.014602382886265568 Centerline is valid? [True, True] Translation: X:250.20, Y:163.91, Z:-4.75 [[ 3.75924448e-01 -9.26646602e-01 2.62378173e-03 2.50196480e+02] [ 9.26622674e-01 3.75933597e-01 6.65956211e-03 1.63906562e+02] [-7.15742831e-03 -7.22365674e-05 9.99974383e-01 -4.75166620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7 meters 0.014220514195197771 Centerline is valid? [True, True] Translation: X:250.22, Y:163.96, Z:-4.75 [[ 3.72787372e-01 -9.27912698e-01 2.75704418e-03 2.50220514e+02] [ 9.27886270e-01 3.72797563e-01 7.00340999e-03 1.63959881e+02] [-7.52637240e-03 -5.25593651e-05 9.99971675e-01 -4.75145365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76 meters 0.014247401999909119 Centerline is valid? [True, True] Translation: X:250.24, Y:164.01, Z:-4.75 [[ 3.70623325e-01 -9.28779026e-01 2.80571361e-03 2.50242285e+02] [ 9.28751635e-01 3.70633942e-01 7.13312656e-03 1.64013004e+02] [-7.66499103e-03 -3.78919772e-05 9.99970623e-01 -4.75276691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82 meters 0.014212585293124991 Centerline is valid? [True, True] Translation: X:250.26, Y:164.07, Z:-4.75 [[ 3.68231365e-01 -9.29730717e-01 2.54088069e-03 2.50264195e+02] [ 9.29708243e-01 3.68240131e-01 6.46447613e-03 1.64066194e+02] [-6.94587626e-03 -1.81451560e-05 9.99975877e-01 -4.75423296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88 meters 0.013982410802603776 Centerline is valid? [True, True] Translation: X:250.29, Y:164.12, Z:-4.75 [[ 3.66227009e-01 -9.30522538e-01 2.36293842e-03 2.50286374e+02] [ 9.30503088e-01 3.66234632e-01 6.01634995e-03 1.64119781e+02] [-6.46373911e-03 -4.62835008e-06 9.99979110e-01 -4.75479780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94 meters 0.014006994500293551 Centerline is valid? [True, True] Translation: X:250.31, Y:164.17, Z:-4.76 [[ 3.62876669e-01 -9.31835237e-01 1.90142756e-03 2.50308444e+02] [ 9.31822651e-01 3.62881650e-01 4.84301374e-03 1.64173234e+02] [-5.20288403e-03 1.43765752e-05 9.99986465e-01 -4.75667671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.0 meters 0.014095219995025039 Centerline is valid? [True, True] Translation: X:250.33, Y:164.23, Z:-4.76 [[ 3.60347452e-01 -9.32816641e-01 1.68150884e-03 2.50330213e+02] [ 9.32806799e-01 3.60351374e-01 4.28512471e-03 1.64226697e+02] [-4.60316966e-03 2.43891037e-05 9.99989405e-01 -4.75838463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06 meters 0.014282874601975512 Centerline is valid? [True, True] Translation: X:250.35, Y:164.28, Z:-4.76 [[ 3.57043655e-01 -9.34086029e-01 1.76571671e-03 2.50352311e+02] [ 9.34075171e-01 3.57048019e-01 4.50405854e-03 1.64280218e+02] [-4.83762381e-03 4.11666140e-05 9.99988298e-01 -4.75811115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12 meters 0.01436719511564237 Centerline is valid? [True, True] Translation: X:250.37, Y:164.33, Z:-4.76 [[ 3.55794551e-01 -9.34561836e-01 2.10067670e-03 2.50372867e+02] [ 9.34546437e-01 3.55800748e-01 5.36516478e-03 1.64334293e+02] [-5.76150059e-03 5.42835325e-05 9.99983401e-01 -4.75854205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18 meters 0.014231405290410063 Centerline is valid? [True, True] Translation: X:250.39, Y:164.39, Z:-4.76 [[ 3.56527448e-01 -9.34282634e-01 2.03454181e-03 2.50391413e+02] [ 9.34268163e-01 3.56533250e-01 5.20015851e-03 1.64389377e+02] [-5.58379959e-03 4.68083957e-05 9.99984409e-01 -4.75945201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24 meters 0.01393490424662339 Centerline is valid? [True, True] Translation: X:250.41, Y:164.44, Z:-4.76 [[ 3.58327717e-01 -9.33593227e-01 2.22137841e-03 2.50409863e+02] [ 9.33575928e-01 3.58334600e-01 5.68342676e-03 1.64444307e+02] [-6.10200547e-03 3.72960778e-05 9.99981382e-01 -4.76015771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.3 meters 0.013716937857690518 Centerline is valid? [True, True] Translation: X:250.43, Y:164.50, Z:-4.76 [[ 3.62225306e-01 -9.32087946e-01 2.21084979e-03 2.50425460e+02] [ 9.32070756e-01 3.62232053e-01 5.66094428e-03 1.64500456e+02] [-6.07733859e-03 1.01311584e-05 9.99981533e-01 -4.76084858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36 meters 0.013824576651537935 Centerline is valid? [True, True] Translation: X:250.44, Y:164.56, Z:-4.76 [[ 3.66231525e-01 -9.30521092e-01 2.22876487e-03 2.50440916e+02] [ 9.30503563e-01 3.66238306e-01 5.71151855e-03 1.64555892e+02] [-6.13094755e-03 -1.78644914e-05 9.99981205e-01 -4.76247663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42 meters 0.01417998333759871 Centerline is valid? [True, True] Translation: X:250.46, Y:164.61, Z:-4.76 [[ 3.68606058e-01 -9.29582359e-01 2.49228999e-03 2.50457486e+02] [ 9.29560368e-01 3.68614482e-01 6.39421146e-03 1.64610385e+02] [-6.86264035e-03 -4.02110813e-05 9.99976451e-01 -4.76452964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.47999999999996 meters 0.01484938834782902 Centerline is valid? [True, True] Translation: X:250.47, Y:164.67, Z:-4.77 [[ 3.71303707e-01 -9.28507212e-01 2.81304402e-03 2.50474161e+02] [ 9.28479097e-01 3.71314357e-01 7.22594954e-03 1.64666219e+02] [-7.75386990e-03 -7.11692833e-05 9.99969936e-01 -4.76547216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.53999999999996 meters 0.014483936883100247 Centerline is valid? [True, True] Translation: X:250.49, Y:164.72, Z:-4.77 [[ 3.72248461e-01 -9.28128503e-01 2.92661459e-03 2.50494931e+02] [ 9.28098013e-01 3.72259956e-01 7.52346963e-03 1.64720680e+02] [-8.07220802e-03 -8.44148055e-05 9.99967416e-01 -4.76617972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.59999999999997 meters 0.014625783726933586 Centerline is valid? [True, True] Translation: X:250.51, Y:164.78, Z:-4.77 [[ 3.73275488e-01 -9.27715700e-01 2.99837963e-03 2.50514700e+02] [ 9.27683627e-01 3.73287517e-01 7.71475523e-03 1.64775193e+02] [-8.27635724e-03 -9.81813269e-05 9.99965746e-01 -4.76766065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.65999999999997 meters 0.014946629161837371 Centerline is valid? [True, True] Translation: X:250.53, Y:164.83, Z:-4.77 [[ 3.74388087e-01 -9.27268143e-01 2.71129376e-03 2.50534732e+02] [ 9.27241869e-01 3.74397891e-01 6.98108230e-03 1.64830016e+02] [-7.48843788e-03 -9.96089444e-05 9.99971956e-01 -4.76933914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.71999999999997 meters 0.015188496174418517 Centerline is valid? [True, True] Translation: X:250.55, Y:164.88, Z:-4.77 [[ 3.75946013e-01 -9.26638999e-01 2.18208665e-03 2.50553950e+02] [ 9.26621955e-01 3.75952334e-01 5.62097128e-03 1.64884705e+02] [-6.02897177e-03 -9.12123488e-05 9.99981821e-01 -4.77113596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78 meters 0.01628163763719434 Centerline is valid? [True, True] Translation: X:250.57, Y:164.94, Z:-4.77 [[ 3.76213783e-01 -9.26530354e-01 2.16612822e-03 2.50571565e+02] [ 9.26513537e-01 3.76220007e-01 5.58322336e-03 1.64938828e+02] [-5.98796669e-03 -9.35384670e-05 9.99982068e-01 -4.77306962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84 meters 0.015152014821789093 Centerline is valid? [True, True] Translation: X:250.60, Y:164.99, Z:-4.77 [[ 3.75705125e-01 -9.26736090e-01 2.42435381e-03 2.50595425e+02] [ 9.26714979e-01 3.75712933e-01 6.25613609e-03 1.64992305e+02] [-6.70864819e-03 -1.03777400e-04 9.99977491e-01 -4.77123959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.9 meters 0.015163001602179765 Centerline is valid? [True, True] Translation: X:250.62, Y:165.05, Z:-4.77 [[ 3.75172004e-01 -9.26951887e-01 2.48345178e-03 2.50616247e+02] [ 9.26929695e-01 3.75180209e-01 6.41491892e-03 1.65047057e+02] [-6.87806315e-03 -1.04712785e-04 9.99976340e-01 -4.77244945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96 meters 0.014839026393346114 Centerline is valid? [True, True] Translation: X:250.64, Y:165.10, Z:-4.77 [[ 3.73072251e-01 -9.27799788e-01 2.15592407e-03 2.50639230e+02] [ 9.27783064e-01 3.73078472e-01 5.57135768e-03 1.65100458e+02] [-5.97343333e-03 -7.82891092e-05 9.99982156e-01 -4.77386073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02 meters 0.014371555915860418 Centerline is valid? [True, True] Translation: X:250.66, Y:165.15, Z:-4.77 [[ 3.72020928e-01 -9.28222064e-01 2.05624874e-03 2.50661793e+02] [ 9.28206836e-01 3.72026605e-01 5.31743698e-03 1.65153656e+02] [-5.70074157e-03 -6.95737013e-05 9.99983748e-01 -4.77397090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08 meters 0.014300922206842433 Centerline is valid? [True, True] Translation: X:250.69, Y:165.21, Z:-4.77 [[ 3.69388074e-01 -9.29273322e-01 1.88276480e-03 2.50685380e+02] [ 9.29260552e-01 3.69392868e-01 4.87197401e-03 1.65206060e+02] [-5.22287536e-03 -5.00700353e-05 9.99986359e-01 -4.77421497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14 meters 0.014083148395658983 Centerline is valid? [True, True] Translation: X:250.71, Y:165.26, Z:-4.78 [[ 3.67278195e-01 -9.30109564e-01 1.71066333e-03 2.50708290e+02] [ 9.30099017e-01 3.67282177e-01 4.42959375e-03 1.65259092e+02] [-4.74830366e-03 -3.58069130e-05 9.99988726e-01 -4.77547582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2 meters 0.014029231812952457 Centerline is valid? [True, True] Translation: X:250.73, Y:165.31, Z:-4.78 [[ 3.65783002e-01 -9.30698998e-01 1.47370999e-03 2.50731213e+02] [ 9.30691168e-01 3.65785969e-01 3.81775643e-03 1.65312697e+02] [-4.09224452e-03 -2.49015294e-05 9.99991626e-01 -4.77669062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26 meters 0.014219374513738552 Centerline is valid? [True, True] Translation: X:250.75, Y:165.37, Z:-4.78 [[ 3.65733220e-01 -9.30718666e-01 1.40602243e-03 2.50751906e+02] [ 9.30711519e-01 3.65735922e-01 3.64748186e-03 1.65365707e+02] [-3.90901236e-03 -2.54040128e-05 9.99992359e-01 -4.77776437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32 meters 0.014097738102088513 Centerline is valid? [True, True] Translation: X:250.77, Y:165.42, Z:-4.78 [[ 3.65232319e-01 -9.30915681e-01 1.16113391e-03 2.50773664e+02] [ 9.30910815e-01 3.65234164e-01 3.00995530e-03 1.65419959e+02] [-3.22610036e-03 -1.84208360e-05 9.99994796e-01 -4.77847650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38 meters 0.013992617659342772 Centerline is valid? [True, True] Translation: X:250.80, Y:165.47, Z:-4.78 [[ 3.64479093e-01 -9.31210340e-01 1.51457396e-03 2.50796314e+02] [ 9.31202034e-01 3.64482239e-01 3.93316160e-03 1.65473121e+02] [-4.21463606e-03 -2.31808173e-05 9.99991118e-01 -4.77802180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44 meters 0.014132475221093444 Centerline is valid? [True, True] Translation: X:250.82, Y:165.53, Z:-4.78 [[ 3.64808383e-01 -9.31080507e-01 1.98313808e-03 2.50816320e+02] [ 9.31066222e-01 3.64813772e-01 5.15782109e-03 1.65527021e+02] [-5.52582276e-03 -3.51834887e-05 9.99984732e-01 -4.77826582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.5 meters 0.014173173052360611 Centerline is valid? [True, True] Translation: X:250.84, Y:165.58, Z:-4.78 [[ 3.66568447e-01 -9.30389075e-01 1.93437350e-03 2.50835396e+02] [ 9.30375449e-01 3.66573548e-01 5.03558610e-03 1.65581845e+02] [-5.39414445e-03 -4.61933600e-05 9.99985450e-01 -4.77965684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56 meters 0.014435423811056485 Centerline is valid? [True, True] Translation: X:250.85, Y:165.64, Z:-4.78 [[ 3.68598622e-01 -9.29586435e-01 2.02852831e-03 2.50854877e+02] [ 9.29571408e-01 3.68604199e-01 5.28612345e-03 1.65636780e+02] [-5.66163271e-03 -6.27959015e-05 9.99983971e-01 -4.78036817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62 meters 0.01493545651379821 Centerline is valid? [True, True] Translation: X:250.87, Y:165.69, Z:-4.78 [[ 3.71689291e-01 -9.28354295e-01 2.31817477e-03 2.50873686e+02] [ 9.28334602e-01 3.71696508e-01 6.04755838e-03 1.65692200e+02] [-6.47593426e-03 -9.57708383e-05 9.99979026e-01 -4.78092342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68 meters 0.015169861670007105 Centerline is valid? [True, True] Translation: X:250.89, Y:165.75, Z:-4.78 [[ 3.72702472e-01 -9.27948600e-01 2.06475399e-03 2.50893173e+02] [ 9.27932954e-01 3.72708179e-01 5.38949890e-03 1.65746968e+02] [-5.77072866e-03 -9.27262911e-05 9.99983345e-01 -4.78351780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74 meters 0.015537225974528387 Centerline is valid? [True, True] Translation: X:250.91, Y:165.80, Z:-4.79 [[ 3.73212602e-01 -9.27743670e-01 2.00895609e-03 2.50912904e+02] [ 9.27728837e-01 3.73217997e-01 5.24705361e-03 1.65800458e+02] [-5.61769935e-03 -9.45000314e-05 9.99984216e-01 -4.78570584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.8 meters 0.01505510444831422 Centerline is valid? [True, True] Translation: X:250.94, Y:165.85, Z:-4.79 [[ 3.72175512e-01 -9.28159854e-01 2.16196857e-03 2.50936187e+02] [ 9.28142641e-01 3.72181779e-01 5.65348427e-03 1.65854277e+02] [-6.05198244e-03 -9.74731855e-05 9.99981682e-01 -4.78544970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86 meters 0.014397526699944546 Centerline is valid? [True, True] Translation: X:250.96, Y:165.91, Z:-4.79 [[ 3.69314597e-01 -9.29300617e-01 2.66301008e-03 2.50959171e+02] [ 9.29274466e-01 3.69324185e-01 6.97229002e-03 1.65908428e+02] [-7.46286745e-03 -1.00301211e-04 9.99972147e-01 -4.78573072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92 meters 0.013432376492746643 Centerline is valid? [True, True] Translation: X:250.98, Y:165.96, Z:-4.79 [[ 3.62175515e-01 -9.32106453e-01 2.54112749e-03 2.50984376e+02] [ 9.32082675e-01 3.62184427e-01 6.65787841e-03 1.65961772e+02] [-7.12620823e-03 -4.27796319e-05 9.99974607e-01 -4.78703008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.97999999999996 meters 0.013277009749594169 Centerline is valid? [True, True] Translation: X:251.01, Y:166.01, Z:-4.79 [[ 3.58164328e-01 -9.33655404e-01 2.42893059e-03 2.51008564e+02] [ 9.33633689e-01 3.58172564e-01 6.36782743e-03 1.66014625e+02] [-6.81533280e-03 -1.29972108e-05 9.99976775e-01 -4.78745450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.03999999999996 meters 0.013268354562912086 Centerline is valid? [True, True] Translation: X:251.03, Y:166.07, Z:-4.79 [[ 3.52961471e-01 -9.35636331e-01 1.68988540e-03 2.51033148e+02] [ 9.35625838e-01 3.52965515e-01 4.43127053e-03 1.66067179e+02] [-4.74252897e-03 1.70326796e-05 9.99988754e-01 -4.78932169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.09999999999997 meters 0.013487904451477952 Centerline is valid? [True, True] Translation: X:251.05, Y:166.12, Z:-4.79 [[ 3.50711591e-01 -9.36482468e-01 1.40239587e-03 2.51054756e+02] [ 9.36475238e-01 3.50714394e-01 3.67994141e-03 1.66120023e+02] [-3.93804103e-03 2.27108991e-05 9.99992246e-01 -4.79119200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.15999999999997 meters 0.013547171839201672 Centerline is valid? [True, True] Translation: X:251.08, Y:166.17, Z:-4.79 [[ 3.49343160e-01 -9.36993062e-01 1.83273834e-03 2.51076259e+02] [ 9.36980703e-01 3.49347966e-01 4.81249388e-03 1.66172673e+02] [-5.14953679e-03 3.60286395e-05 9.99986740e-01 -4.79027801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.21999999999997 meters 0.013198279440409941 Centerline is valid? [True, True] Translation: X:251.10, Y:166.23, Z:-4.79 [[ 3.49366470e-01 -9.36983614e-01 2.18553076e-03 2.51096021e+02] [ 9.36965993e-01 3.49373304e-01 5.74646923e-03 1.66227312e+02] [-6.14791361e-03 4.01443296e-05 9.99981101e-01 -4.78827119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28 meters 0.0129504766253007 Centerline is valid? [True, True] Translation: X:251.11, Y:166.28, Z:-4.79 [[ 3.50947698e-01 -9.36391043e-01 2.74366545e-03 2.51114911e+02] [ 9.36363180e-01 3.50958421e-01 7.22367740e-03 1.66282850e+02] [-7.72709931e-03 3.39343579e-05 9.99970145e-01 -4.78715450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34 meters 0.012697824268260757 Centerline is valid? [True, True] Translation: X:251.13, Y:166.34, Z:-4.79 [[ 3.54114825e-01 -9.35197543e-01 2.87154592e-03 2.51131491e+02] [ 9.35166934e-01 3.54126467e-01 7.56644792e-03 1.66337832e+02] [-8.09301392e-03 5.98341936e-06 9.99967251e-01 -4.78835205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.4 meters 0.012604288844657746 Centerline is valid? [True, True] Translation: X:251.15, Y:166.39, Z:-4.79 [[ 3.56252217e-01 -9.34385433e-01 2.86714616e-03 2.51149345e+02] [ 9.34354834e-01 3.56263754e-01 7.56181405e-03 1.66393384e+02] [-8.08710915e-03 -1.49811456e-05 9.99967299e-01 -4.78977218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46 meters 0.012767981137542794 Centerline is valid? [True, True] Translation: X:251.17, Y:166.45, Z:-4.79 [[ 3.59644257e-01 -9.33084968e-01 2.90687846e-03 2.51165817e+02] [ 9.33053416e-01 3.59656002e-01 7.67360197e-03 1.66449132e+02] [-8.20559894e-03 -4.74940033e-05 9.99966332e-01 -4.79077894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52 meters 0.012974994341401301 Centerline is valid? [True, True] Translation: X:251.18, Y:166.50, Z:-4.79 [[ 3.62082700e-01 -9.32141751e-01 2.80611487e-03 2.51183170e+02] [ 9.32112269e-01 3.62093566e-01 7.41393607e-03 1.66504884e+02] [-7.92691549e-03 -6.88438831e-05 9.99968579e-01 -4.79247092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58 meters 0.013395270457668468 Centerline is valid? [True, True] Translation: X:251.20, Y:166.56, Z:-4.79 [[ 3.64622467e-01 -9.31151649e-01 2.65755801e-03 2.51200499e+02] [ 9.31125141e-01 3.64632141e-01 7.02664215e-03 1.66560439e+02] [-7.51190049e-03 -8.75525139e-05 9.99971781e-01 -4.79463037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64 meters 0.014119368856445642 Centerline is valid? [True, True] Translation: X:251.22, Y:166.62, Z:-4.80 [[ 3.67972246e-01 -9.29833528e-01 2.45683689e-03 2.51217334e+02] [ 9.29810812e-01 3.67980432e-01 6.50038229e-03 1.66616235e+02] [-6.94834130e-03 -1.07566772e-04 9.99975854e-01 -4.79779894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7 meters 0.014689322368174464 Centerline is valid? [True, True] Translation: X:251.24, Y:166.67, Z:-4.80 [[ 3.69369709e-01 -9.29279768e-01 2.26519298e-03 2.51235944e+02] [ 9.29260420e-01 3.69376639e-01 5.99755080e-03 1.66671143e+02] [-6.41011198e-03 -1.10359418e-04 9.99979449e-01 -4.79959992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76 meters 0.015166173876295467 Centerline is valid? [True, True] Translation: X:251.26, Y:166.73, Z:-4.80 [[ 3.71340216e-01 -9.28493463e-01 2.51649699e-03 2.51255556e+02] [ 9.28469523e-01 3.71348716e-01 6.66907028e-03 1.66726291e+02] [-7.12668609e-03 -1.40003235e-04 9.99974595e-01 -4.80017583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82 meters 0.015447633499243852 Centerline is valid? [True, True] Translation: X:251.28, Y:166.78, Z:-4.80 [[ 3.72893327e-01 -9.27870241e-01 2.71697386e-03 2.51275569e+02] [ 9.27842265e-01 3.72903188e-01 7.20721450e-03 1.66780775e+02] [-7.70052807e-03 -1.66599016e-04 9.99970337e-01 -4.80098515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88 meters 0.015889136235241234 Centerline is valid? [True, True] Translation: X:251.30, Y:166.84, Z:-4.80 [[ 3.73155575e-01 -9.27764749e-01 2.73626792e-03 2.51295288e+02] [ 9.27736329e-01 3.73165567e-01 7.26380241e-03 1.66835187e+02] [-7.76018079e-03 -1.71993215e-04 9.99969875e-01 -4.80236035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94 meters 0.016262472307966357 Centerline is valid? [True, True] Translation: X:251.32, Y:166.89, Z:-4.80 [[ 3.73040745e-01 -9.27810403e-01 2.90829684e-03 2.51315447e+02] [ 9.27778239e-01 3.73052036e-01 7.72767503e-03 1.66888945e+02] [-8.25476334e-03 -1.84483129e-04 9.99965912e-01 -4.80296500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.0 meters 0.015931058340093618 Centerline is valid? [True, True] Translation: X:251.34, Y:166.94, Z:-4.80 [[ 3.70779190e-01 -9.28716571e-01 2.88489796e-03 2.51337935e+02] [ 9.28684888e-01 3.70790376e-01 7.67309792e-03 1.66942548e+02] [-8.19582559e-03 -1.65863893e-04 9.99966400e-01 -4.80418473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06 meters 0.014580173317839725 Centerline is valid? [True, True] Translation: X:251.36, Y:167.00, Z:-4.80 [[ 3.66979963e-01 -9.30223927e-01 3.02544622e-03 2.51363008e+02] [ 9.30189072e-01 3.66992407e-01 8.05380482e-03 1.66995613e+02] [-8.60215774e-03 -1.41347982e-04 9.99962991e-01 -4.80438690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12 meters 0.013344620648966634 Centerline is valid? [True, True] Translation: X:251.39, Y:167.05, Z:-4.80 [[ 3.61877925e-01 -9.32219656e-01 3.29853057e-03 2.51389259e+02] [ 9.32178229e-01 3.61892942e-01 8.78905209e-03 1.67048228e+02] [-9.38704205e-03 -1.05745553e-04 9.99955935e-01 -4.80447737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18 meters 0.01252747986929244 Centerline is valid? [True, True] Translation: X:251.42, Y:167.10, Z:-4.81 [[ 3.52644808e-01 -9.35752691e-01 2.92244205e-03 2.51418107e+02] [ 9.35720229e-01 3.52656917e-01 7.79439601e-03 1.67098729e+02] [-8.32424645e-03 -1.40651426e-05 9.99965353e-01 -4.80590316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24 meters 0.012774213212053553 Centerline is valid? [True, True] Translation: X:251.44, Y:167.15, Z:-4.81 [[ 3.46260893e-01 -9.38133835e-01 2.88118066e-03 2.51444351e+02] [ 9.38102349e-01 3.46272877e-01 7.68617238e-03 1.67150902e+02] [-8.20833309e-03 4.14214307e-05 9.99966310e-01 -4.80636676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.3 meters 0.013193285444259259 Centerline is valid? [True, True] Translation: X:251.47, Y:167.20, Z:-4.80 [[ 3.41337415e-01 -9.39934870e-01 3.34795109e-03 2.51466719e+02] [ 9.39892345e-01 3.41353821e-01 8.94138143e-03 1.67204570e+02] [-9.54715209e-03 9.46855742e-05 9.99954420e-01 -4.80473532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36 meters 0.013440851519320757 Centerline is valid? [True, True] Translation: X:251.49, Y:167.26, Z:-4.81 [[ 3.39771666e-01 -9.40503360e-01 2.94041102e-03 2.51485077e+02] [ 9.40470534e-01 3.39784375e-01 7.85835051e-03 1.67259500e+02] [-8.38991078e-03 9.53250803e-05 9.99964800e-01 -4.80616787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42 meters 0.01353695090742949 Centerline is valid? [True, True] Translation: X:251.50, Y:167.31, Z:-4.81 [[ 3.39057107e-01 -9.40761581e-01 2.81521879e-03 2.51504260e+02] [ 9.40731462e-01 3.39068781e-01 7.52856686e-03 1.67314847e+02] [-8.03713926e-03 9.57507938e-05 9.99967697e-01 -4.80741199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.47999999999996 meters 0.013740955004413902 Centerline is valid? [True, True] Translation: X:251.52, Y:167.37, Z:-4.81 [[ 3.37977134e-01 -9.41150527e-01 2.67276401e-03 2.51523906e+02] [ 9.41123347e-01 3.37987688e-01 7.15327722e-03 1.67369763e+02] [-7.63567195e-03 9.77564763e-05 9.99970843e-01 -4.80781357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.53999999999996 meters 0.013873107383929332 Centerline is valid? [True, True] Translation: X:251.54, Y:167.43, Z:-4.81 [[ 3.37010565e-01 -9.41497462e-01 2.53145462e-03 2.51540804e+02] [ 9.41473052e-01 3.37020058e-01 6.78030200e-03 1.67425089e+02] [-7.23678810e-03 9.82628989e-05 9.99973809e-01 -4.80908642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.59999999999997 meters 0.013756778033783874 Centerline is valid? [True, True] Translation: X:251.56, Y:167.48, Z:-4.81 [[ 3.38438143e-01 -9.40985419e-01 2.46263509e-03 2.51558008e+02] [ 9.40962266e-01 3.38447092e-01 6.60148947e-03 1.67480306e+02] [-7.04537702e-03 8.30508642e-05 9.99975178e-01 -4.81017984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.65999999999997 meters 0.01301241523306547 Centerline is valid? [True, True] Translation: X:251.57, Y:167.54, Z:-4.81 [[ 3.43952580e-01 -9.38984050e-01 2.36157839e-03 2.51569753e+02] [ 9.38962675e-01 3.43960685e-01 6.33575373e-03 1.67538297e+02] [-6.76146181e-03 3.82351198e-05 9.99977140e-01 -4.81160810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.71999999999997 meters 0.012858599344337288 Centerline is valid? [True, True] Translation: X:251.58, Y:167.60, Z:-4.81 [[ 3.48643771e-01 -9.37252691e-01 2.21670864e-03 2.51583208e+02] [ 9.37233798e-01 3.48650818e-01 5.95108296e-03 1.67595653e+02] [-6.35052580e-03 2.76625493e-06 9.99979835e-01 -4.81357435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78 meters 0.013417805412896914 Centerline is valid? [True, True] Translation: X:251.59, Y:167.65, Z:-4.81 [[ 3.56351446e-01 -9.34349282e-01 2.25085673e-03 2.51593682e+02] [ 9.34329705e-01 3.56358551e-01 6.04851587e-03 1.67654019e+02] [-6.45353850e-03 -5.23550744e-05 9.99979174e-01 -4.81481943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84 meters 0.015156591820974574 Centerline is valid? [True, True] Translation: X:251.60, Y:167.71, Z:-4.82 [[ 3.63487309e-01 -9.31596805e-01 2.09010423e-03 2.51604509e+02] [ 9.31579859e-01 3.63493306e-01 5.61987041e-03 1.67711030e+02] [-5.99519221e-03 -9.56525685e-05 9.99982024e-01 -4.81533608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.9 meters 0.015608994298488287 Centerline is valid? [True, True] Translation: X:251.62, Y:167.77, Z:-4.82 [[ 3.67548609e-01 -9.30001814e-01 2.15547446e-03 2.51621166e+02] [ 9.29983730e-01 3.67554907e-01 5.80110830e-03 1.67767425e+02] [-6.18729646e-03 -1.27633107e-04 9.99980850e-01 -4.81502159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96 meters 0.017079603073462412 Centerline is valid? [True, True] Translation: X:251.64, Y:167.82, Z:-4.82 [[ 3.71878587e-01 -9.28279689e-01 1.77077857e-03 2.51635348e+02] [ 9.28267455e-01 3.71882781e-01 4.76746923e-03 1.67824235e+02] [-5.08406691e-03 -1.29163612e-04 9.99987068e-01 -4.81653439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02 meters 0.017415338365773535 Centerline is valid? [True, True] Translation: X:251.65, Y:167.88, Z:-4.82 [[ 3.73537763e-01 -9.27613771e-01 1.49392521e-03 2.51653772e+02] [ 9.27605053e-01 3.73540732e-01 4.02335236e-03 1.67879308e+02] [-4.29015897e-03 -1.17101470e-04 9.99990790e-01 -4.81807250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08 meters 0.016837100085708965 Centerline is valid? [True, True] Translation: X:251.67, Y:167.93, Z:-4.82 [[ 3.73564795e-01 -9.27602639e-01 1.63953607e-03 2.51673255e+02] [ 9.27592117e-01 3.73568370e-01 4.42004959e-03 1.67934360e+02] [-4.71252848e-03 -1.30354183e-04 9.99988887e-01 -4.81951305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14 meters 0.017601742731195066 Centerline is valid? [True, True] Translation: X:251.69, Y:167.99, Z:-4.82 [[ 3.72229482e-01 -9.28138845e-01 1.87032583e-03 2.51692246e+02] [ 9.28125110e-01 3.72234153e-01 5.05126005e-03 1.67988682e+02] [-5.38446981e-03 -1.44331546e-04 9.99985493e-01 -4.82050879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2 meters 0.015528302269872953 Centerline is valid? [True, True] Translation: X:251.72, Y:168.04, Z:-4.82 [[ 3.67573664e-01 -9.29991330e-01 2.39338612e-03 2.51717113e+02] [ 9.29968849e-01 3.67581425e-01 6.46814352e-03 1.68041203e+02] [-6.89508167e-03 -1.51744679e-04 9.99976217e-01 -4.82016995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26 meters 0.014850452775980832 Centerline is valid? [True, True] Translation: X:251.74, Y:168.09, Z:-4.82 [[ 3.63297576e-01 -9.31669305e-01 2.67919424e-03 2.51739666e+02] [ 9.31641116e-01 3.63307429e-01 7.24865592e-03 1.68094996e+02] [-7.72672139e-03 -1.37371610e-04 9.99970139e-01 -4.82076952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32 meters 0.013909233156215929 Centerline is valid? [True, True] Translation: X:251.76, Y:168.15, Z:-4.82 [[ 3.58298108e-01 -9.33603537e-01 2.62723932e-03 2.51762961e+02] [ 9.33576435e-01 3.58307727e-01 7.11428322e-03 1.68148552e+02] [-7.58328012e-03 -9.63054984e-05 9.99971242e-01 -4.82249241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38 meters 0.013099954208039867 Centerline is valid? [True, True] Translation: X:251.79, Y:168.20, Z:-4.82 [[ 3.49356085e-01 -9.36987303e-01 2.26290233e-03 2.51789787e+02] [ 9.36967238e-01 3.49363413e-01 6.13198229e-03 1.68201359e+02] [-6.53616482e-03 -2.19799836e-05 9.99978639e-01 -4.82344870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44 meters 0.013483352630547986 Centerline is valid? [True, True] Translation: X:251.82, Y:168.25, Z:-4.82 [[ 3.37027425e-01 -9.41491653e-01 2.44585142e-03 2.51817808e+02] [ 9.41468286e-01 3.37036293e-01 6.63349923e-03 1.68253103e+02] [-7.06972486e-03 6.70203804e-05 9.99975007e-01 -4.82410082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.5 meters 0.014859104238470974 Centerline is valid? [True, True] Translation: X:251.84, Y:168.31, Z:-4.82 [[ 3.27905370e-01 -9.44706685e-01 2.71056393e-03 2.51843525e+02] [ 9.44678020e-01 3.27916540e-01 7.36078640e-03 1.68305549e+02] [-7.84262287e-03 1.46968775e-04 9.99969235e-01 -4.82397003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56 meters 0.018134023989145237 Centerline is valid? [True, True] Translation: X:251.87, Y:168.36, Z:-4.82 [[ 3.15022133e-01 -9.49079379e-01 3.06410462e-03 2.51871797e+02] [ 9.49042896e-01 3.15036905e-01 8.32650432e-03 1.68356214e+02] [-8.86781958e-03 2.84933566e-04 9.99960640e-01 -4.82312919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62 meters 0.01834629348766491 Centerline is valid? [True, True] Translation: X:251.89, Y:168.41, Z:-4.82 [[ 3.08422591e-01 -9.51244135e-01 3.17809257e-03 2.51892340e+02] [ 9.51204962e-01 3.08438757e-01 8.64022632e-03 1.68410862e+02] [-9.19921154e-03 3.58176430e-04 9.99957622e-01 -4.82272929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68 meters 0.020273668903713737 Centerline is valid? [True, True] Translation: X:251.91, Y:168.46, Z:-4.82 [[ 3.03015910e-01 -9.52978759e-01 3.58373824e-03 2.51913476e+02] [ 9.52928949e-01 3.03036753e-01 9.75424918e-03 1.68463928e+02] [-1.03815967e-02 4.59355219e-04 9.99946004e-01 -4.82305561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74 meters 0.021450304911097444 Centerline is valid? [True, True] Translation: X:251.93, Y:168.52, Z:-4.82 [[ 3.02657376e-01 -9.53092897e-01 3.52734046e-03 2.51933500e+02] [ 9.53044602e-01 3.02677589e-01 9.60536188e-03 1.68517928e+02] [-1.02224491e-02 4.54579165e-04 9.99947646e-01 -4.82391078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.8 meters 0.020298956698056158 Centerline is valid? [True, True] Translation: X:251.95, Y:168.57, Z:-4.82 [[ 3.04692025e-01 -9.52445040e-01 3.34893956e-03 2.51949371e+02] [ 9.52401389e-01 3.04710156e-01 9.12770883e-03 1.68574143e+02] [-9.71409690e-03 4.08394603e-04 9.99952734e-01 -4.82492167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86 meters 0.01890265418107771 Centerline is valid? [True, True] Translation: X:251.96, Y:168.63, Z:-4.83 [[ 3.08475808e-01 -9.51227115e-01 3.10683765e-03 2.51963916e+02] [ 9.51189425e-01 3.08491265e-01 8.47451852e-03 1.68630734e+02] [-9.01962407e-03 3.41007170e-04 9.99959264e-01 -4.82602177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92 meters 0.01638743925649778 Centerline is valid? [True, True] Translation: X:251.97, Y:168.69, Z:-4.83 [[ 3.16937987e-01 -9.48441659e-01 2.95507025e-03 2.51973142e+02] [ 9.48407365e-01 3.16951668e-01 8.06902562e-03 1.68689705e+02] [-8.58961449e-03 2.45229649e-04 9.99963079e-01 -4.82786735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.97999999999996 meters 0.015180483226094594 Centerline is valid? [True, True] Translation: X:251.99, Y:168.75, Z:-4.83 [[ 3.24260636e-01 -9.45962952e-01 3.02214953e-03 2.51986138e+02] [ 9.45926952e-01 3.24274668e-01 8.25474789e-03 1.68747060e+02] [-8.78869222e-03 1.82042898e-04 9.99961362e-01 -4.82806688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.03999999999996 meters 0.013325040906478786 Centerline is valid? [True, True] Translation: X:251.99, Y:168.81, Z:-4.83 [[ 3.36844702e-01 -9.41555049e-01 3.12039488e-03 2.51991884e+02] [ 9.41516382e-01 3.36859149e-01 8.53324063e-03 1.68805328e+02] [-9.08564936e-03 6.35259978e-05 9.99958723e-01 -4.82872979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.09999999999997 meters 0.012937576404441502 Centerline is valid? [True, True] Translation: X:252.00, Y:168.86, Z:-4.83 [[ 3.44992524e-01 -9.38600930e-01 2.90738947e-03 2.52002312e+02] [ 9.38567246e-01 3.45004775e-01 7.95172523e-03 1.68863615e+02] [-8.46655995e-03 -1.45052344e-05 9.99964158e-01 -4.82997766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.15999999999997 meters 0.013729646325541443 Centerline is valid? [True, True] Translation: X:252.01, Y:168.92, Z:-4.83 [[ 3.54558920e-01 -9.35029495e-01 2.79555808e-03 2.52011026e+02] [ 9.34998184e-01 3.54569927e-01 7.65258350e-03 1.68923070e+02] [-8.14661211e-03 -9.94500148e-05 9.99966811e-01 -4.83091768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.21999999999997 meters 0.014235661998695573 Centerline is valid? [True, True] Translation: X:252.03, Y:168.98, Z:-4.83 [[ 3.57890244e-01 -9.33760093e-01 2.58119025e-03 2.52025694e+02] [ 9.33733329e-01 3.57899532e-01 7.07069907e-03 1.68980145e+02] [-7.52614340e-03 -1.20390851e-04 9.99971671e-01 -4.83281000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28 meters 0.014688474307760787 Centerline is valid? [True, True] Translation: X:252.04, Y:169.04, Z:-4.84 [[ 3.59553579e-01 -9.33122101e-01 2.09023937e-03 2.52041124e+02] [ 9.33104523e-01 3.59559638e-01 5.72842430e-03 1.69036949e+02] [-6.09688503e-03 -1.09263650e-04 9.99981408e-01 -4.83578546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34 meters 0.014524345700026023 Centerline is valid? [True, True] Translation: X:252.06, Y:169.09, Z:-4.84 [[ 3.57924571e-01 -9.33748566e-01 1.90164404e-03 2.52060569e+02] [ 9.33734010e-01 3.57929611e-01 5.21466665e-03 1.69091553e+02] [-5.54984222e-03 -9.08276056e-05 9.99984595e-01 -4.83700409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.4 meters 0.013928803828242738 Centerline is valid? [True, True] Translation: X:252.08, Y:169.15, Z:-4.84 [[ 3.54929691e-01 -9.34889571e-01 2.53067439e-03 2.52081334e+02] [ 9.34863744e-01 3.54938698e-01 6.94991235e-03 1.69145989e+02] [-7.39563485e-03 -1.00894504e-04 9.99972647e-01 -4.83668818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46 meters 0.013651041571949166 Centerline is valid? [True, True] Translation: X:252.10, Y:169.20, Z:-4.84 [[ 3.53190228e-01 -9.35547415e-01 2.77431846e-03 2.52102338e+02] [ 9.35516334e-01 3.53201111e-01 7.62650011e-03 1.69199930e+02] [-8.11484482e-03 -9.81850754e-05 9.99967069e-01 -4.83659810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52 meters 0.013296988192635025 Centerline is valid? [True, True] Translation: X:252.12, Y:169.25, Z:-4.84 [[ 3.51693013e-01 -9.36110984e-01 2.87232321e-03 2.52123998e+02] [ 9.36077625e-01 3.51704731e-01 7.90335866e-03 1.69254501e+02] [-8.40863052e-03 -9.08385413e-05 9.99964643e-01 -4.83687383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58 meters 0.01325701301644272 Centerline is valid? [True, True] Translation: X:252.14, Y:169.31, Z:-4.84 [[ 3.51036337e-01 -9.36357756e-01 2.76458347e-03 2.52144435e+02] [ 9.36326811e-01 3.51047214e-01 7.61297170e-03 1.69309161e+02] [-8.09896442e-03 -8.38760753e-05 9.99967199e-01 -4.83819730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64 meters 0.01333874240603952 Centerline is valid? [True, True] Translation: X:252.16, Y:169.36, Z:-4.84 [[ 3.51064915e-01 -9.36348636e-01 2.15797430e-03 2.52164386e+02] [ 9.36329752e-01 3.51071541e-01 5.94710628e-03 1.69363130e+02] [-6.32616822e-03 -6.72448188e-05 9.99979987e-01 -4.84146186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7 meters 0.013236140422003275 Centerline is valid? [True, True] Translation: X:252.19, Y:169.42, Z:-4.84 [[ 3.50766180e-01 -9.36461772e-01 1.56090867e-03 2.52185629e+02] [ 9.36451902e-01 3.50769650e-01 4.29972132e-03 1.69417381e+02] [-4.57404403e-03 -4.64809255e-05 9.99989538e-01 -4.84233944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76 meters 0.013192397715930844 Centerline is valid? [True, True] Translation: X:252.21, Y:169.47, Z:-4.84 [[ 3.49148419e-01 -9.37066241e-01 1.49677877e-03 2.52206723e+02] [ 9.37057158e-01 3.49151626e-01 4.12602590e-03 1.69471552e+02] [-4.38896233e-03 -3.80281622e-05 9.99990368e-01 -4.84373478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82 meters 0.013318614731793089 Centerline is valid? [True, True] Translation: X:252.23, Y:169.52, Z:-4.84 [[ 3.47418358e-01 -9.37708428e-01 1.84062233e-03 2.52227496e+02] [ 9.37694662e-01 3.47423232e-01 5.08122375e-03 1.69524296e+02] [-5.40418130e-03 -3.93686757e-05 9.99985397e-01 -4.84475763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88 meters 0.012993746212830842 Centerline is valid? [True, True] Translation: X:252.25, Y:169.58, Z:-4.84 [[ 3.45551273e-01 -9.38397296e-01 2.19849367e-03 2.52250799e+02] [ 9.38377616e-01 3.45558265e-01 6.07737853e-03 1.69577642e+02] [-6.46270323e-03 -3.70286371e-05 9.99979116e-01 -4.84259916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94 meters 0.01322638839968517 Centerline is valid? [True, True] Translation: X:252.27, Y:169.63, Z:-4.84 [[ 3.44399725e-01 -9.38819419e-01 2.63195216e-03 2.52272514e+02] [ 9.38791150e-01 3.44409779e-01 7.28569274e-03 1.69630678e+02] [-7.74641989e-03 -3.83371840e-05 9.99969995e-01 -4.84228341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.0 meters 0.013538287281457735 Centerline is valid? [True, True] Translation: X:252.29, Y:169.69, Z:-4.84 [[ 3.46121326e-01 -9.38186348e-01 2.53045642e-03 2.52292982e+02] [ 9.38160171e-01 3.46130572e-01 7.00853293e-03 1.69685235e+02] [-7.45117825e-03 -5.18292803e-05 9.99972238e-01 -4.84371300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06 meters 0.01394281160373734 Centerline is valid? [True, True] Translation: X:252.31, Y:169.74, Z:-4.85 [[ 3.48339576e-01 -9.37366353e-01 1.96458677e-03 2.52312512e+02] [ 9.37350547e-01 3.48345112e-01 5.44375966e-03 1.69740201e+02] [-5.78715134e-03 -5.47704540e-05 9.99983253e-01 -4.84564621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12 meters 0.014380658611052642 Centerline is valid? [True, True] Translation: X:252.33, Y:169.79, Z:-4.85 [[ 3.51182587e-01 -9.36305806e-01 1.49289891e-03 2.52332810e+02] [ 9.36296667e-01 3.51185756e-01 4.13723097e-03 1.69794694e+02] [-4.39799821e-03 -5.51272015e-05 9.99990327e-01 -4.84691346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18 meters 0.015188543470068863 Centerline is valid? [True, True] Translation: X:252.35, Y:169.85, Z:-4.85 [[ 3.53533635e-01 -9.35420313e-01 1.67545712e-03 2.52352629e+02] [ 9.35408743e-01 3.53537596e-01 4.65310855e-03 1.69848049e+02] [-4.94494934e-03 -7.77931415e-05 9.99987771e-01 -4.84846310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24 meters 0.015010024993273658 Centerline is valid? [True, True] Translation: X:252.38, Y:169.90, Z:-4.85 [[ 3.53132968e-01 -9.35570868e-01 2.06351094e-03 2.52375694e+02] [ 9.35553324e-01 3.53138985e-01 5.73012399e-03 1.69901907e+02] [-6.08964323e-03 -9.29711716e-05 9.99981454e-01 -4.84817452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.3 meters 0.014863004928117552 Centerline is valid? [True, True] Translation: X:252.40, Y:169.95, Z:-4.85 [[ 3.51996352e-01 -9.35997720e-01 2.61450986e-03 2.52400809e+02] [ 9.35969492e-01 3.52006044e-01 7.27017106e-03 1.69954824e+02] [-7.72518681e-03 -1.11972221e-04 9.99970154e-01 -4.84813304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36 meters 0.014969062361741246 Centerline is valid? [True, True] Translation: X:252.42, Y:170.01, Z:-4.85 [[ 3.51907213e-01 -9.36029383e-01 3.21053554e-03 2.52422642e+02] [ 9.35986713e-01 3.51921829e-01 8.93862239e-03 1.70008961e+02] [-9.49667074e-03 -1.40547084e-04 9.99954896e-01 -4.84861851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42 meters 0.015130023061847464 Centerline is valid? [True, True] Translation: X:252.44, Y:170.06, Z:-4.85 [[ 3.52799824e-01 -9.35692979e-01 3.30655842e-03 2.52443859e+02] [ 9.35647619e-01 3.52815284e-01 9.21461764e-03 1.70063260e+02] [-9.78865737e-03 -1.57141970e-04 9.99952078e-01 -4.85030367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.47999999999996 meters 0.01586262366655122 Centerline is valid? [True, True] Translation: X:252.47, Y:170.12, Z:-4.85 [[ 3.56632382e-01 -9.34240531e-01 2.82377405e-03 2.52465270e+02] [ 9.34207358e-01 3.56643520e-01 7.87474801e-03 1.70117423e+02] [-8.36398948e-03 -1.70399641e-04 9.99965007e-01 -4.85290666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.53999999999996 meters 0.01676034765372367 Centerline is valid? [True, True] Translation: X:252.49, Y:170.17, Z:-4.86 [[ 3.58965969e-01 -9.33347804e-01 2.30417908e-03 2.52485611e+02] [ 9.33325675e-01 3.58973330e-01 6.42902891e-03 1.70172192e+02] [-6.82765886e-03 -1.57253101e-04 9.99976679e-01 -4.85515481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.59999999999997 meters 0.01704909562332097 Centerline is valid? [True, True] Translation: X:252.51, Y:170.23, Z:-4.86 [[ 3.60802255e-01 -9.32639949e-01 2.11164364e-03 2.52508764e+02] [ 9.32621327e-01 3.60808400e-01 5.89568968e-03 1.70225757e+02] [-6.26045449e-03 -1.57814238e-04 9.99980391e-01 -4.85691156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.65999999999997 meters 0.017242269239077304 Centerline is valid? [True, True] Translation: X:252.53, Y:170.28, Z:-4.86 [[ 3.60963428e-01 -9.32576677e-01 2.47900425e-03 2.52531567e+02] [ 9.32550955e-01 3.60971890e-01 6.92901916e-03 1.70278846e+02] [-7.35669252e-03 -1.89324726e-04 9.99972921e-01 -4.85688331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.71999999999997 meters 0.017159420968299033 Centerline is valid? [True, True] Translation: X:252.55, Y:170.33, Z:-4.86 [[ 3.60733053e-01 -9.32665269e-01 2.67603729e-03 2.52552667e+02] [ 9.32635234e-01 3.60742920e-01 7.48765099e-03 1.70332635e+02] [-7.94883353e-03 -2.05276537e-04 9.99968386e-01 -4.85703469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78 meters 0.017345946989449725 Centerline is valid? [True, True] Translation: X:252.58, Y:170.39, Z:-4.86 [[ 3.60572758e-01 -9.32724545e-01 3.49421082e-03 2.52576196e+02] [ 9.32673205e-01 3.60589586e-01 9.78996673e-03 1.70386129e+02] [-1.03913183e-02 -2.71038496e-04 9.99945972e-01 -4.85601037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84 meters 0.01820482305683263 Centerline is valid? [True, True] Translation: X:252.60, Y:170.44, Z:-4.86 [[ 3.60384718e-01 -9.32795607e-01 3.90009013e-03 2.52596237e+02] [ 9.32731518e-01 3.60405692e-01 1.09385978e-02 1.70439753e+02] [-1.16090906e-02 -3.04366475e-04 9.99932566e-01 -4.85641003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.9 meters 0.017272770738321383 Centerline is valid? [True, True] Translation: X:252.62, Y:170.49, Z:-4.86 [[ 3.59245246e-01 -9.33235269e-01 3.84537525e-03 2.52620507e+02] [ 9.33172871e-01 3.59265709e-01 1.07955146e-02 1.70493220e+02] [-1.14562664e-02 -2.89837436e-04 9.99934333e-01 -4.85797572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96 meters 0.017168307815875476 Centerline is valid? [True, True] Translation: X:252.64, Y:170.55, Z:-4.86 [[ 3.57551613e-01 -9.33887302e-01 3.36917211e-03 2.52642026e+02] [ 9.33839358e-01 3.57567407e-01 9.46589372e-03 1.70547496e+02] [-1.00447841e-02 -2.38280039e-04 9.99949521e-01 -4.86018543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02 meters 0.015399333699040958 Centerline is valid? [True, True] Translation: X:252.67, Y:170.60, Z:-4.86 [[ 3.51764773e-01 -9.36084853e-01 2.58714134e-03 2.52667997e+02] [ 9.36056617e-01 3.51774260e-01 7.27187457e-03 1.70600008e+02] [-7.71718136e-03 -1.36278532e-04 9.99970213e-01 -4.86319064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08 meters 0.01482174516921132 Centerline is valid? [True, True] Translation: X:252.69, Y:170.65, Z:-4.86 [[ 3.48016342e-01 -9.37484165e-01 2.84018819e-03 2.52690780e+02] [ 9.37450090e-01 3.48027911e-01 7.99386762e-03 1.70652532e+02] [-8.48258907e-03 -1.19461893e-04 9.99964015e-01 -4.86330818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14 meters 0.014059338174807992 Centerline is valid? [True, True] Translation: X:252.72, Y:170.71, Z:-4.86 [[ 3.43614284e-01 -9.39103463e-01 3.72960941e-03 2.52715753e+02] [ 9.39044713e-01 3.43634507e-01 1.05048687e-02 1.70705974e+02] [-1.11467811e-02 -1.07352930e-04 9.99937867e-01 -4.86296398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2 meters 0.013683737475085358 Centerline is valid? [True, True] Translation: X:252.74, Y:170.76, Z:-4.86 [[ 3.40706753e-01 -9.40160726e-01 4.08874823e-03 2.52738221e+02] [ 9.40090057e-01 3.40731276e-01 1.15274568e-02 1.70759457e+02] [-1.22308265e-02 -8.36908121e-05 9.99925197e-01 -4.86368490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26 meters 0.013661925945909524 Centerline is valid? [True, True] Translation: X:252.76, Y:170.81, Z:-4.86 [[ 3.38716865e-01 -9.40877607e-01 4.49599059e-03 2.52758286e+02] [ 9.40792047e-01 3.38746696e-01 1.26886015e-02 1.70814432e+02] [-1.34614229e-02 -6.80511191e-05 9.99909389e-01 -4.86447122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32 meters 0.01399922505977812 Centerline is valid? [True, True] Translation: X:252.77, Y:170.87, Z:-4.87 [[ 3.39921951e-01 -9.40444471e-01 4.15502562e-03 2.52774582e+02] [ 9.40371245e-01 3.39947335e-01 1.17359185e-02 1.70869383e+02] [-1.24494696e-02 -8.20297073e-05 9.99922499e-01 -4.86699952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38 meters 0.014236468710053473 Centerline is valid? [True, True] Translation: X:252.79, Y:170.92, Z:-4.87 [[ 3.41613994e-01 -9.39834122e-01 3.42092206e-03 2.52791936e+02] [ 9.39784380e-01 3.41631111e-01 9.66966406e-03 1.70924760e+02] [-1.02565736e-02 -8.83634441e-05 9.99947396e-01 -4.87064495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44 meters 0.014546579318588581 Centerline is valid? [True, True] Translation: X:252.81, Y:170.98, Z:-4.87 [[ 3.43356883e-01 -9.39199653e-01 3.17218324e-03 2.52809588e+02] [ 9.39156787e-01 3.43371521e-01 8.97367969e-03 1.70979932e+02] [-9.51731424e-03 -1.01997268e-04 9.99954704e-01 -4.87238189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.5 meters 0.015121846418846011 Centerline is valid? [True, True] Translation: X:252.83, Y:171.03, Z:-4.87 [[ 3.45445860e-01 -9.38434168e-01 2.91033507e-03 2.52826577e+02] [ 9.38397996e-01 3.45458101e-01 8.24024360e-03 1.71034894e+02] [-8.73832497e-03 -1.15505441e-04 9.99961813e-01 -4.87355334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56 meters 0.015296322931725202 Centerline is valid? [True, True] Translation: X:252.84, Y:171.09, Z:-4.87 [[ 3.47351173e-01 -9.37730691e-01 2.88345356e-03 2.52844700e+02] [ 9.37695137e-01 3.47363116e-01 8.16674645e-03 1.71090524e+02] [-8.65981420e-03 -1.32928576e-04 9.99962494e-01 -4.87346983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62 meters 0.015685677566894804 Centerline is valid? [True, True] Translation: X:252.86, Y:171.15, Z:-4.87 [[ 3.49764085e-01 -9.36832146e-01 3.25815953e-03 2.52861688e+02] [ 9.36786617e-01 3.49779214e-01 9.23768645e-03 1.71146095e+02] [-9.79379810e-03 -1.78810701e-04 9.99952024e-01 -4.87277617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68 meters 0.01576176036477339 Centerline is valid? [True, True] Translation: X:252.88, Y:171.20, Z:-4.87 [[ 3.48747544e-01 -9.37210936e-01 3.28812218e-03 2.52879784e+02] [ 9.37164508e-01 3.48763002e-01 9.33021049e-03 1.71199894e+02] [-9.89115067e-03 -1.72376589e-04 9.99951067e-01 -4.87423611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74 meters 0.014924049868136275 Centerline is valid? [True, True] Translation: X:252.90, Y:171.25, Z:-4.88 [[ 3.45758379e-01 -9.38318086e-01 3.21125011e-03 2.52900982e+02] [ 9.38273767e-01 3.45773263e-01 9.12080274e-03 1.71254606e+02] [-9.66857860e-03 -1.40562237e-04 9.99953248e-01 -4.87590852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.8 meters 0.014063408374202302 Centerline is valid? [True, True] Translation: X:252.92, Y:171.31, Z:-4.88 [[ 3.39562858e-01 -9.40579787e-01 2.59430757e-03 2.52920613e+02] [ 9.40550893e-01 3.39572762e-01 7.37272630e-03 1.71308905e+02] [-7.81559351e-03 -6.34257144e-05 9.99969456e-01 -4.87959435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86 meters 0.013678751257916713 Centerline is valid? [True, True] Translation: X:252.94, Y:171.36, Z:-4.88 [[ 3.36596831e-01 -9.41645602e-01 2.47673747e-03 2.52939839e+02] [ 9.41619257e-01 3.36605940e-01 7.04379750e-03 1.71363999e+02] [-7.46644548e-03 -3.87762138e-05 9.99972125e-01 -4.88099089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92 meters 0.013471421135255906 Centerline is valid? [True, True] Translation: X:252.96, Y:171.42, Z:-4.88 [[ 3.31576312e-01 -9.43424761e-01 2.62101202e-03 2.52961759e+02] [ 9.43395253e-01 3.31586671e-01 7.46165968e-03 1.71417633e+02] [-7.90860716e-03 -1.45929769e-06 9.99968726e-01 -4.87988889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.97999999999996 meters 0.013571241973193643 Centerline is valid? [True, True] Translation: X:252.98, Y:171.47, Z:-4.88 [[ 3.28159859e-01 -9.44619043e-01 2.44357827e-03 2.52981114e+02] [ 9.44593386e-01 3.28168956e-01 6.96210989e-03 1.71472315e+02] [-7.37844811e-03 2.35028741e-05 9.99972779e-01 -4.88130912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.03999999999996 meters 0.013674310861822624 Centerline is valid? [True, True] Translation: X:253.00, Y:171.53, Z:-4.88 [[ 3.25080176e-01 -9.45682015e-01 2.89911651e-03 2.52999994e+02] [ 9.45645857e-01 3.25093099e-01 8.26980268e-03 1.71525807e+02] [-8.76308643e-03 5.31886112e-05 9.99961602e-01 -4.88121583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.09999999999997 meters 0.013695178675648846 Centerline is valid? [True, True] Translation: X:253.02, Y:171.58, Z:-4.88 [[ 3.24947938e-01 -9.45728578e-01 2.50907285e-03 2.53018406e+02] [ 9.45701456e-01 3.24957621e-01 7.16248254e-03 1.71580907e+02] [-7.58910677e-03 4.53999125e-05 9.99971201e-01 -4.88158025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.15999999999997 meters 0.014049370597476232 Centerline is valid? [True, True] Translation: X:253.04, Y:171.63, Z:-4.88 [[ 3.22247708e-01 -9.46652095e-01 2.49502108e-03 2.53037454e+02] [ 9.46625249e-01 3.22257360e-01 7.12963785e-03 1.71634956e+02] [-7.55332552e-03 6.43404994e-05 9.99971471e-01 -4.88306672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.21999999999997 meters 0.014083565245494298 Centerline is valid? [True, True] Translation: X:253.05, Y:171.69, Z:-4.88 [[ 3.21007356e-01 -9.47072893e-01 2.68548715e-03 2.53054582e+02] [ 9.47041755e-01 3.21018580e-01 7.68026787e-03 1.71690779e+02] [-8.13586479e-03 7.78459750e-05 9.99966900e-01 -4.88292224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28 meters 0.014208587048225222 Centerline is valid? [True, True] Translation: X:253.07, Y:171.75, Z:-4.88 [[ 3.19244549e-01 -9.47667619e-01 3.00028558e-03 2.53073055e+02] [ 9.47628693e-01 3.19258631e-01 8.58995025e-03 1.71745905e+02] [-9.09828477e-03 1.00861910e-04 9.99958605e-01 -4.88291727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34 meters 0.014991819909943152 Centerline is valid? [True, True] Translation: X:253.09, Y:171.80, Z:-4.88 [[ 3.14635167e-01 -9.49207900e-01 3.01230947e-03 2.53094412e+02] [ 9.49168653e-01 3.14649554e-01 8.63280208e-03 1.71799660e+02] [-9.14214576e-03 1.43006599e-04 9.99958199e-01 -4.88303839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.4 meters 0.015465723692111926 Centerline is valid? [True, True] Translation: X:253.11, Y:171.85, Z:-4.88 [[ 3.11734904e-01 -9.50163896e-01 3.14955834e-03 2.53114499e+02] [ 9.50120957e-01 3.11750765e-01 9.03477119e-03 1.71854959e+02] [-9.56639062e-03 1.76007858e-04 9.99954226e-01 -4.88333379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46 meters 0.015784738157576562 Centerline is valid? [True, True] Translation: X:253.13, Y:171.91, Z:-4.88 [[ 3.10704525e-01 -9.50501579e-01 3.07353353e-03 2.53131897e+02] [ 9.50460639e-01 3.10719675e-01 8.82365097e-03 1.71910639e+02] [-9.34190152e-03 1.79724356e-04 9.99956347e-01 -4.88430091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52 meters 0.015111939925663988 Centerline is valid? [True, True] Translation: X:253.15, Y:171.97, Z:-4.89 [[ 3.12917654e-01 -9.49776339e-01 2.72913592e-03 2.53148094e+02] [ 9.49743965e-01 3.12929525e-01 7.84301608e-03 1.71967340e+02] [-8.30313831e-03 1.37762179e-04 9.99965519e-01 -4.88530837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58 meters 0.014539980311296889 Centerline is valid? [True, True] Translation: X:253.16, Y:172.02, Z:-4.89 [[ 3.19950486e-01 -9.47431381e-01 2.33782329e-03 2.53162410e+02] [ 9.47407563e-01 3.19959020e-01 6.71820961e-03 1.72023189e+02] [-7.11305025e-03 6.53770396e-05 9.99974700e-01 -4.88812794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64 meters 0.014201532248919282 Centerline is valid? [True, True] Translation: X:253.18, Y:172.08, Z:-4.89 [[ 3.22538855e-01 -9.46553567e-01 2.24333689e-03 2.53178363e+02] [ 9.46531577e-01 3.22546654e-01 6.45207114e-03 1.72079198e+02] [-6.83081175e-03 4.23455726e-05 9.99976669e-01 -4.88889899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7 meters 0.014020046288984721 Centerline is valid? [True, True] Translation: X:253.19, Y:172.14, Z:-4.89 [[ 3.31462017e-01 -9.43465678e-01 2.33367006e-03 2.53190816e+02] [ 9.43441755e-01 3.31470231e-01 6.71860876e-03 1.72136873e+02] [-7.11231892e-03 -2.52818399e-05 9.99974707e-01 -4.88978520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76 meters 0.014716225438369767 Centerline is valid? [True, True] Translation: X:253.20, Y:172.19, Z:-4.89 [[ 3.36909062e-01 -9.41534377e-01 2.30212285e-03 2.53204876e+02] [ 9.41511006e-01 3.36916921e-01 6.63431102e-03 1.72192730e+02] [-7.02205604e-03 -6.76855058e-05 9.99975343e-01 -4.89018226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82 meters 0.015170953730039887 Centerline is valid? [True, True] Translation: X:253.22, Y:172.25, Z:-4.89 [[ 3.41906670e-01 -9.39731144e-01 2.28171534e-03 2.53221335e+02] [ 9.39708111e-01 3.41914267e-01 6.58030905e-03 1.72248532e+02] [-6.96387238e-03 -1.05705150e-04 9.99975746e-01 -4.88908094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88 meters 0.016378596205687344 Centerline is valid? [True, True] Translation: X:253.24, Y:172.30, Z:-4.89 [[ 3.46775778e-01 -9.37945220e-01 2.30743440e-03 2.53236169e+02] [ 9.37921581e-01 3.46783424e-01 6.66073675e-03 1.72304733e+02] [-7.04758620e-03 -1.45589644e-04 9.99975155e-01 -4.89018989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94 meters 0.016017293693577895 Centerline is valid? [True, True] Translation: X:253.26, Y:172.36, Z:-4.89 [[ 3.47152823e-01 -9.37806923e-01 1.75827936e-03 2.53257386e+02] [ 9.37793186e-01 3.47157257e-01 5.07734298e-03 1.72359619e+02] [-5.37196684e-03 -1.13711549e-04 9.99985564e-01 -4.89157855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.0 meters 0.016558278715121933 Centerline is valid? [True, True] Translation: X:253.28, Y:172.41, Z:-4.89 [[ 3.46271130e-01 -9.38133439e-01 1.39821595e-03 2.53276636e+02] [ 9.38124741e-01 3.46273941e-01 4.04081137e-03 1.72413159e+02] [-4.27498601e-03 -8.75153417e-05 9.99990858e-01 -4.89370044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06 meters 0.015626200087618444 Centerline is valid? [True, True] Translation: X:253.30, Y:172.47, Z:-4.89 [[ 3.44551588e-01 -9.38766859e-01 9.94016547e-04 2.53299859e+02] [ 9.38762476e-01 3.44553018e-01 2.86895870e-03 1.72466322e+02] [-3.03577474e-03 -5.53588395e-05 9.99995390e-01 -4.89430774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12 meters 0.01504495465427221 Centerline is valid? [True, True] Translation: X:253.32, Y:172.52, Z:-4.90 [[ 3.41460912e-01 -9.39895375e-01 1.06291270e-03 2.53324491e+02] [ 9.39890356e-01 3.41462563e-01 3.07205569e-03 1.72519738e+02] [-3.25035583e-03 -4.99655393e-05 9.99994716e-01 -4.89500725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18 meters 0.014901649173523754 Centerline is valid? [True, True] Translation: X:253.35, Y:172.57, Z:-4.90 [[ 3.40072825e-01 -9.40398612e-01 9.61576281e-04 2.53346971e+02] [ 9.40394503e-01 3.40074181e-01 2.78015228e-03 1.72573588e+02] [-2.94145861e-03 -4.11931878e-05 9.99995673e-01 -4.89559428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24 meters 0.014330719519996237 Centerline is valid? [True, True] Translation: X:253.37, Y:172.63, Z:-4.90 [[ 3.37570221e-01 -9.41299541e-01 1.23290999e-03 2.53372051e+02] [ 9.41292765e-01 3.37572469e-01 3.57197552e-03 1.72626354e+02] [-3.77849539e-03 -4.52633094e-05 9.99992860e-01 -4.89601689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.3 meters 0.01436025036950231 Centerline is valid? [True, True] Translation: X:253.39, Y:172.68, Z:-4.90 [[ 3.35443126e-01 -9.42059776e-01 1.13503351e-03 2.53394636e+02] [ 9.42054032e-01 3.35445045e-01 3.28978882e-03 1.72678573e+02] [-3.47991908e-03 -3.42741486e-05 9.99993944e-01 -4.89715830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36 meters 0.014063546063858068 Centerline is valid? [True, True] Translation: X:253.42, Y:172.73, Z:-4.90 [[ 3.32817507e-01 -9.42990872e-01 8.49937679e-04 2.53418737e+02] [ 9.42987656e-01 3.32818592e-01 2.46289393e-03 1.72731375e+02] [-2.60536155e-03 -1.82134781e-05 9.99996606e-01 -4.89794097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42 meters 0.01372754228191033 Centerline is valid? [True, True] Translation: X:253.45, Y:172.78, Z:-4.90 [[ 3.28307168e-01 -9.44570966e-01 3.04818800e-04 2.53445306e+02] [ 9.44570560e-01 3.28307310e-01 8.75683838e-04 1.72783887e+02] [-9.27219769e-04 4.29583454e-07 9.99999570e-01 -4.89902307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.47999999999996 meters 0.013551651349411822 Centerline is valid? [True, True] Translation: X:253.46, Y:172.84, Z:-4.90 [[ 3.26954985e-01 -9.45039683e-01 6.59326345e-04 2.53464475e+02] [ 9.45037751e-01 3.26955650e-01 1.91113592e-03 1.72839208e+02] [-2.02166976e-03 -1.76712900e-06 9.99997956e-01 -4.89903997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.53999999999996 meters 0.01319090484483148 Centerline is valid? [True, True] Translation: X:253.48, Y:172.89, Z:-4.90 [[ 3.24986450e-01 -9.45718123e-01 1.01944299e-03 2.53483279e+02] [ 9.45713475e-01 3.24988049e-01 2.96480666e-03 1.72894212e+02] [-3.13517818e-03 5.78977214e-07 9.99995085e-01 -4.89824674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.59999999999997 meters 0.013118373578848038 Centerline is valid? [True, True] Translation: X:253.50, Y:172.95, Z:-4.90 [[ 3.22608349e-01 -9.46531606e-01 1.33147733e-03 2.53503442e+02] [ 9.46523654e-01 3.22611097e-01 3.87989035e-03 1.72948934e+02] [-4.10198821e-03 8.58976590e-06 9.99991587e-01 -4.89734718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.65999999999997 meters 0.013196266141405021 Centerline is valid? [True, True] Translation: X:253.52, Y:173.00, Z:-4.90 [[ 3.16764773e-01 -9.48502990e-01 1.46877452e-03 2.53524814e+02] [ 9.48493310e-01 3.16768176e-01 4.28514611e-03 1.73002886e+02] [-4.52973492e-03 3.57394668e-05 9.99989740e-01 -4.89772853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.71999999999997 meters 0.01381456916835962 Centerline is valid? [True, True] Translation: X:253.55, Y:173.06, Z:-4.90 [[ 3.11629395e-01 -9.50202846e-01 1.29318229e-03 2.53545607e+02] [ 9.50195346e-01 3.11632074e-01 3.77546553e-03 1.73057185e+02] [-3.99045517e-03 5.22297593e-05 9.99992037e-01 -4.89977621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78 meters 0.015479312620311417 Centerline is valid? [True, True] Translation: X:253.57, Y:173.11, Z:-4.90 [[ 3.04141738e-01 -9.52626119e-01 1.13188569e-03 2.53568241e+02] [ 9.52620387e-01 3.04143835e-01 3.30535046e-03 1.73110153e+02] [-3.49301923e-03 7.29623552e-05 9.99993897e-01 -4.90052207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84 meters 0.017352680636415565 Centerline is valid? [True, True] Translation: X:253.59, Y:173.16, Z:-4.90 [[ 3.00030390e-01 -9.53928747e-01 1.30775645e-03 2.53589018e+02] [ 9.53921084e-01 3.00033223e-01 3.82502871e-03 1.73163757e+02] [-4.04117523e-03 9.98715981e-05 9.99991829e-01 -4.90086418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.9 meters 0.016939594054672172 Centerline is valid? [True, True] Translation: X:253.60, Y:173.22, Z:-4.90 [[ 2.95464219e-01 -9.55352412e-01 1.63228345e-03 2.53604077e+02] [ 9.55340458e-01 2.95468692e-01 4.78128713e-03 1.73219856e+02] [-5.05010284e-03 1.46687155e-04 9.99987237e-01 -4.90075990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96 meters 0.01721593158415465 Centerline is valid? [True, True] Translation: X:253.62, Y:173.28, Z:-4.90 [[ 2.92982400e-01 -9.56116055e-01 1.84477368e-03 2.53621980e+02] [ 9.56100760e-01 2.92988153e-01 5.41105423e-03 1.73275599e+02] [-5.71409265e-03 1.78445863e-04 9.99983659e-01 -4.90046008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02 meters 0.017504584614900516 Centerline is valid? [True, True] Translation: X:253.64, Y:173.33, Z:-4.90 [[ 2.91131864e-01 -9.56680634e-01 2.09823072e-03 2.53639061e+02] [ 9.56660815e-01 2.91139347e-01 6.16160651e-03 1.73331122e+02] [-6.50556714e-03 2.13455115e-04 9.99978816e-01 -4.90067691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08 meters 0.018308233856112112 Centerline is valid? [True, True] Translation: X:253.65, Y:173.39, Z:-4.90 [[ 2.90799284e-01 -9.56781890e-01 2.04735576e-03 2.53653140e+02] [ 9.56762998e-01 2.90806416e-01 6.01623263e-03 1.73386453e+02] [-6.35160662e-03 2.09318095e-04 9.99979806e-01 -4.90249345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14 meters 0.017404183026445766 Centerline is valid? [True, True] Translation: X:253.67, Y:173.44, Z:-4.90 [[ 2.92401590e-01 -9.56293879e-01 1.82390047e-03 2.53666718e+02] [ 9.56278851e-01 2.92407226e-01 5.36416446e-03 1.73443825e+02] [-5.66303932e-03 1.75667225e-04 9.99983949e-01 -4.90446750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2 meters 0.016241066009549825 Centerline is valid? [True, True] Translation: X:253.68, Y:173.50, Z:-4.91 [[ 2.96029187e-01 -9.55178044e-01 1.27453647e-03 2.53677694e+02] [ 9.55170699e-01 2.96031911e-01 3.74755460e-03 1.73501140e+02] [-3.95688534e-03 1.08014351e-04 9.99992166e-01 -4.90675712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26 meters 0.015483653131773882 Centerline is valid? [True, True] Translation: X:253.69, Y:173.56, Z:-4.91 [[ 2.98171470e-01 -9.54511790e-01 1.00873287e-03 2.53691571e+02] [ 9.54507184e-01 2.98173166e-01 2.96634169e-03 1.73558326e+02] [-3.13218519e-03 7.83643048e-05 9.99995092e-01 -4.90798102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32 meters 0.014633149608074929 Centerline is valid? [True, True] Translation: X:253.70, Y:173.62, Z:-4.91 [[ 3.00776244e-01 -9.53693854e-01 1.29728836e-03 2.53704121e+02] [ 9.53686185e-01 3.00779030e-01 3.82569232e-03 1.73616291e+02] [-4.03873639e-03 8.65286166e-05 9.99991841e-01 -4.90705480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38 meters 0.014435943973762614 Centerline is valid? [True, True] Translation: X:253.72, Y:173.67, Z:-4.91 [[ 3.01795020e-01 -9.53371178e-01 1.77839822e-03 2.53719842e+02] [ 9.53356746e-01 3.01800239e-01 5.24700174e-03 1.73672500e+02] [-5.53906123e-03 1.11928948e-04 9.99984653e-01 -4.90632088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44 meters 0.013726164189982187 Centerline is valid? [True, True] Translation: X:253.73, Y:173.73, Z:-4.91 [[ 3.04284575e-01 -9.52579152e-01 1.96390913e-03 2.53732160e+02] [ 9.52561477e-01 3.04290894e-01 5.80388292e-03 1.73730509e+02] [-6.12625754e-03 1.04712133e-04 9.99981229e-01 -4.90695839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.5 meters 0.013420514641618487 Centerline is valid? [True, True] Translation: X:253.75, Y:173.79, Z:-4.91 [[ 3.05398010e-01 -9.52222460e-01 2.10768432e-03 2.53748336e+02] [ 9.52202088e-01 3.05405265e-01 6.22952235e-03 1.73786519e+02] [-6.57558899e-03 1.04457680e-04 9.99978375e-01 -4.90799404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56 meters 0.012808197622193929 Centerline is valid? [True, True] Translation: X:253.76, Y:173.84, Z:-4.91 [[ 3.08493317e-01 -9.51224408e-01 1.99995551e-03 2.53761594e+02] [ 9.51206011e-01 3.08499790e-01 5.91638869e-03 1.73843520e+02] [-6.24479918e-03 7.72033336e-05 9.99980498e-01 -4.90970440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62 meters 0.012067270564476656 Centerline is valid? [True, True] Translation: X:253.77, Y:173.90, Z:-4.91 [[ 3.13819616e-01 -9.49481716e-01 1.31137474e-03 2.53771877e+02] [ 9.49473794e-01 3.13822354e-01 3.87867201e-03 1.73901800e+02] [-4.09426686e-03 2.79125874e-05 9.99991618e-01 -4.91213186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68 meters 0.01205291893008162 Centerline is valid? [True, True] Translation: X:253.78, Y:173.96, Z:-4.91 [[ 3.17116181e-01 -9.48386091e-01 1.07191186e-03 2.53784206e+02] [ 9.48380794e-01 3.17117993e-01 3.16976490e-03 1.73957665e+02] [-3.34608348e-03 1.13968781e-05 9.99994402e-01 -4.91405605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74 meters 0.011812387761245137 Centerline is valid? [True, True] Translation: X:253.80, Y:174.02, Z:-4.91 [[ 3.20827020e-01 -9.47136643e-01 1.48428391e-03 2.53795479e+02] [ 9.47126426e-01 3.20830454e-01 4.39915444e-03 1.74015541e+02] [-4.64280384e-03 -5.56309244e-06 9.99989222e-01 -4.91400499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.8 meters 0.0119474751264356 Centerline is valid? [True, True] Translation: X:253.81, Y:174.07, Z:-4.92 [[ 3.21880945e-01 -9.46778395e-01 1.82443083e-03 2.53809990e+02] [ 9.46762890e-01 3.21886115e-01 5.41846216e-03 1.74070605e+02] [-5.71734186e-03 -1.67963186e-05 9.99983656e-01 -4.91503831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86 meters 0.012144105400402203 Centerline is valid? [True, True] Translation: X:253.82, Y:174.13, Z:-4.91 [[ 3.22626971e-01 -9.46522641e-01 2.59375875e-03 2.53823605e+02] [ 9.46491235e-01 3.22637396e-01 7.71057995e-03 1.74127178e+02] [-8.13508206e-03 -3.26711285e-05 9.99966909e-01 -4.91493656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.91999999999996 meters 0.012328824919746772 Centerline is valid? [True, True] Translation: X:253.84, Y:174.18, Z:-4.92 [[ 3.23077536e-01 -9.46367187e-01 3.17057668e-03 2.53837801e+02] [ 9.46320122e-01 3.23093089e-01 9.43840533e-03 1.74182510e+02] [-9.95658852e-03 -4.89562284e-05 9.99950431e-01 -4.91556201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.97999999999996 meters 0.012680872657824712 Centerline is valid? [True, True] Translation: X:253.85, Y:174.24, Z:-4.92 [[ 3.23797490e-01 -9.46119367e-01 3.65093750e-03 2.53850681e+02] [ 9.46056848e-01 3.23818065e-01 1.08766045e-02 1.74239882e+02] [-1.14728057e-02 -6.78228148e-05 9.99934183e-01 -4.91634601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.03999999999996 meters 0.01292110533875772 Centerline is valid? [True, True] Translation: X:253.87, Y:174.30, Z:-4.92 [[ 3.24395818e-01 -9.45914858e-01 3.52625665e-03 2.53865383e+02] [ 9.45856421e-01 3.24414974e-01 1.05145432e-02 1.74296175e+02] [-1.10898331e-02 -7.55413385e-05 9.99938503e-01 -4.91861844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.09999999999997 meters 0.01312483969185301 Centerline is valid? [True, True] Translation: X:253.88, Y:174.35, Z:-4.92 [[ 3.24617896e-01 -9.45837799e-01 3.75222640e-03 2.53878016e+02] [ 9.45771493e-01 3.24639569e-01 1.11997161e-02 1.74352863e+02] [-1.18112360e-02 -8.68795169e-05 9.99930241e-01 -4.92146750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.15999999999997 meters 0.01332437673107739 Centerline is valid? [True, True] Translation: X:253.89, Y:174.41, Z:-4.92 [[ 3.23203919e-01 -9.46320182e-01 4.16409292e-03 2.53893521e+02] [ 9.46238379e-01 3.23230732e-01 1.24428296e-02 1.74409245e+02] [-1.31208636e-02 -8.13467647e-05 9.99913914e-01 -4.92295498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.21999999999997 meters 0.013532905174348613 Centerline is valid? [True, True] Translation: X:253.91, Y:174.46, Z:-4.92 [[ 3.18101709e-01 -9.48044163e-01 4.85472051e-03 2.53909517e+02] [ 9.47932919e-01 3.18138752e-01 1.45229639e-02 1.74463971e+02] [-1.53128859e-02 -1.78302687e-05 9.99882751e-01 -4.92421322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28 meters 0.013908389454966738 Centerline is valid? [True, True] Translation: X:253.93, Y:174.52, Z:-4.93 [[ 3.14249539e-01 -9.49324624e-01 5.47584908e-03 2.53927063e+02] [ 9.49183036e-01 3.14297240e-01 1.63953920e-02 1.74519794e+02] [-1.72855936e-02 4.53386935e-05 9.99850592e-01 -4.92537798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34 meters 0.014592590673185026 Centerline is valid? [True, True] Translation: X:253.94, Y:174.58, Z:-4.93 [[ 3.09409700e-01 -9.50906765e-01 6.47780424e-03 2.53942907e+02] [ 9.50708561e-01 3.09477465e-01 1.94146967e-02 1.74575495e+02] [-2.04663008e-02 1.51408484e-04 9.99790532e-01 -4.92581401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.4 meters 0.015014213988284236 Centerline is valid? [True, True] Translation: X:253.96, Y:174.63, Z:-4.93 [[ 3.07554264e-01 -9.51505812e-01 6.86030559e-03 2.53958175e+02] [ 9.51283377e-01 3.07630703e-01 2.05739606e-02 1.74632373e+02] [-2.16866837e-02 1.98485355e-04 9.99764797e-01 -4.92683934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46 meters 0.01517678042716127 Centerline is valid? [True, True] Translation: X:253.97, Y:174.69, Z:-4.93 [[ 3.07284415e-01 -9.51589380e-01 7.34444479e-03 2.53971589e+02] [ 9.51333982e-01 3.07372100e-01 2.20464654e-02 1.74689596e+02] [-2.32366597e-02 2.12484691e-04 9.99729970e-01 -4.92802239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52 meters 0.01557277722226301 Centerline is valid? [True, True] Translation: X:253.98, Y:174.75, Z:-4.93 [[ 3.09984584e-01 -9.50708497e-01 7.93171081e-03 2.53981096e+02] [ 9.50409785e-01 3.10086006e-01 2.38308440e-02 1.74746859e+02] [-2.51156984e-02 1.51181302e-04 9.99684540e-01 -4.92758323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58 meters 0.0157681618519336 Centerline is valid? [True, True] Translation: X:253.99, Y:174.80, Z:-4.93 [[ 3.13160255e-01 -9.49664490e-01 8.24687136e-03 2.53991355e+02] [ 9.49340672e-01 3.13268817e-01 2.47979106e-02 1.74804838e+02] [-2.61331828e-02 6.33703975e-05 9.99658468e-01 -4.92897606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64 meters 0.016255262395596486 Centerline is valid? [True, True] Translation: X:254.00, Y:174.86, Z:-4.93 [[ 3.19640937e-01 -9.47497489e-01 8.84193434e-03 2.53996512e+02] [ 9.47123687e-01 3.19763180e-01 2.66125966e-02 1.74864837e+02] [-2.80426935e-02 -1.32069873e-04 9.99606718e-01 -4.92972487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7 meters 0.016782455482771807 Centerline is valid? [True, True] Translation: X:254.01, Y:174.92, Z:-4.93 [[ 3.24607324e-01 -9.45802438e-01 9.37193319e-03 2.54005386e+02] [ 9.45381007e-01 3.24742444e-01 2.82329067e-02 1.74923789e+02] [-2.97462164e-02 -3.04560630e-04 9.99557437e-01 -4.93057905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76 meters 0.018165740612783754 Centerline is valid? [True, True] Translation: X:254.01, Y:174.98, Z:-4.93 [[ 3.31985537e-01 -9.43231390e-01 1.00073641e-02 2.54008406e+02] [ 9.42748775e-01 3.32135822e-01 3.01751984e-02 1.74984583e+02] [-3.17859985e-02 -5.83299252e-04 9.99494527e-01 -4.93074612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82 meters 0.01928479673965732 Centerline is valid? [True, True] Translation: X:254.02, Y:175.04, Z:-4.93 [[ 3.35764061e-01 -9.41888078e-01 1.04567571e-02 2.54016635e+02] [ 9.41359526e-01 3.35926007e-01 3.15588468e-02 1.75044146e+02] [-3.32375982e-02 -7.52758695e-04 9.99447195e-01 -4.93206681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88 meters 0.01995217029289467 Centerline is valid? [True, True] Translation: X:254.03, Y:175.10, Z:-4.93 [[ 3.38577076e-01 -9.40874822e-01 1.09605087e-02 2.54026203e+02] [ 9.40292559e-01 3.38753233e-01 3.31081684e-02 1.75102848e+02] [-3.48635498e-02 -9.03582126e-04 9.99391673e-01 -4.93411523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94 meters 0.02160900739007328 Centerline is valid? [True, True] Translation: X:254.03, Y:175.16, Z:-4.94 [[ 3.40278354e-01 -9.40254059e-01 1.15302754e-02 2.54031304e+02] [ 9.39608208e-01 3.40472097e-01 3.48592374e-02 1.75162393e+02] [-3.67022765e-02 -1.02790248e-03 9.99325716e-01 -4.93533405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.0 meters 0.021369816196205635 Centerline is valid? [True, True] Translation: X:254.04, Y:175.22, Z:-4.94 [[ 3.39947610e-01 -9.40369705e-01 1.18507533e-02 2.54044441e+02] [ 9.39686364e-01 3.40152476e-01 3.58584766e-02 1.75220456e+02] [-3.77512881e-02 -1.05401219e-03 9.99286610e-01 -4.93776897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06 meters 0.02050482229723529 Centerline is valid? [True, True] Translation: X:254.06, Y:175.28, Z:-4.94 [[ 3.37199603e-01 -9.41358374e-01 1.18675683e-02 2.54057978e+02] [ 9.40672544e-01 3.37407022e-01 3.59397663e-02 1.75277923e+02] [-3.78364008e-02 -9.55379273e-04 9.99283490e-01 -4.94135617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12 meters 0.019482086239420184 Centerline is valid? [True, True] Translation: X:254.08, Y:175.33, Z:-4.94 [[ 3.33942730e-01 -9.42524041e-01 1.14317512e-02 2.54075230e+02] [ 9.41887226e-01 3.34137376e-01 3.46506431e-02 1.75333833e+02] [-3.64788395e-02 -8.03909961e-04 9.99334102e-01 -4.94476968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18 meters 0.01861046400342879 Centerline is valid? [True, True] Translation: X:254.09, Y:175.39, Z:-4.95 [[ 3.30136293e-01 -9.43867739e-01 1.11229103e-02 2.54093885e+02] [ 9.43264516e-01 3.30322979e-01 3.37458576e-02 1.75389112e+02] [-3.55257792e-02 -6.48885744e-04 9.99368550e-01 -4.94768927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24 meters 0.017815959210092023 Centerline is valid? [True, True] Translation: X:254.11, Y:175.44, Z:-4.95 [[ 3.24497721e-01 -9.45832126e-01 1.01399590e-02 2.54114085e+02] [ 9.45330853e-01 3.24655856e-01 3.07921055e-02 1.75443409e+02] [-3.24161597e-02 -4.06351942e-04 9.99474376e-01 -4.95155215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.3 meters 0.01757957889087486 Centerline is valid? [True, True] Translation: X:254.14, Y:175.50, Z:-4.95 [[ 3.21279033e-01 -9.46938137e-01 9.37805653e-03 2.54135059e+02] [ 9.46509123e-01 3.21415753e-01 2.85025053e-02 1.75498949e+02] [-3.00043644e-02 -2.80841289e-04 9.99549728e-01 -4.95335134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36 meters 0.01748704614725039 Centerline is valid? [True, True] Translation: X:254.16, Y:175.55, Z:-4.95 [[ 3.19853520e-01 -9.47428676e-01 8.52227290e-03 2.54155434e+02] [ 9.47074009e-01 3.19966959e-01 2.59223299e-02 1.75553770e+02] [-2.72864045e-02 -2.20125301e-04 9.99627633e-01 -4.95489821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.41999999999996 meters 0.0176874162586792 Centerline is valid? [True, True] Translation: X:254.17, Y:175.61, Z:-4.96 [[ 3.19788328e-01 -9.47453351e-01 8.22023632e-03 2.54173627e+02] [ 9.47122792e-01 3.19893888e-01 2.50263099e-02 1.75608588e+02] [-2.63408645e-02 -2.17548616e-04 9.99652996e-01 -4.95610359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.47999999999996 meters 0.017557651291377666 Centerline is valid? [True, True] Translation: X:254.19, Y:175.66, Z:-4.96 [[ 3.20581553e-01 -9.47195876e-01 6.88772618e-03 2.54194546e+02] [ 9.46963362e-01 3.20655470e-01 2.09871454e-02 1.75663066e+02] [-2.20875246e-02 -2.05667307e-04 9.99756020e-01 -4.95939584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.53999999999996 meters 0.01781987748492731 Centerline is valid? [True, True] Translation: X:254.21, Y:175.72, Z:-4.96 [[ 3.21342896e-01 -9.46944645e-01 5.88068236e-03 2.54213780e+02] [ 9.46774830e-01 3.21396641e-01 1.79337618e-02 1.75717894e+02] [-1.88723113e-02 -1.95204917e-04 9.99821883e-01 -4.96085296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.59999999999997 meters 0.018122258200413258 Centerline is valid? [True, True] Translation: X:254.23, Y:175.77, Z:-4.96 [[ 3.25567782e-01 -9.45509288e-01 4.21973521e-03 2.54233065e+02] [ 9.45421616e-01 3.25595064e-01 1.28772094e-02 1.75773822e+02] [-1.35494461e-02 -2.02975629e-04 9.99908181e-01 -4.96219556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.65999999999997 meters 0.018952190477460166 Centerline is valid? [True, True] Translation: X:254.25, Y:175.83, Z:-4.96 [[ 3.30324030e-01 -9.43860056e-01 3.77234711e-03 2.54249727e+02] [ 9.43789774e-01 3.30345479e-01 1.15207486e-02 1.75830148e+02] [-1.21201522e-02 -2.45277466e-04 9.99926518e-01 -4.96219011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.71999999999997 meters 0.020539744828279496 Centerline is valid? [True, True] Translation: X:254.27, Y:175.89, Z:-4.96 [[ 3.36388545e-01 -9.41717711e-01 3.24018130e-03 2.54265486e+02] [ 9.41665691e-01 3.36404033e-01 9.90215408e-03 1.75886184e+02] [-1.04150439e-02 -2.79803644e-04 9.99945723e-01 -4.96207047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78 meters 0.023780917575909905 Centerline is valid? [True, True] Translation: X:254.28, Y:175.94, Z:-4.96 [[ 3.45570056e-01 -9.38390257e-01 2.25007165e-03 2.54279160e+02] [ 9.38365085e-01 3.45577279e-01 6.87828627e-03 1.75942314e+02] [-7.23209046e-03 -2.65541090e-04 9.99973813e-01 -4.96323252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84 meters 0.025895005038933654 Centerline is valid? [True, True] Translation: X:254.30, Y:176.00, Z:-4.96 [[ 3.50428770e-01 -9.36587812e-01 1.71705004e-03 2.54295061e+02] [ 9.36573120e-01 3.50432900e-01 5.25107192e-03 1.75998210e+02] [-5.51980078e-03 -2.31983765e-04 9.99984739e-01 -4.96476454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.9 meters 0.026442831517668516 Centerline is valid? [True, True] Translation: X:254.32, Y:176.05, Z:-4.97 [[ 3.56178149e-01 -9.34417808e-01 6.97128450e-04 2.54316021e+02] [ 9.34415395e-01 3.56178816e-01 2.12604126e-03 1.76053196e+02] [-2.23491320e-03 -1.05841883e-04 9.99997497e-01 -4.96530885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96 meters 0.03081776402275943 Centerline is valid? [True, True] Translation: X:254.33, Y:176.11, Z:-4.97 [[ 3.58084481e-01 -9.33689155e-01 2.56206237e-04 2.54330277e+02] [ 9.33688836e-01 3.58084570e-01 7.73794327e-04 1.76109638e+02] [-8.14226872e-04 -3.78668367e-05 9.99999668e-01 -4.96806398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02 meters 0.02923110933343235 Centerline is valid? [True, True] Translation: X:254.35, Y:176.16, Z:-4.97 [[ 3.58756564e-01 -9.33430957e-01 -6.13492846e-04 2.54353223e+02] [ 9.33429030e-01 3.58757072e-01 -1.90004227e-03 1.76163008e+02] [ 1.99365318e-03 1.09000606e-04 9.99998007e-01 -4.96916391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08 meters 0.024699478608623662 Centerline is valid? [True, True] Translation: X:254.38, Y:176.22, Z:-4.97 [[ 3.56578637e-01 -9.34264810e-01 -9.69182445e-04 2.54380783e+02] [ 9.34260021e-01 3.56579917e-01 -2.99603361e-03 1.76215499e+02] [ 3.14467977e-03 1.62853172e-04 9.99995042e-01 -4.96790881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14 meters 0.02334632856520438 Centerline is valid? [True, True] Translation: X:254.41, Y:176.27, Z:-4.97 [[ 3.52055685e-01 -9.35978246e-01 -1.23205959e-03 2.54405284e+02] [ 9.35970542e-01 3.52057792e-01 -3.80200679e-03 1.76269127e+02] [ 3.99235182e-03 1.85346622e-04 9.99992013e-01 -4.96812199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2 meters 0.020054087090136896 Centerline is valid? [True, True] Translation: X:254.44, Y:176.32, Z:-4.97 [[ 3.40358710e-01 -9.40294500e-01 -1.48358113e-03 2.54435239e+02] [ 9.40283364e-01 3.40361904e-01 -4.57918248e-03 1.76321178e+02] [ 4.81073460e-03 1.63577989e-04 9.99988415e-01 -4.96817981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26 meters 0.017725973881917965 Centerline is valid? [True, True] Translation: X:254.46, Y:176.37, Z:-4.97 [[ 3.31778851e-01 -9.43355834e-01 -1.60151982e-03 2.54461444e+02] [ 9.43342843e-01 3.31782690e-01 -4.95247314e-03 1.76373630e+02] [ 5.20330098e-03 1.32343589e-04 9.99986454e-01 -4.96799810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32 meters 0.015516174324183143 Centerline is valid? [True, True] Translation: X:254.49, Y:176.43, Z:-4.97 [[ 3.24098447e-01 -9.46021444e-01 -1.90347880e-03 2.54490312e+02] [ 9.46003170e-01 3.24104020e-01 -5.88108204e-03 1.76426247e+02] [ 6.18055486e-03 1.05352577e-04 9.99980895e-01 -4.96628691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38 meters 0.015881703999092674 Centerline is valid? [True, True] Translation: X:254.51, Y:176.48, Z:-4.97 [[ 3.23767890e-01 -9.46134718e-01 -1.85723205e-03 2.54509343e+02] [ 9.46117259e-01 3.23773200e-01 -5.74861200e-03 1.76479934e+02] [ 6.04028336e-03 1.04056678e-04 9.99981752e-01 -4.96753272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44 meters 0.01590298549286156 Centerline is valid? [True, True] Translation: X:254.53, Y:176.54, Z:-4.97 [[ 3.27089042e-01 -9.44991019e-01 -2.17531482e-03 2.54527123e+02] [ 9.44967017e-01 3.27096242e-01 -6.73683750e-03 1.76536355e+02] [ 7.07778824e-03 1.47944973e-04 9.99974941e-01 -4.96716451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.5 meters 0.017603229133655095 Centerline is valid? [True, True] Translation: X:254.54, Y:176.59, Z:-4.97 [[ 3.34921708e-01 -9.42243928e-01 -1.95714768e-03 2.54540635e+02] [ 9.42224399e-01 3.34927373e-01 -6.06929011e-03 1.76593330e+02] [ 6.37425408e-03 1.88664715e-04 9.99979666e-01 -4.96733636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56 meters 0.02059989506991107 Centerline is valid? [True, True] Translation: X:254.55, Y:176.65, Z:-4.97 [[ 3.42557698e-01 -9.39495341e-01 -1.65160168e-03 2.54552611e+02] [ 9.39481397e-01 3.42561619e-01 -5.12275297e-03 1.76649958e+02] [ 5.37857790e-03 2.03189408e-04 9.99985515e-01 -4.96827589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62 meters 0.02089087409327149 Centerline is valid? [True, True] Translation: X:254.57, Y:176.71, Z:-4.97 [[ 3.46532019e-01 -9.38036265e-01 -1.87753729e-03 2.54569355e+02] [ 9.38018177e-01 3.46537008e-01 -5.83112516e-03 1.76706546e+02] [ 6.12044302e-03 2.59507474e-04 9.99981236e-01 -4.96848187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68 meters 0.02252189061482858 Centerline is valid? [True, True] Translation: X:254.58, Y:176.76, Z:-4.97 [[ 3.49673186e-01 -9.36870235e-01 -1.68071025e-03 2.54583407e+02] [ 9.36855696e-01 3.49677134e-01 -5.22560308e-03 1.76764045e+02] [ 5.48341793e-03 2.52670313e-04 9.99984934e-01 -4.96994340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74 meters 0.02598934972296286 Centerline is valid? [True, True] Translation: X:254.59, Y:176.82, Z:-4.97 [[ 3.53864214e-01 -9.35295031e-01 -1.82282229e-03 2.54593791e+02] [ 9.35277914e-01 3.53868781e-01 -5.66654519e-03 1.76821165e+02] [ 5.94493147e-03 3.00342136e-04 9.99982284e-01 -4.97295402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.8 meters 0.02514176542294041 Centerline is valid? [True, True] Translation: X:254.61, Y:176.88, Z:-4.97 [[ 3.54746677e-01 -9.34959037e-01 -2.52859241e-03 2.54612498e+02] [ 9.34926034e-01 3.54755432e-01 -7.86724968e-03 1.76876754e+02] [ 8.25258808e-03 4.26833801e-04 9.99965856e-01 -4.97487853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86 meters 0.02836010042899664 Centerline is valid? [True, True] Translation: X:254.63, Y:176.93, Z:-4.98 [[ 3.53510113e-01 -9.35425347e-01 -3.16531787e-03 2.54626495e+02] [ 9.35373589e-01 3.53523897e-01 -9.85409616e-03 1.76931843e+02] [ 1.03367868e-02 5.22767913e-04 9.99946437e-01 -4.97953017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.91999999999996 meters 0.02469289984333934 Centerline is valid? [True, True] Translation: X:254.65, Y:176.98, Z:-4.98 [[ 3.48803992e-01 -9.37190922e-01 -2.99175539e-03 2.54651402e+02] [ 9.37144643e-01 3.48816534e-01 -9.32433204e-03 1.76984617e+02] [ 9.78225309e-03 4.48656695e-04 9.99952052e-01 -4.97755641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.97999999999996 meters 0.023997885123552387 Centerline is valid? [True, True] Translation: X:254.67, Y:177.04, Z:-4.98 [[ 3.46326486e-01 -9.38110818e-01 -2.46115870e-03 2.54672300e+02] [ 9.38079438e-01 3.46335053e-01 -7.68106525e-03 1.77038906e+02] [ 8.05807593e-03 3.51393968e-04 9.99967471e-01 -4.97620009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.03999999999996 meters 0.0217696172034727 Centerline is valid? [True, True] Translation: X:254.70, Y:177.09, Z:-4.98 [[ 3.43210433e-01 -9.39256141e-01 -2.12115304e-03 2.54696650e+02] [ 9.39232794e-01 3.43216872e-01 -6.62850829e-03 1.77092133e+02] [ 6.95388263e-03 2.82716702e-04 9.99975782e-01 -4.97500737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.09999999999997 meters 0.021355428245512363 Centerline is valid? [True, True] Translation: X:254.72, Y:177.15, Z:-4.98 [[ 3.41416199e-01 -9.39909405e-01 -2.29996556e-03 2.54716918e+02] [ 9.39881933e-01 3.41423820e-01 -7.19224010e-03 1.77146730e+02] [ 7.54531714e-03 2.93851200e-04 9.99971491e-01 -4.97655668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.15999999999997 meters 0.023779955057576442 Centerline is valid? [True, True] Translation: X:254.73, Y:177.20, Z:-4.98 [[ 3.40696439e-01 -9.40170536e-01 -2.30198433e-03 2.54732819e+02] [ 9.40143008e-01 3.40704094e-01 -7.20036024e-03 1.77201514e+02] [ 7.55386203e-03 2.88942626e-04 9.99971427e-01 -4.97932390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.21999999999997 meters 0.02061742877948096 Centerline is valid? [True, True] Translation: X:254.76, Y:177.25, Z:-4.98 [[ 3.39888868e-01 -9.40463429e-01 -2.02398101e-03 2.54757614e+02] [ 9.40442082e-01 3.39894801e-01 -6.34150626e-03 1.77254826e+02] [ 6.65189535e-03 2.51970469e-04 9.99977844e-01 -4.97672271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28 meters 0.021005526647373794 Centerline is valid? [True, True] Translation: X:254.78, Y:177.31, Z:-4.98 [[ 3.39303988e-01 -9.40675196e-01 -1.72637396e-03 2.54776098e+02] [ 9.40659628e-01 3.39308312e-01 -5.41603057e-03 1.77309823e+02] [ 5.68049865e-03 2.13750484e-04 9.99983843e-01 -4.97721303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34 meters 0.021594065471680888 Centerline is valid? [True, True] Translation: X:254.79, Y:177.37, Z:-4.98 [[ 3.39110896e-01 -9.40745046e-01 -1.59927548e-03 2.54793511e+02] [ 9.40731655e-01 3.39114609e-01 -5.02348942e-03 1.77365252e+02] [ 5.26816047e-03 1.99030931e-04 9.99986103e-01 -4.97798508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.4 meters 0.019772576390434976 Centerline is valid? [True, True] Translation: X:254.81, Y:177.42, Z:-4.98 [[ 3.38547879e-01 -9.40948643e-01 -9.92553462e-04 2.54814381e+02] [ 9.40943464e-01 3.38549312e-01 -3.12444224e-03 1.77420010e+02] [ 3.27596798e-03 1.23836602e-04 9.99994626e-01 -4.97705126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46 meters 0.020409540192247836 Centerline is valid? [True, True] Translation: X:254.83, Y:177.47, Z:-4.98 [[ 3.37630164e-01 -9.41278764e-01 -4.02045301e-04 2.54832571e+02] [ 9.41277908e-01 3.37630399e-01 -1.27037951e-03 1.77474713e+02] [ 1.33152397e-03 5.04820808e-05 9.99999112e-01 -4.97788814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52 meters 0.018676466108050356 Centerline is valid? [True, True] Translation: X:254.85, Y:177.53, Z:-4.98 [[ 3.35907647e-01 -9.41894812e-01 -4.64822150e-04 2.54854379e+02] [ 9.41893663e-01 3.35907964e-01 -1.47224342e-03 1.77529171e+02] [ 1.54283590e-03 5.67247864e-05 9.99998808e-01 -4.97870312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58 meters 0.01931447295543282 Centerline is valid? [True, True] Translation: X:254.87, Y:177.58, Z:-4.98 [[ 3.31719441e-01 -9.43377895e-01 -5.99292984e-04 2.54872781e+02] [ 9.43376007e-01 3.31719976e-01 -1.88880709e-03 1.77583140e+02] [ 1.98065631e-03 6.11954094e-05 9.99998037e-01 -4.98258364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64 meters 0.016476429135123833 Centerline is valid? [True, True] Translation: X:254.90, Y:177.64, Z:-4.98 [[ 3.28436564e-01 -9.44525928e-01 -4.42199712e-04 2.54896559e+02] [ 9.44524886e-01 3.28436859e-01 -1.40333448e-03 1.77637276e+02] [ 1.47072048e-03 4.32377208e-05 9.99998918e-01 -4.98180553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7 meters 0.015784197865469383 Centerline is valid? [True, True] Translation: X:254.92, Y:177.69, Z:-4.98 [[ 3.23547660e-01 -9.46211753e-01 4.80301138e-04 2.54917284e+02] [ 9.46210569e-01 3.23548015e-01 1.49727647e-03 1.77691032e+02] [-1.57214107e-03 -2.99742856e-05 9.99998764e-01 -4.98149436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76 meters 0.014782339696282207 Centerline is valid? [True, True] Translation: X:254.94, Y:177.75, Z:-4.98 [[ 3.20723656e-01 -9.47172260e-01 1.02266437e-03 2.54937398e+02] [ 9.47166831e-01 3.20725280e-01 3.20767136e-03 1.77746018e+02] [-3.36621165e-03 -6.01423132e-05 9.99994332e-01 -4.98144068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82 meters 0.013999224081511576 Centerline is valid? [True, True] Translation: X:254.96, Y:177.80, Z:-4.98 [[ 3.19245805e-01 -9.47670984e-01 1.34967355e-03 2.54957330e+02] [ 9.47661490e-01 3.19248649e-01 4.24274640e-03 1.77801185e+02] [-4.45160912e-03 -7.54453497e-05 9.99990089e-01 -4.98137969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88 meters 0.014440739870653878 Centerline is valid? [True, True] Translation: X:254.97, Y:177.86, Z:-4.98 [[ 3.20120944e-01 -9.47375573e-01 1.45094096e-03 2.54973889e+02] [ 9.47364576e-01 3.20124221e-01 4.56554065e-03 1.77857351e+02] [-4.78976303e-03 -8.69551200e-05 9.99988525e-01 -4.98299971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94 meters 0.015303186442263257 Centerline is valid? [True, True] Translation: X:254.99, Y:177.91, Z:-4.99 [[ 3.22741807e-01 -9.46486476e-01 1.03810246e-03 2.54988580e+02] [ 9.46480841e-01 3.22743468e-01 3.26679257e-03 1.77914372e+02] [-3.42701577e-03 -7.17864493e-05 9.99994125e-01 -4.98548795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.0 meters 0.017669439310176272 Centerline is valid? [True, True] Translation: X:255.00, Y:177.97, Z:-4.99 [[ 3.28883698e-01 -9.44370318e-01 4.65231266e-04 2.54999659e+02] [ 9.44369191e-01 3.28884024e-01 1.45937547e-03 1.77970598e+02] [-1.53119800e-03 -4.06147251e-05 9.99998827e-01 -4.98813929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06 meters 0.01957657465093261 Centerline is valid? [True, True] Translation: X:255.01, Y:178.03, Z:-4.99 [[ 3.32620018e-01 -9.43060653e-01 7.26511133e-04 2.55012101e+02] [ 9.43057880e-01 3.32620803e-01 2.28834751e-03 1.78026299e+02] [-2.39970321e-03 -7.60081409e-05 9.99997118e-01 -4.98911428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12 meters 0.021407996911515653 Centerline is valid? [True, True] Translation: X:255.03, Y:178.08, Z:-4.99 [[ 3.35215860e-01 -9.42140586e-01 1.20185774e-03 2.55025691e+02] [ 9.42132960e-01 3.35217986e-01 3.79314413e-03 1.78083665e+02] [-3.97655936e-03 -1.39212281e-04 9.99992084e-01 -4.98942340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18 meters 0.020633987350065948 Centerline is valid? [True, True] Translation: X:255.04, Y:178.14, Z:-4.99 [[ 3.36222929e-01 -9.41780961e-01 1.66241595e-03 2.55043378e+02] [ 9.41766300e-01 3.36226978e-01 5.25895314e-03 1.78138850e+02] [-5.51173104e-03 -2.02573307e-04 9.99984790e-01 -4.98972936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24 meters 0.01996703793042727 Centerline is valid? [True, True] Translation: X:255.06, Y:178.19, Z:-4.99 [[ 3.35265166e-01 -9.42122189e-01 1.74610499e-03 2.55061637e+02] [ 9.42106015e-01 3.35269649e-01 5.52449012e-03 1.78194617e+02] [-5.79016073e-03 -2.07153085e-04 9.99983215e-01 -4.99067275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.3 meters 0.019988323566382065 Centerline is valid? [True, True] Translation: X:255.08, Y:178.25, Z:-4.99 [[ 3.33841793e-01 -9.42626859e-01 2.06455662e-03 2.55077877e+02] [ 9.42604193e-01 3.33848092e-01 6.54111761e-03 1.78251033e+02] [-6.85508144e-03 -2.37638703e-04 9.99976475e-01 -4.99126974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36 meters 0.019658886393557826 Centerline is valid? [True, True] Translation: X:255.09, Y:178.31, Z:-4.99 [[ 3.33069229e-01 -9.42899960e-01 2.13412658e-03 2.55094419e+02] [ 9.42875698e-01 3.33075978e-01 6.76834980e-03 1.78306946e+02] [-7.09270305e-03 -2.42112957e-04 9.99974817e-01 -4.99212104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.41999999999996 meters 0.019522502281587126 Centerline is valid? [True, True] Translation: X:255.11, Y:178.36, Z:-4.99 [[ 3.32542118e-01 -9.43086576e-01 1.85759296e-03 2.55109401e+02] [ 9.43068174e-01 3.32547241e-01 5.89502298e-03 1.78363109e+02] [-6.17725445e-03 -2.08506624e-04 9.99980899e-01 -4.99465006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.47999999999996 meters 0.0197104923627473 Centerline is valid? [True, True] Translation: X:255.12, Y:178.42, Z:-5.00 [[ 3.31642988e-01 -9.43403729e-01 1.52752820e-03 2.55124910e+02] [ 9.43391276e-01 3.31646463e-01 4.85006400e-03 1.78419302e+02] [-5.08216779e-03 -1.67432939e-04 9.99987072e-01 -4.99741657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.53999999999996 meters 0.018172598318166918 Centerline is valid? [True, True] Translation: X:255.14, Y:178.47, Z:-5.00 [[ 3.29708810e-01 -9.44081808e-01 1.28045298e-03 2.55144674e+02] [ 9.44073052e-01 3.29711270e-01 4.06825692e-03 1.78474991e+02] [-4.26294713e-03 -1.32498994e-04 9.99990905e-01 -4.99811582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.59999999999997 meters 0.016305758698961868 Centerline is valid? [True, True] Translation: X:255.17, Y:178.53, Z:-5.00 [[ 3.22833085e-01 -9.46454681e-01 1.52829767e-03 2.55165594e+02] [ 9.46442201e-01 3.22836679e-01 4.86193664e-03 1.78529652e+02] [-5.09499324e-03 -1.23148602e-04 9.99987013e-01 -4.99753003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.65999999999997 meters 0.016173119708031904 Centerline is valid? [True, True] Translation: X:255.18, Y:178.58, Z:-5.00 [[ 3.16822744e-01 -9.48483143e-01 1.75361292e-03 2.55182687e+02] [ 9.48466702e-01 3.16827580e-01 5.58574265e-03 1.78584382e+02] [-5.85357569e-03 -1.06446851e-04 9.99982862e-01 -4.99799249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.71999999999997 meters 0.013758484216462663 Centerline is valid? [True, True] Translation: X:255.20, Y:178.64, Z:-5.00 [[ 3.09312524e-01 -9.50958450e-01 1.94666440e-03 2.55204571e+02] [ 9.50938183e-01 3.09318642e-01 6.20878983e-03 1.78638756e+02] [-6.50644074e-03 -6.92989472e-05 9.99978830e-01 -4.99621279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78 meters 0.013331625085946585 Centerline is valid? [True, True] Translation: X:255.22, Y:178.70, Z:-5.00 [[ 3.05096704e-01 -9.52319319e-01 1.97890040e-03 2.55221625e+02] [ 9.52298359e-01 3.05103119e-01 6.31834947e-03 1.78695039e+02] [-6.62085495e-03 -4.32039932e-05 9.99978081e-01 -4.99681588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84 meters 0.013259367149572036 Centerline is valid? [True, True] Translation: X:255.24, Y:178.75, Z:-5.00 [[ 3.01290695e-01 -9.53530282e-01 1.97958129e-03 2.55237030e+02] [ 9.53509288e-01 3.01297198e-01 6.32740057e-03 1.78750006e+02] [-6.62981035e-03 -1.88377670e-05 9.99978022e-01 -4.99804270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.9 meters 0.01337547063831617 Centerline is valid? [True, True] Translation: X:255.25, Y:178.81, Z:-5.00 [[ 2.94492213e-01 -9.55652401e-01 1.68072601e-03 2.55251599e+02] [ 9.55637296e-01 2.94497008e-01 5.37314894e-03 1.78806560e+02] [-5.62983147e-03 2.38139342e-05 9.99984152e-01 -4.99920522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96 meters 0.013825947039610608 Centerline is valid? [True, True] Translation: X:255.27, Y:178.86, Z:-5.00 [[ 2.89471867e-01 -9.57185247e-01 1.56235694e-03 2.55266261e+02] [ 9.57172191e-01 2.89476079e-01 4.99969722e-03 1.78861870e+02] [-5.23790138e-03 4.81729274e-05 9.99986281e-01 -5.00070723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02 meters 0.014266831974294953 Centerline is valid? [True, True] Translation: X:255.28, Y:178.92, Z:-5.00 [[ 2.84276706e-01 -9.58740991e-01 1.57084934e-03 2.55279913e+02] [ 9.58727790e-01 2.84281036e-01 5.03159476e-03 1.78919115e+02] [-5.27055882e-03 7.56517355e-05 9.99986108e-01 -5.00057384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08 meters 0.01578579341657008 Centerline is valid? [True, True] Translation: X:255.29, Y:178.98, Z:-5.00 [[ 2.78310949e-01 -9.60489523e-01 1.70054025e-03 2.55291159e+02] [ 9.60474049e-01 2.78316120e-01 5.45337855e-03 1.78976043e+02] [-5.71120072e-03 1.15589825e-04 9.99983684e-01 -5.00092752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14 meters 0.016195019452658933 Centerline is valid? [True, True] Translation: X:255.30, Y:179.03, Z:-5.00 [[ 2.74856649e-01 -9.61483473e-01 1.83159650e-03 2.55301423e+02] [ 9.61465506e-01 2.74862713e-01 5.87960658e-03 1.79034603e+02] [-6.15658214e-03 1.44967896e-04 9.99981038e-01 -5.00160004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2 meters 0.017365145145296048 Centerline is valid? [True, True] Translation: X:255.31, Y:179.09, Z:-5.00 [[ 2.70906610e-01 -9.62603480e-01 2.03678490e-03 2.55311943e+02] [ 9.62581243e-01 2.70914202e-01 6.54565165e-03 1.79092985e+02] [-6.85266101e-03 1.87310647e-04 9.99976503e-01 -5.00215355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26 meters 0.017648894767996002 Centerline is valid? [True, True] Translation: X:255.33, Y:179.15, Z:-5.00 [[ 2.68690813e-01 -9.63224118e-01 2.13220078e-03 2.55325503e+02] [ 9.63199720e-01 2.68699190e-01 6.85892871e-03 1.79150204e+02] [-7.17960618e-03 2.10804066e-04 9.99974204e-01 -5.00233785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32 meters 0.019701166524168028 Centerline is valid? [True, True] Translation: X:255.33, Y:179.21, Z:-5.00 [[ 2.62855272e-01 -9.64831221e-01 2.79681342e-03 2.55329570e+02] [ 9.64789205e-01 2.62869943e-01 9.01016096e-03 1.79209113e+02] [-9.42848278e-03 3.29967090e-04 9.99955496e-01 -5.00157812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38 meters 0.02055061399542785 Centerline is valid? [True, True] Translation: X:255.33, Y:179.27, Z:-5.00 [[ 2.61119307e-01 -9.65301971e-01 2.96842386e-03 2.55327087e+02] [ 9.65254617e-01 2.61135922e-01 9.56843016e-03 1.79270532e+02] [-1.00115866e-02 3.66782977e-04 9.99949816e-01 -5.00267741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44 meters 0.01872019359691003 Centerline is valid? [True, True] Translation: X:255.33, Y:179.33, Z:-5.00 [[ 2.62760182e-01 -9.64856128e-01 3.12072668e-03 2.55325561e+02] [ 9.64803651e-01 2.62778460e-01 1.00695914e-02 1.79332367e+02] [-1.05357667e-02 3.65000834e-04 9.99944431e-01 -5.00347262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.5 meters 0.020535967887085102 Centerline is valid? [True, True] Translation: X:255.33, Y:179.39, Z:-5.00 [[ 2.65408725e-01 -9.64129669e-01 3.49129617e-03 2.55328503e+02] [ 9.64063791e-01 2.65431425e-01 1.12767452e-02 1.79391977e+02] [-1.17989443e-02 3.72885650e-04 9.99930321e-01 -5.00464767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56 meters 0.017082943634323895 Centerline is valid? [True, True] Translation: X:255.31, Y:179.46, Z:-5.00 [[ 2.69002725e-01 -9.63131949e-01 3.79256600e-03 2.55313471e+02] [ 9.63053944e-01 2.69029226e-01 1.22627851e-02 1.79457431e+02] [-1.28309912e-02 3.53723049e-04 9.99917617e-01 -5.00469151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62 meters 0.017075233521746894 Centerline is valid? [True, True] Translation: X:255.31, Y:179.52, Z:-5.01 [[ 2.70645906e-01 -9.62672379e-01 3.56151008e-03 2.55313100e+02] [ 9.62603419e-01 2.70669162e-01 1.15266104e-02 1.79519599e+02] [-1.20603404e-02 3.08691864e-04 9.99927224e-01 -5.00592133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68 meters 0.016810201310302655 Centerline is valid? [True, True] Translation: X:255.30, Y:179.59, Z:-5.01 [[ 2.72991307e-01 -9.62010107e-01 3.50713922e-03 2.55302669e+02] [ 9.61943072e-01 2.73013699e-01 1.13598502e-02 1.79585008e+02] [-1.18857878e-02 2.72527913e-04 9.99929324e-01 -5.00593282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74 meters 0.016488478463744762 Centerline is valid? [True, True] Translation: X:255.30, Y:179.65, Z:-5.01 [[ 2.75396661e-01 -9.61323771e-01 3.64501360e-03 2.55301284e+02] [ 9.61251176e-01 2.75420669e-01 1.18166132e-02 1.79647424e+02] [-1.23635032e-02 2.49517787e-04 9.99923538e-01 -5.00602849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.8 meters 0.015534922562102047 Centerline is valid? [True, True] Translation: X:255.29, Y:179.71, Z:-5.01 [[ 2.82023999e-01 -9.59400071e-01 3.73743863e-03 2.55288446e+02] [ 9.59323450e-01 2.82048714e-01 1.21260794e-02 1.79712171e+02] [-1.26879012e-02 1.65567115e-04 9.99919492e-01 -5.00537787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86 meters 0.01483225617515569 Centerline is valid? [True, True] Translation: X:255.28, Y:179.78, Z:-5.01 [[ 2.88679169e-01 -9.57418928e-01 3.65150078e-03 2.55284659e+02] [ 9.57345479e-01 2.88702253e-01 1.18592707e-02 1.79775258e+02] [-1.24084868e-02 7.22233455e-05 9.99923009e-01 -5.00682274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.91999999999996 meters 0.015352308092193005 Centerline is valid? [True, True] Translation: X:255.27, Y:179.84, Z:-5.01 [[ 3.00822951e-01 -9.53674471e-01 3.24889450e-03 2.55270193e+02] [ 9.53616071e-01 3.00840485e-01 1.05542639e-02 1.79840790e+02] [-1.10427310e-02 -7.67667966e-05 9.99939024e-01 -5.00812779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.97999999999996 meters 0.01663723489591797 Centerline is valid? [True, True] Translation: X:255.27, Y:179.90, Z:-5.01 [[ 3.09448364e-01 -9.50910912e-01 3.18553210e-03 2.55268238e+02] [ 9.50854521e-01 3.09464710e-01 1.03572777e-02 1.79902938e+02] [-1.08346582e-02 -1.76065043e-04 9.99941288e-01 -5.00860966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.03999999999996 meters 0.019823187661778034 Centerline is valid? [True, True] Translation: X:255.26, Y:179.97, Z:-5.01 [[ 3.21615581e-01 -9.46863076e-01 3.70576955e-03 2.55257420e+02] [ 9.46786309e-01 3.21636716e-01 1.20626407e-02 1.79967323e+02] [-1.26135806e-02 -3.70961310e-04 9.99920377e-01 -5.00884151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.09999999999997 meters 0.02273055329011397 Centerline is valid? [True, True] Translation: X:255.26, Y:180.03, Z:-5.01 [[ 3.28441444e-01 -9.44515724e-01 4.03295837e-03 2.55256660e+02] [ 9.44424521e-01 3.28465815e-01 1.31351522e-02 1.80028354e+02] [-1.37310468e-02 -5.05303581e-04 9.99905597e-01 -5.01032848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.15999999999997 meters 0.024729865235633346 Centerline is valid? [True, True] Translation: X:255.25, Y:180.09, Z:-5.01 [[ 3.35288374e-01 -9.42106175e-01 4.20267686e-03 2.55253587e+02] [ 9.42006881e-01 3.35314116e-01 1.36923302e-02 1.80090454e+02] [-1.43088457e-02 -6.31928599e-04 9.99897424e-01 -5.01197348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.21999999999997 meters 0.027578987412415976 Centerline is valid? [True, True] Translation: X:255.26, Y:180.15, Z:-5.01 [[ 3.39048910e-01 -9.40759915e-01 4.07662699e-03 2.55255145e+02] [ 9.40666223e-01 3.39072750e-01 1.32938589e-02 1.80150141e+02] [-1.38886027e-02 -6.72523059e-04 9.99903323e-01 -5.01403593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28 meters 0.02747856364549595 Centerline is valid? [True, True] Translation: X:255.26, Y:180.21, Z:-5.02 [[ 3.42867709e-01 -9.39375791e-01 3.85461330e-03 2.55257563e+02] [ 9.39291900e-01 3.42888681e-01 1.25729440e-02 1.80211045e+02] [-1.31324225e-02 -6.90249447e-04 9.99913528e-01 -5.01664264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34 meters 0.029084818430954486 Centerline is valid? [True, True] Translation: X:255.26, Y:180.27, Z:-5.02 [[ 3.45305760e-01 -9.38482519e-01 3.80698953e-03 2.55263599e+02] [ 9.38400480e-01 3.45325996e-01 1.24295968e-02 1.80270575e+02] [-1.29796118e-02 -7.19530572e-04 9.99915502e-01 -5.01827858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.4 meters 0.030869180962350806 Centerline is valid? [True, True] Translation: X:255.27, Y:180.33, Z:-5.02 [[ 3.45756046e-01 -9.38315660e-01 4.05938975e-03 2.55265022e+02] [ 9.38222275e-01 3.45779003e-01 1.32605994e-02 1.80330448e+02] [-1.38462799e-02 -7.76322536e-04 9.99903834e-01 -5.01983746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46 meters 0.030721477429903967 Centerline is valid? [True, True] Translation: X:255.27, Y:180.39, Z:-5.02 [[ 3.43035350e-01 -9.39313429e-01 4.12689399e-03 2.55270613e+02] [ 9.39216925e-01 3.43059354e-01 1.34850688e-02 1.80390838e+02] [-1.40824758e-02 -7.49806618e-04 9.99900556e-01 -5.02214443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52 meters 0.027855151902457756 Centerline is valid? [True, True] Translation: X:255.28, Y:180.45, Z:-5.02 [[ 3.39884459e-01 -9.40459073e-01 3.90986757e-03 2.55284523e+02] [ 9.40372390e-01 3.39906288e-01 1.27860489e-02 1.80448078e+02] [-1.33537442e-02 -6.69047792e-04 9.99910611e-01 -5.02435151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58 meters 0.027127607476406558 Centerline is valid? [True, True] Translation: X:255.29, Y:180.51, Z:-5.03 [[ 3.36777095e-01 -9.41576043e-01 3.96773428e-03 2.55292695e+02] [ 9.41486711e-01 3.36799864e-01 1.29855803e-02 1.80506871e+02] [-1.35632437e-02 -6.37676920e-04 9.99907812e-01 -5.02656014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64 meters 0.027026227795770342 Centerline is valid? [True, True] Translation: X:255.30, Y:180.57, Z:-5.03 [[ 3.34183760e-01 -9.42499515e-01 3.98481292e-03 2.55302280e+02] [ 9.42409361e-01 3.34206967e-01 1.30498840e-02 1.80565300e+02] [-1.36312616e-02 -6.05734290e-04 9.99906907e-01 -5.02728583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7 meters 0.026847254590482317 Centerline is valid? [True, True] Translation: X:255.31, Y:180.62, Z:-5.03 [[ 3.32655546e-01 -9.43039234e-01 4.15820176e-03 2.55309631e+02] [ 9.42940965e-01 3.32680970e-01 1.36275359e-02 1.80624037e+02] [-1.42346556e-02 -6.12336608e-04 9.99898495e-01 -5.02886330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76 meters 0.025237106786328192 Centerline is valid? [True, True] Translation: X:255.32, Y:180.68, Z:-5.03 [[ 3.31674592e-01 -9.43385032e-01 4.08007933e-03 2.55320456e+02] [ 9.43290280e-01 3.31699162e-01 1.33833637e-02 1.80682023e+02] [-1.39790239e-02 -5.90222538e-04 9.99902114e-01 -5.03027611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82 meters 0.02710915511669696 Centerline is valid? [True, True] Translation: X:255.33, Y:180.74, Z:-5.03 [[ 3.31488769e-01 -9.43450336e-01 4.08156272e-03 2.55327781e+02] [ 9.43355343e-01 3.31513368e-01 1.34008665e-02 1.80739289e+02] [-1.39961446e-02 -5.91872724e-04 9.99901874e-01 -5.03133199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88 meters 0.027094014238337065 Centerline is valid? [True, True] Translation: X:255.34, Y:180.80, Z:-5.03 [[ 3.32325877e-01 -9.43155080e-01 4.24335942e-03 2.55336222e+02] [ 9.43052292e-01 3.32352369e-01 1.39383559e-02 1.80797992e+02] [-1.45563217e-02 -6.30366516e-04 9.99893852e-01 -5.03212249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94 meters 0.02821331585097772 Centerline is valid? [True, True] Translation: X:255.34, Y:180.86, Z:-5.03 [[ 3.33235626e-01 -9.42833223e-01 4.41933869e-03 2.55344134e+02] [ 9.42721502e-01 3.33264245e-01 1.45297152e-02 1.80855749e+02] [-1.51719058e-02 -6.75613143e-04 9.99884672e-01 -5.03284078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.0 meters 0.02722611453660133 Centerline is valid? [True, True] Translation: X:255.35, Y:180.92, Z:-5.03 [[ 3.37530365e-01 -9.41304675e-01 4.33145685e-03 2.55350945e+02] [ 9.41197165e-01 3.37557364e-01 1.42450701e-02 1.80915773e+02] [-1.48710662e-02 -7.31388804e-04 9.99889152e-01 -5.03322788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06 meters 0.03141691999449713 Centerline is valid? [True, True] Translation: X:255.35, Y:180.98, Z:-5.04 [[ 3.40999647e-01 -9.40054417e-01 4.11500595e-03 2.55348040e+02] [ 9.39957180e-01 3.41023650e-01 1.35414209e-02 1.80977832e+02] [-1.41329869e-02 -7.49690364e-04 9.99899843e-01 -5.03530382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12 meters 0.03076906643652535 Centerline is valid? [True, True] Translation: X:255.36, Y:181.04, Z:-5.04 [[ 3.43747250e-01 -9.39053001e-01 4.15807493e-03 2.55361994e+02] [ 9.38953585e-01 3.43771465e-01 1.36874074e-02 1.81035227e+02] [-1.42826285e-02 -8.00769300e-04 9.99897677e-01 -5.03595230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18 meters 0.031800185827041236 Centerline is valid? [True, True] Translation: X:255.36, Y:181.10, Z:-5.04 [[ 3.51645105e-01 -9.36124431e-01 4.09505041e-03 2.55363808e+02] [ 9.36027762e-01 3.51667776e-01 1.34834547e-02 1.81096857e+02] [-1.40622887e-02 -9.08309988e-04 9.99900709e-01 -5.03578402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24 meters 0.03296144043532466 Centerline is valid? [True, True] Translation: X:255.37, Y:181.16, Z:-5.04 [[ 3.56740047e-01 -9.34194979e-01 4.03476219e-03 2.55370391e+02] [ 9.34100872e-01 3.56761533e-01 1.32954312e-02 1.81157435e+02] [-1.38599730e-02 -9.74137873e-04 9.99903471e-01 -5.03636668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.3 meters 0.035562687361300895 Centerline is valid? [True, True] Translation: X:255.37, Y:181.22, Z:-5.04 [[ 3.63015383e-01 -9.31774768e-01 3.95148601e-03 2.55371650e+02] [ 9.31684245e-01 3.63035374e-01 1.30301270e-02 1.81218861e+02] [-1.35756727e-02 -1.04859927e-03 9.99907296e-01 -5.03676566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36 meters 0.03564463623794715 Centerline is valid? [True, True] Translation: X:255.38, Y:181.28, Z:-5.04 [[ 3.68264927e-01 -9.29712531e-01 3.94380280e-03 2.55382390e+02] [ 9.29622208e-01 3.68284328e-01 1.30078708e-02 1.81277658e+02] [-1.35460213e-02 -1.12409594e-03 9.99907617e-01 -5.03767976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.41999999999996 meters 0.03902665497973287 Centerline is valid? [True, True] Translation: X:255.39, Y:181.34, Z:-5.04 [[ 3.73678244e-01 -9.27550993e-01 3.70480995e-03 2.55385043e+02] [ 9.27471157e-01 3.73694897e-01 1.22219803e-02 1.81338244e+02] [-1.27209786e-02 -1.13098378e-03 9.99918445e-01 -5.03839574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.47999999999996 meters 0.040251050264196335 Centerline is valid? [True, True] Translation: X:255.40, Y:181.40, Z:-5.04 [[ 3.78393063e-01 -9.25638236e-01 3.54207237e-03 2.55395245e+02] [ 9.25565147e-01 3.78407911e-01 1.16880663e-02 1.81397712e+02] [-1.21592692e-02 -1.14426446e-03 9.99925419e-01 -5.03949251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.53999999999996 meters 0.043354178021597634 Centerline is valid? [True, True] Translation: X:255.40, Y:181.46, Z:-5.04 [[ 3.84852582e-01 -9.22971422e-01 3.49916890e-03 2.55401850e+02] [ 9.22899978e-01 3.84866572e-01 1.15478293e-02 1.81457947e+02] [-1.20050296e-02 -1.21482903e-03 9.99927199e-01 -5.04140978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.59999999999997 meters 0.041290919796574656 Centerline is valid? [True, True] Translation: X:255.42, Y:181.52, Z:-5.04 [[ 3.88126792e-01 -9.21600005e-01 3.32038870e-03 2.55416633e+02] [ 9.21535600e-01 3.88139157e-01 1.09605186e-02 1.81516094e+02] [-1.13899869e-02 -1.19421454e-03 9.99934419e-01 -5.04270974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.65999999999997 meters 0.0439440561560152 Centerline is valid? [True, True] Translation: X:255.43, Y:181.57, Z:-5.04 [[ 3.88663202e-01 -9.21373770e-01 3.36016137e-03 2.55426930e+02] [ 9.21307803e-01 3.88675827e-01 1.10920410e-02 1.81573638e+02] [-1.15259292e-02 -1.21532530e-03 9.99932836e-01 -5.04408717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.71999999999997 meters 0.04333294951561763 Centerline is valid? [True, True] Translation: X:255.44, Y:181.63, Z:-5.04 [[ 3.89714005e-01 -9.20929615e-01 3.41150263e-03 2.55441361e+02] [ 9.20861554e-01 3.89726935e-01 1.12656629e-02 1.81631776e+02] [-1.17044371e-02 -1.24886501e-03 9.99930721e-01 -5.04450824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78 meters 0.04387032743267475 Centerline is valid? [True, True] Translation: X:255.46, Y:181.69, Z:-5.05 [[ 3.90991744e-01 -9.20388244e-01 3.30691820e-03 2.55456652e+02] [ 9.20324260e-01 3.91003804e-01 1.09216059e-02 1.81689546e+02] [-1.13451353e-02 -1.22682069e-03 9.99934889e-01 -5.04558285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84 meters 0.04329716524849236 Centerline is valid? [True, True] Translation: X:255.47, Y:181.75, Z:-5.05 [[ 3.91692151e-01 -9.20092257e-01 2.73807737e-03 2.55473635e+02] [ 9.20048382e-01 3.91700385e-01 9.04337009e-03 1.81746405e+02] [-9.39324076e-03 -1.02305343e-03 9.99955359e-01 -5.04696402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.9 meters 0.042273857070639215 Centerline is valid? [True, True] Translation: X:255.49, Y:181.80, Z:-5.05 [[ 3.89472444e-01 -9.21034068e-01 2.73145006e-03 2.55492891e+02] [ 9.20990405e-01 3.89480742e-01 9.02367051e-03 1.81802680e+02] [-9.37495515e-03 -9.98831719e-04 9.99955555e-01 -5.04781656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96 meters 0.04116370225299842 Centerline is valid? [True, True] Translation: X:255.51, Y:181.86, Z:-5.05 [[ 3.86618296e-01 -9.22235250e-01 2.90456589e-03 2.55512440e+02] [ 9.22185897e-01 3.86627831e-01 9.59646547e-03 1.81859193e+02] [-9.97318474e-03 -1.03161943e-03 9.99949734e-01 -5.04777160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02 meters 0.042811937700590184 Centerline is valid? [True, True] Translation: X:255.53, Y:181.91, Z:-5.05 [[ 3.82528110e-01 -9.23939010e-01 2.99175879e-03 2.55529444e+02] [ 9.23886688e-01 3.82538457e-01 9.88522044e-03 1.81914879e+02] [-1.02778036e-02 -1.01732857e-03 9.99946664e-01 -5.04888008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08 meters 0.033626956767076145 Centerline is valid? [True, True] Translation: X:255.56, Y:181.97, Z:-5.05 [[ 3.78810004e-01 -9.25469023e-01 3.17321870e-03 2.55560041e+02] [ 9.25410177e-01 3.78821877e-01 1.04876120e-02 1.81968084e+02] [-1.09080447e-02 -1.03628347e-03 9.99939969e-01 -5.04814481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14 meters 0.039527750802320585 Centerline is valid? [True, True] Translation: X:255.57, Y:182.03, Z:-5.05 [[ 3.76202553e-01 -9.26530754e-01 3.52142000e-03 2.55569862e+02] [ 9.26458308e-01 3.76217377e-01 1.16399905e-02 1.82026589e+02] [-1.21096285e-02 -1.11654531e-03 9.99926052e-01 -5.04873327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2 meters 0.03710006156607597 Centerline is valid? [True, True] Translation: X:255.59, Y:182.08, Z:-5.05 [[ 3.72484656e-01 -9.28030563e-01 3.80195755e-03 2.55592537e+02] [ 9.27946158e-01 3.72502272e-01 1.25691915e-02 1.82082240e+02] [-1.30808317e-02 -1.15381908e-03 9.99913777e-01 -5.04928330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26 meters 0.032492865520815845 Centerline is valid? [True, True] Translation: X:255.62, Y:182.14, Z:-5.05 [[ 3.70953824e-01 -9.28642983e-01 3.93331503e-03 2.55616849e+02] [ 9.28552651e-01 3.70972825e-01 1.30052625e-02 1.82137126e+02] [-1.35363988e-02 -1.17206176e-03 9.99907692e-01 -5.05036638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32 meters 0.034502779691558544 Centerline is valid? [True, True] Translation: X:255.63, Y:182.19, Z:-5.05 [[ 3.71072431e-01 -9.28597816e-01 3.36865080e-03 2.55630629e+02] [ 9.28531551e-01 3.71086359e-01 1.11387904e-02 1.82193564e+02] [-1.15935168e-02 -1.00539946e-03 9.99932287e-01 -5.05169404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38 meters 0.03662987588902666 Centerline is valid? [True, True] Translation: X:255.64, Y:182.25, Z:-5.05 [[ 3.72531451e-01 -9.28015691e-01 2.68228890e-03 2.55644853e+02] [ 9.27973641e-01 3.72540214e-01 8.87188666e-03 1.82250954e+02] [-9.23251051e-03 -8.15963410e-04 9.99957047e-01 -5.05452381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44 meters 0.03289656602232247 Centerline is valid? [True, True] Translation: X:255.67, Y:182.31, Z:-5.05 [[ 3.74835808e-01 -9.27087542e-01 2.60901569e-03 2.55666979e+02] [ 9.27047717e-01 3.74843998e-01 8.63180284e-03 1.82307204e+02] [-8.98041075e-03 -8.16826749e-04 9.99959342e-01 -5.05492225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.5 meters 0.03791544654480599 Centerline is valid? [True, True] Translation: X:255.67, Y:182.36, Z:-5.05 [[ 3.74779302e-01 -9.27108388e-01 3.24227892e-03 2.55674629e+02] [ 9.27046889e-01 3.74791954e-01 1.07264286e-02 1.82363959e+02] [-1.11597419e-02 -1.01429882e-03 9.99937214e-01 -5.05390231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56 meters 0.03852374695899862 Centerline is valid? [True, True] Translation: X:255.69, Y:182.42, Z:-5.06 [[ 3.73682828e-01 -9.27550622e-01 3.31494551e-03 2.55689870e+02] [ 9.27486285e-01 3.73696123e-01 1.09726331e-02 1.82420482e+02] [-1.14164550e-02 -1.02571807e-03 9.99934304e-01 -5.05500936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62 meters 0.032859224448207026 Centerline is valid? [True, True] Translation: X:255.71, Y:182.48, Z:-5.06 [[ 3.69835772e-01 -9.29091556e-01 3.22199220e-03 2.55713893e+02] [ 9.29030799e-01 3.69848582e-01 1.06677954e-02 1.82476178e+02] [-1.11030079e-02 -9.52002375e-04 9.99937907e-01 -5.05702044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68 meters 0.03319985490024294 Centerline is valid? [True, True] Translation: X:255.73, Y:182.53, Z:-5.06 [[ 3.63668601e-01 -9.31522353e-01 3.35478747e-03 2.55727883e+02] [ 9.31456553e-01 3.63682923e-01 1.11095165e-02 1.82533094e+02] [-1.15688419e-02 -9.15343558e-04 9.99932660e-01 -5.05785381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74 meters 0.034430663590153364 Centerline is valid? [True, True] Translation: X:255.74, Y:182.59, Z:-5.06 [[ 3.58388344e-01 -9.33566498e-01 3.37480172e-03 2.55741963e+02] [ 9.33499972e-01 3.58403212e-01 1.11776187e-02 1.82590592e+02] [-1.16445901e-02 -8.55550927e-04 9.99931833e-01 -5.05870418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.8 meters 0.027184067428218044 Centerline is valid? [True, True] Translation: X:255.77, Y:182.65, Z:-5.06 [[ 3.48122891e-01 -9.37443049e-01 3.31401154e-03 2.55766303e+02] [ 9.37379041e-01 3.48137931e-01 1.09778814e-02 1.82645784e+02] [-1.14448717e-02 -7.15166860e-04 9.99934250e-01 -5.06035121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86 meters 0.0277123351774083 Centerline is valid? [True, True] Translation: X:255.78, Y:182.70, Z:-5.06 [[ 3.35676803e-01 -9.41972116e-01 3.10110902e-03 2.55778259e+02] [ 9.41916231e-01 3.35690712e-01 1.02742241e-02 1.82703912e+02] [-1.07190461e-02 -5.27833773e-04 9.99942410e-01 -5.06294587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.91999999999996 meters 0.021822029212047435 Centerline is valid? [True, True] Translation: X:255.80, Y:182.76, Z:-5.06 [[ 3.26446761e-01 -9.45210487e-01 3.10609459e-03 2.55800575e+02] [ 9.45154559e-01 3.26461263e-01 1.02909409e-02 1.82760024e+02] [-1.07411249e-02 -4.23704881e-04 9.99942223e-01 -5.06301763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.97999999999996 meters 0.017958718687730454 Centerline is valid? [True, True] Translation: X:255.82, Y:182.82, Z:-5.06 [[ 3.13398437e-01 -9.49617130e-01 2.95408686e-03 2.55816025e+02] [ 9.49566660e-01 3.13412248e-01 9.79389243e-03 1.82817621e+02] [-1.02262950e-02 -2.64288194e-04 9.99947675e-01 -5.06268128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.03999999999996 meters 0.017225345269676222 Centerline is valid? [True, True] Translation: X:255.83, Y:182.87, Z:-5.06 [[ 3.09558326e-01 -9.50876077e-01 2.88611851e-03 2.55831594e+02] [ 9.50827952e-01 3.09571704e-01 9.56905361e-03 1.82874199e+02] [-9.99244477e-03 -2.17978066e-04 9.99950051e-01 -5.06304899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.09999999999997 meters 0.015959863214399857 Centerline is valid? [True, True] Translation: X:255.84, Y:182.93, Z:-5.06 [[ 2.99140506e-01 -9.54202873e-01 3.44011070e-03 2.55840697e+02] [ 9.54134663e-01 2.99160257e-01 1.14099112e-02 1.82932711e+02] [-1.19165145e-02 -1.30837749e-04 9.99928987e-01 -5.06235630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.15999999999997 meters 0.014949437148808038 Centerline is valid? [True, True] Translation: X:255.85, Y:182.99, Z:-5.06 [[ 2.91745801e-01 -9.56489164e-01 3.58702955e-03 2.55848103e+02] [ 9.56415164e-01 2.91767849e-01 1.18977878e-02 1.82992240e+02] [-1.24266850e-02 -4.04401656e-05 9.99922785e-01 -5.06263324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.21999999999997 meters 0.015103208900673171 Centerline is valid? [True, True] Translation: X:255.85, Y:183.05, Z:-5.07 [[ 2.89920346e-01 -9.57045757e-01 3.10045909e-03 2.55854540e+02] [ 9.56990410e-01 2.89936923e-01 1.02925415e-02 1.83049227e+02] [-1.07493708e-02 -1.69075840e-05 9.99942224e-01 -5.06515080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28 meters 0.015448758925327953 Centerline is valid? [True, True] Translation: X:255.85, Y:183.11, Z:-5.07 [[ 2.92438830e-01 -9.56281112e-01 2.44223577e-03 2.55851387e+02] [ 9.56246750e-01 2.92449026e-01 8.10685522e-03 1.83111045e+02] [-8.46666200e-03 -3.53792387e-05 9.99964157e-01 -5.06704207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34 meters 0.016946666078161133 Centerline is valid? [True, True] Translation: X:255.84, Y:183.18, Z:-5.07 [[ 3.03344349e-01 -9.52879101e-01 1.90375371e-03 2.55840505e+02] [ 9.52858095e-01 3.03350304e-01 6.32795906e-03 1.83176060e+02] [-6.60728421e-03 -1.05543485e-04 9.99978166e-01 -5.06819728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.4 meters 0.018988868038980644 Centerline is valid? [True, True] Translation: X:255.84, Y:183.24, Z:-5.07 [[ 3.14229698e-01 -9.49345194e-01 1.84382553e-03 2.55838560e+02] [ 9.49325418e-01 3.14235058e-01 6.13025550e-03 1.83239485e+02] [-6.39912322e-03 -1.75917894e-04 9.99979510e-01 -5.06851937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46 meters 0.025149359449087486 Centerline is valid? [True, True] Translation: X:255.82, Y:183.31, Z:-5.07 [[ 3.32197577e-01 -9.43207221e-01 2.21552401e-03 2.55823846e+02] [ 9.43178513e-01 3.32204772e-01 7.36767945e-03 1.83305587e+02] [-7.68525610e-03 -3.57890622e-04 9.99970404e-01 -5.06859919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52 meters 0.028113199498285776 Centerline is valid? [True, True] Translation: X:255.82, Y:183.37, Z:-5.07 [[ 3.42471384e-01 -9.39523767e-01 2.90545071e-03 2.55822871e+02] [ 9.39474244e-01 3.42483217e-01 9.66389747e-03 1.83368338e+02] [-1.00745295e-02 -5.80012228e-04 9.99949082e-01 -5.06741472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58 meters 0.02830951423446732 Centerline is valid? [True, True] Translation: X:255.82, Y:183.43, Z:-5.07 [[ 3.50615878e-01 -9.36511619e-01 3.80705027e-03 2.55822744e+02] [ 9.36426403e-01 3.50635454e-01 1.26637600e-02 1.83431390e+02] [-1.31946452e-02 -8.75092954e-04 9.99912564e-01 -5.06618999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64 meters 0.02785832908295216 Centerline is valid? [True, True] Translation: X:255.83, Y:183.49, Z:-5.07 [[ 3.49526419e-01 -9.36918042e-01 3.98307902e-03 2.55832507e+02] [ 9.36824781e-01 3.49547956e-01 1.32497821e-02 1.83492545e+02] [-1.38062370e-02 -8.99701760e-04 9.99904285e-01 -5.06693861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7 meters 0.02731604817596635 Centerline is valid? [True, True] Translation: X:255.85, Y:183.55, Z:-5.07 [[ 3.34593276e-01 -9.42352212e-01 4.43272474e-03 2.55846218e+02] [ 9.42237175e-01 3.34621782e-01 1.47434501e-02 1.83550599e+02] [-1.53768091e-02 -7.56381238e-04 9.99881484e-01 -5.06685524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76 meters 0.021529350352236996 Centerline is valid? [True, True] Translation: X:255.87, Y:183.61, Z:-5.07 [[ 3.24638479e-01 -9.45829431e-01 4.06774267e-03 2.55870658e+02] [ 9.45732808e-01 3.24663504e-01 1.35301333e-02 1.83606171e+02] [-1.41178459e-02 -5.45404191e-04 9.99900190e-01 -5.06876143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82 meters 0.01994558391898971 Centerline is valid? [True, True] Translation: X:255.89, Y:183.66, Z:-5.07 [[ 3.15751234e-01 -9.48834893e-01 3.67486768e-03 2.55891151e+02] [ 9.48756230e-01 3.15772398e-01 1.22232569e-02 1.83663053e+02] [-1.27582744e-02 -3.72954828e-04 9.99918540e-01 -5.07163665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88 meters 0.021214689037886005 Centerline is valid? [True, True] Translation: X:255.91, Y:183.72, Z:-5.07 [[ 3.16185206e-01 -9.48692203e-01 3.16538725e-03 2.55906655e+02] [ 9.48633828e-01 3.16200882e-01 1.05291418e-02 1.83719073e+02] [-1.09898130e-02 -3.26365456e-04 9.99939557e-01 -5.07404711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94 meters 0.021303686398522193 Centerline is valid? [True, True] Translation: X:255.92, Y:183.78, Z:-5.07 [[ 3.20349473e-01 -9.47294523e-01 3.04976105e-03 2.55922369e+02] [ 9.47240238e-01 3.20363786e-01 1.01477442e-02 1.83775887e+02] [-1.05899355e-02 -3.61968134e-04 9.99943860e-01 -5.07404606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.0 meters 0.022252962491193087 Centerline is valid? [True, True] Translation: X:255.94, Y:183.83, Z:-5.07 [[ 3.26926372e-01 -9.45044755e-01 3.09160521e-03 2.55938439e+02] [ 9.44988826e-01 3.26940690e-01 1.02909366e-02 1.83833918e+02] [-1.07361672e-02 -4.42846205e-04 9.99942268e-01 -5.07385562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06 meters 0.02300869745317949 Centerline is valid? [True, True] Translation: X:255.96, Y:183.89, Z:-5.08 [[ 3.31423427e-01 -9.43477551e-01 2.93637654e-03 2.55955178e+02] [ 9.43427036e-01 3.31436103e-01 9.77436163e-03 1.83891308e+02] [-1.01951120e-02 -4.69195415e-04 9.99947918e-01 -5.07596593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12 meters 0.024711879401832046 Centerline is valid? [True, True] Translation: X:255.97, Y:183.95, Z:-5.08 [[ 3.35533418e-01 -9.42024153e-01 2.79642551e-03 2.55970431e+02] [ 9.41978283e-01 3.35544714e-01 9.30907766e-03 1.83949067e+02] [-9.70770180e-03 -4.89334539e-04 9.99952759e-01 -5.07741993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18 meters 0.025526680816505564 Centerline is valid? [True, True] Translation: X:255.99, Y:184.01, Z:-5.08 [[ 3.34972240e-01 -9.42222997e-01 3.06952012e-03 2.55985893e+02] [ 9.42167768e-01 3.34985884e-01 1.02154414e-02 1.84005872e+02] [-1.06534697e-02 -5.29886360e-04 9.99943110e-01 -5.07739800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24 meters 0.024154958389972926 Centerline is valid? [True, True] Translation: X:256.01, Y:184.06, Z:-5.08 [[ 3.32477115e-01 -9.43106140e-01 3.12692080e-03 2.56005448e+02] [ 9.43048725e-01 3.32491419e-01 1.04191294e-02 1.84062171e+02] [-1.08660193e-02 -5.15283414e-04 9.99940830e-01 -5.07795709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.3 meters 0.02295166571276977 Centerline is valid? [True, True] Translation: X:256.03, Y:184.12, Z:-5.08 [[ 3.24882134e-01 -9.45749735e-01 3.00631012e-03 2.56025746e+02] [ 9.45696758e-01 3.24895782e-01 1.00186381e-02 1.84118627e+02] [-1.04518618e-02 -4.11818783e-04 9.99945293e-01 -5.08025669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36 meters 0.02095098813529354 Centerline is valid? [True, True] Translation: X:256.05, Y:184.18, Z:-5.08 [[ 3.18608539e-01 -9.47882736e-01 2.63032045e-03 2.56045376e+02] [ 9.47842244e-01 3.18619255e-01 8.76651269e-03 1.84175300e+02] [-9.14769677e-03 -2.99956963e-04 9.99958114e-01 -5.08114057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.41999999999996 meters 0.019239546265605194 Centerline is valid? [True, True] Translation: X:256.07, Y:184.23, Z:-5.08 [[ 3.09307336e-01 -9.50959298e-01 2.32075035e-03 2.56065712e+02] [ 9.50927858e-01 3.09315987e-01 7.73492806e-03 1.84231661e+02] [-8.07344694e-03 -1.85603837e-04 9.99967392e-01 -5.08282600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.47999999999996 meters 0.01866932959694557 Centerline is valid? [True, True] Translation: X:256.08, Y:184.29, Z:-5.08 [[ 3.05707533e-01 -9.52122430e-01 2.40459707e-03 2.56083660e+02] [ 9.52088718e-01 3.05716948e-01 8.01375543e-03 1.84287857e+02] [-8.36520238e-03 -1.60475665e-04 9.99964998e-01 -5.08340265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.53999999999996 meters 0.01835099398050887 Centerline is valid? [True, True] Translation: X:256.10, Y:184.34, Z:-5.08 [[ 3.01878455e-01 -9.53342348e-01 2.78655594e-03 2.56101297e+02] [ 9.53297130e-01 3.01891280e-01 9.28642645e-03 1.84343490e+02] [-9.69438054e-03 -1.46956293e-04 9.99952998e-01 -5.08251618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.59999999999997 meters 0.018185547227538637 Centerline is valid? [True, True] Translation: X:256.12, Y:184.40, Z:-5.08 [[ 3.00254957e-01 -9.53854532e-01 2.91435168e-03 2.56118695e+02] [ 9.53804999e-01 3.00269068e-01 9.72164498e-03 1.84399491e+02] [-1.01481248e-02 -1.39248896e-04 9.99948497e-01 -5.08135179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.65999999999997 meters 0.018476514238870975 Centerline is valid? [True, True] Translation: X:256.14, Y:184.45, Z:-5.08 [[ 2.99975399e-01 -9.53942955e-01 2.75659527e-03 2.56136166e+02] [ 9.53898547e-01 2.99988036e-01 9.20543828e-03 1.84453481e+02] [-9.60840860e-03 -1.31892805e-04 9.99953829e-01 -5.08327641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.71999999999997 meters 0.018835574995667896 Centerline is valid? [True, True] Translation: X:256.16, Y:184.51, Z:-5.09 [[ 3.00459487e-01 -9.53791688e-01 2.34801168e-03 2.56155158e+02] [ 9.53759468e-01 3.00468639e-01 7.84059222e-03 1.84508825e+02] [-8.18379556e-03 -1.16341952e-04 9.99966505e-01 -5.08578532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78 meters 0.018761774481991077 Centerline is valid? [True, True] Translation: X:256.17, Y:184.56, Z:-5.09 [[ 3.00920893e-01 -9.53647130e-01 1.94117041e-03 2.56173653e+02] [ 9.53625050e-01 3.00927137e-01 6.49015246e-03 1.84564141e+02] [-6.77346612e-03 -1.01873747e-04 9.99977055e-01 -5.08654157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84 meters 0.01910919836609221 Centerline is valid? [True, True] Translation: X:256.19, Y:184.62, Z:-5.09 [[ 3.02279272e-01 -9.53218851e-01 1.03156271e-03 2.56193993e+02] [ 9.53212617e-01 3.02281026e-01 3.44787333e-03 1.84618900e+02] [-3.59839969e-03 -5.89220475e-05 9.99993524e-01 -5.08920680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.9 meters 0.020604063674870332 Centerline is valid? [True, True] Translation: X:256.21, Y:184.67, Z:-5.09 [[ 3.02405421e-01 -9.53179201e-01 6.10412247e-04 2.56211611e+02] [ 9.53177022e-01 3.02406035e-01 2.03825752e-03 1.84673396e+02] [-2.12741702e-03 -3.45491947e-05 9.99997736e-01 -5.09200912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96 meters 0.019653861681272148 Centerline is valid? [True, True] Translation: X:256.23, Y:184.73, Z:-5.09 [[ 3.02483751e-01 -9.53154459e-01 3.96861515e-04 2.56231459e+02] [ 9.53153550e-01 3.02484010e-01 1.31683487e-03 1.84728718e+02] [-1.37519129e-03 -2.00511891e-05 9.99999054e-01 -5.09071261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02 meters 0.021645681150422477 Centerline is valid? [True, True] Translation: X:256.24, Y:184.79, Z:-5.09 [[ 3.08621775e-01 -9.51184840e-01 3.58407400e-05 2.56244360e+02] [ 9.51184832e-01 3.08621777e-01 1.16450343e-04 1.84785748e+02] [-1.21827034e-04 -1.84794319e-06 9.99999993e-01 -5.09339523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08 meters 0.021913633448270922 Centerline is valid? [True, True] Translation: X:256.26, Y:184.84, Z:-5.09 [[ 3.11560369e-01 -9.50226356e-01 9.19267152e-05 2.56261893e+02] [ 9.50226310e-01 3.11560382e-01 2.95354096e-04 1.84841782e+02] [-3.09293969e-04 -4.66944754e-06 9.99999952e-01 -5.09346048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14 meters 0.02333392056094688 Centerline is valid? [True, True] Translation: X:256.27, Y:184.90, Z:-5.09 [[ 3.17618714e-01 -9.48218329e-01 -5.93745059e-04 2.56270521e+02] [ 9.48216237e-01 3.17619262e-01 -1.99314531e-03 1.84902170e+02] [ 2.07852178e-03 7.00615455e-05 9.99997837e-01 -5.09372678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2 meters 0.02436557312357565 Centerline is valid? [True, True] Translation: X:256.28, Y:184.96, Z:-5.10 [[ 3.21178851e-01 -9.47018413e-01 -5.20464513e-04 2.56282261e+02] [ 9.47016800e-01 3.21179265e-01 -1.74947228e-03 1.84960208e+02] [ 1.82394488e-03 6.90048606e-05 9.99998334e-01 -5.09560109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26 meters 0.02504795636256148 Centerline is valid? [True, True] Translation: X:256.30, Y:185.02, Z:-5.10 [[ 3.18585512e-01 -9.47894114e-01 1.39681358e-04 2.56297460e+02] [ 9.47894000e-01 3.18585542e-01 4.66101212e-04 1.85016882e+02] [-4.86315057e-04 -1.60899716e-05 9.99999882e-01 -5.09683714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32 meters 0.023425727384256592 Centerline is valid? [True, True] Translation: X:256.32, Y:185.07, Z:-5.10 [[ 3.13166120e-01 -9.49698102e-01 7.04156405e-04 2.56315579e+02] [ 9.49695166e-01 3.13166904e-01 2.36281820e-03 1.85074154e+02] [-2.46448244e-03 -7.12206748e-05 9.99996961e-01 -5.09542017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38 meters 0.021572930837086057 Centerline is valid? [True, True] Translation: X:256.33, Y:185.13, Z:-5.10 [[ 3.01293315e-01 -9.53531046e-01 9.39513787e-04 2.56334170e+02] [ 9.53525838e-01 3.01294775e-01 3.15192918e-03 1.85129753e+02] [-3.28853292e-03 -5.38045203e-05 9.99994591e-01 -5.09571016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44 meters 0.020257632444845974 Centerline is valid? [True, True] Translation: X:256.36, Y:185.19, Z:-5.10 [[ 2.91388328e-01 -9.56604263e-01 1.06143896e-03 2.56355370e+02] [ 9.56597659e-01 2.91390261e-01 3.55455150e-03 1.85185093e+02] [-3.70959209e-03 -2.03847996e-05 9.99993119e-01 -5.09733962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.5 meters 0.020158752637389234 Centerline is valid? [True, True] Translation: X:256.37, Y:185.24, Z:-5.10 [[ 2.84597743e-01 -9.58646169e-01 1.28390010e-03 2.56373412e+02] [ 9.58636499e-01 2.84600639e-01 4.30571511e-03 1.85241502e+02] [-4.49305609e-03 5.39669624e-06 9.99989906e-01 -5.09740143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56 meters 0.02081222321276251 Centerline is valid? [True, True] Translation: X:256.40, Y:185.30, Z:-5.10 [[ 2.74813341e-01 -9.61496750e-01 1.27591124e-03 2.56395111e+02] [ 9.61487191e-01 2.74816298e-01 4.28770027e-03 1.85295405e+02] [-4.47325108e-03 4.84550827e-05 9.99989994e-01 -5.10042889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62 meters 0.02126044693313539 Centerline is valid? [True, True] Translation: X:256.41, Y:185.35, Z:-5.10 [[ 2.70190998e-01 -9.62806046e-01 1.15862620e-03 2.56413899e+02] [ 9.62798196e-01 2.70193475e-01 3.88851055e-03 1.85351415e+02] [-4.05693471e-03 6.48826680e-05 9.99991769e-01 -5.10212827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68 meters 0.022115093904991973 Centerline is valid? [True, True] Translation: X:256.43, Y:185.41, Z:-5.10 [[ 2.66490441e-01 -9.63836653e-01 1.32352202e-03 2.56432926e+02] [ 9.63826369e-01 2.66493713e-01 4.45325579e-03 1.85406272e+02] [-4.64492145e-03 8.88953201e-05 9.99989208e-01 -5.10246402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74 meters 0.022047895098171632 Centerline is valid? [True, True] Translation: X:256.45, Y:185.46, Z:-5.10 [[ 2.63043695e-01 -9.64782084e-01 1.88288974e-03 2.56450404e+02] [ 9.64761301e-01 2.63050391e-01 6.33438993e-03 1.85462422e+02] [-6.60660080e-03 1.50317826e-04 9.99978165e-01 -5.10150735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.8 meters 0.02280066506924264 Centerline is valid? [True, True] Translation: X:256.47, Y:185.52, Z:-5.10 [[ 2.61616195e-01 -9.65170310e-01 1.79993186e-03 2.56469347e+02] [ 9.65151265e-01 2.61622344e-01 6.06504072e-03 1.85517266e+02] [-6.32469962e-03 1.50493638e-04 9.99979988e-01 -5.10361145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86 meters 0.02189054272945171 Centerline is valid? [True, True] Translation: X:256.49, Y:185.57, Z:-5.11 [[ 2.61007678e-01 -9.65336038e-01 1.15106802e-03 2.56486365e+02] [ 9.65328278e-01 2.61010197e-01 3.87197447e-03 1.85573677e+02] [-4.03819698e-03 1.00543444e-04 9.99991841e-01 -5.10653278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.91999999999996 meters 0.020957464548192577 Centerline is valid? [True, True] Translation: X:256.50, Y:185.63, Z:-5.11 [[ 2.64224204e-01 -9.64461034e-01 6.95623363e-04 2.56500912e+02] [ 9.64458204e-01 2.64225114e-01 2.33700441e-03 1.85630859e+02] [-2.43775086e-03 5.34065284e-05 9.99997027e-01 -5.10857368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.97999999999996 meters 0.01970464875465602 Centerline is valid? [True, True] Translation: X:256.51, Y:185.69, Z:-5.11 [[ 2.69636271e-01 -9.62962023e-01 6.50192886e-04 2.56513391e+02] [ 9.62959526e-01 2.69637053e-01 2.19340235e-03 1.85688238e+02] [-2.28747926e-03 3.46886022e-05 9.99997383e-01 -5.10985619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.03999999999996 meters 0.019176240210115658 Centerline is valid? [True, True] Translation: X:256.53, Y:185.74, Z:-5.11 [[ 2.73630620e-01 -9.61833712e-01 1.48109866e-03 2.56527754e+02] [ 9.61820709e-01 2.73634622e-01 5.00179694e-03 1.85744242e+02] [-5.21617679e-03 5.59065644e-05 9.99986394e-01 -5.10976381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.09999999999997 meters 0.017964208008742398 Centerline is valid? [True, True] Translation: X:256.54, Y:185.80, Z:-5.11 [[ 2.77541409e-01 -9.60711887e-01 1.85394415e-03 2.56541113e+02] [ 9.60691497e-01 2.77547597e-01 6.25927920e-03 1.85801870e+02] [-6.52792167e-03 4.38592116e-05 9.99978692e-01 -5.10830555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.15999999999997 meters 0.01783915345004993 Centerline is valid? [True, True] Translation: X:256.56, Y:185.86, Z:-5.11 [[ 2.78591751e-01 -9.60408347e-01 1.56284506e-03 2.56556187e+02] [ 9.60393816e-01 2.78596133e-01 5.28326751e-03 1.85856996e+02] [-5.50949681e-03 2.90719867e-05 9.99984822e-01 -5.10938073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.21999999999997 meters 0.017316396168987138 Centerline is valid? [True, True] Translation: X:256.57, Y:185.91, Z:-5.11 [[ 2.78872501e-01 -9.60327021e-01 1.46283662e-03 2.56573090e+02] [ 9.60314308e-01 2.78876337e-01 4.94149750e-03 1.85912222e+02] [-5.15340409e-03 2.67351710e-05 9.99986721e-01 -5.11050331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28 meters 0.01740510547444118 Centerline is valid? [True, True] Translation: X:256.59, Y:185.97, Z:-5.11 [[ 2.77529827e-01 -9.60716005e-01 1.39745602e-03 2.56591213e+02] [ 9.60704354e-01 2.77533344e-01 4.73155232e-03 1.85967568e+02] [-4.93351868e-03 2.93951889e-05 9.99987830e-01 -5.11333497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34 meters 0.01726097317376613 Centerline is valid? [True, True] Translation: X:256.61, Y:186.02, Z:-5.11 [[ 2.74084017e-01 -9.61704720e-01 1.40854795e-03 2.56608805e+02] [ 9.61692916e-01 2.74087632e-01 4.76501036e-03 1.86023821e+02] [-4.96859853e-03 4.85774062e-05 9.99987655e-01 -5.11176850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.4 meters 0.017512544777960288 Centerline is valid? [True, True] Translation: X:256.63, Y:186.08, Z:-5.11 [[ 2.70585854e-01 -9.62694280e-01 1.73753345e-03 2.56626986e+02] [ 9.62676288e-01 2.70591420e-01 5.88620229e-03 1.86079451e+02] [-6.13677492e-03 7.99591840e-05 9.99981167e-01 -5.11106743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46 meters 0.018739112537618684 Centerline is valid? [True, True] Translation: X:256.65, Y:186.13, Z:-5.11 [[ 2.64811902e-01 -9.64297966e-01 2.02203654e-03 2.56646999e+02] [ 9.64273587e-01 2.64819588e-01 6.85824978e-03 1.86134828e+02] [-7.14887120e-03 1.33650254e-04 9.99974438e-01 -5.11089384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52 meters 0.01865078925964858 Centerline is valid? [True, True] Translation: X:256.66, Y:186.19, Z:-5.11 [[ 2.62185184e-01 -9.65015135e-01 2.17239135e-03 2.56664954e+02] [ 9.64986932e-01 2.62194134e-01 7.37947368e-03 1.86190367e+02] [-7.69089205e-03 1.61540602e-04 9.99970412e-01 -5.11190070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58 meters 0.01920589430399004 Centerline is valid? [True, True] Translation: X:256.68, Y:186.25, Z:-5.11 [[ 2.61493960e-01 -9.65202619e-01 2.19376877e-03 2.56682378e+02] [ 9.65173846e-01 2.61503108e-01 7.45455740e-03 1.86245298e+02] [-7.76883568e-03 1.68046504e-04 9.99969808e-01 -5.11385453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64 meters 0.018413957721462784 Centerline is valid? [True, True] Translation: X:256.70, Y:186.30, Z:-5.11 [[ 2.63215530e-01 -9.64734241e-01 2.32995761e-03 2.56698051e+02] [ 9.64701774e-01 2.63225791e-01 7.91648739e-03 1.86302211e+02] [-8.25061139e-03 1.63971816e-04 9.99965950e-01 -5.11434037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7 meters 0.017055733703068756 Centerline is valid? [True, True] Translation: X:256.71, Y:186.36, Z:-5.11 [[ 2.67243506e-01 -9.63625738e-01 2.51897974e-03 2.56711645e+02] [ 9.63587631e-01 2.67255343e-01 8.57088142e-03 1.86359168e+02] [-8.93233273e-03 1.36745314e-04 9.99960097e-01 -5.11417007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76 meters 0.01639182236217327 Centerline is valid? [True, True] Translation: X:256.73, Y:186.42, Z:-5.11 [[ 2.69830091e-01 -9.62904014e-01 2.75340471e-03 2.56726236e+02] [ 9.62858452e-01 2.69844110e-01 9.36786260e-03 1.86415841e+02] [-9.76334255e-03 1.23407786e-04 9.99952330e-01 -5.11435719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82 meters 0.01599513832358815 Centerline is valid? [True, True] Translation: X:256.74, Y:186.47, Z:-5.12 [[ 2.73072144e-01 -9.61990317e-01 2.49675551e-03 2.56741853e+02] [ 9.61952733e-01 2.73083547e-01 8.50391156e-03 1.86471224e+02] [-8.86250343e-03 7.95794199e-05 9.99960724e-01 -5.11605407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88 meters 0.015779516685172627 Centerline is valid? [True, True] Translation: X:256.76, Y:186.53, Z:-5.12 [[ 2.75337685e-01 -9.61345229e-01 2.12362905e-03 2.56757005e+02] [ 9.61318031e-01 2.75345870e-01 7.23159871e-03 1.86526811e+02] [-7.53679541e-03 5.03512499e-05 9.99971597e-01 -5.11853432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94 meters 0.015557423202641352 Centerline is valid? [True, True] Translation: X:256.77, Y:186.58, Z:-5.12 [[ 2.76868778e-01 -9.60906032e-01 1.81059848e-03 2.56772753e+02] [ 9.60886225e-01 2.76874696e-01 6.16975469e-03 1.86582076e+02] [-6.42986340e-03 3.15666953e-05 9.99979328e-01 -5.11994886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.0 meters 0.015318995753413021 Centerline is valid? [True, True] Translation: X:256.79, Y:186.64, Z:-5.12 [[ 2.79950791e-01 -9.60012763e-01 1.74605457e-03 2.56786951e+02] [ 9.59994274e-01 2.79956236e-01 5.95815320e-03 1.86637252e+02] [-6.20872199e-03 8.21269245e-06 9.99980726e-01 -5.12004967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06 meters 0.015216238699479407 Centerline is valid? [True, True] Translation: X:256.80, Y:186.69, Z:-5.12 [[ 2.82295841e-01 -9.59325504e-01 1.90663785e-03 2.56801579e+02] [ 9.59303423e-01 2.82302280e-01 6.50890878e-03 1.86693707e+02] [-6.78241041e-03 -8.39366421e-06 9.99976999e-01 -5.12008115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12 meters 0.015220355343785403 Centerline is valid? [True, True] Translation: X:256.82, Y:186.75, Z:-5.12 [[ 2.82604326e-01 -9.59233836e-01 2.28963080e-03 2.56817399e+02] [ 9.59201902e-01 2.82613600e-01 7.82710658e-03 1.86749443e+02] [-8.15510628e-03 -1.57559597e-05 9.99966746e-01 -5.11941510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18 meters 0.015038607150939303 Centerline is valid? [True, True] Translation: X:256.83, Y:186.81, Z:-5.12 [[ 2.82181046e-01 -9.59357694e-01 2.58308020e-03 2.56832697e+02] [ 9.59316954e-01 2.82192868e-01 8.84126762e-03 1.86805369e+02] [-9.21086492e-03 -1.68455094e-05 9.99957579e-01 -5.11877379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24 meters 0.015179322157052855 Centerline is valid? [True, True] Translation: X:256.85, Y:186.86, Z:-5.12 [[ 2.79425509e-01 -9.60164045e-01 2.52831032e-03 2.56849376e+02] [ 9.60124938e-01 2.79436947e-01 8.66577808e-03 1.86860224e+02] [-9.02707185e-03 6.05434048e-06 9.99959255e-01 -5.12050815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.3 meters 0.015199201507449365 Centerline is valid? [True, True] Translation: X:256.87, Y:186.92, Z:-5.12 [[ 2.76915030e-01 -9.60891417e-01 2.39811900e-03 2.56865893e+02] [ 9.60856264e-01 2.76925412e-01 8.21927224e-03 1.86915254e+02] [-8.56192825e-03 2.82076426e-05 9.99963346e-01 -5.12219649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36 meters 0.01565803411231957 Centerline is valid? [True, True] Translation: X:256.88, Y:186.97, Z:-5.13 [[ 2.71862463e-01 -9.62334422e-01 1.80582249e-03 2.56884930e+02] [ 9.62314496e-01 2.71868455e-01 6.19302895e-03 1.86970751e+02] [-6.45071111e-03 5.41170514e-05 9.99979192e-01 -5.12516015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.41999999999996 meters 0.01628352262816663 Centerline is valid? [True, True] Translation: X:256.90, Y:187.03, Z:-5.13 [[ 2.68828278e-01 -9.63186766e-01 1.61579714e-03 2.56903441e+02] [ 9.63170778e-01 2.68833126e-01 5.55001092e-03 1.87025770e+02] [-5.78007686e-03 6.42887072e-05 9.99983293e-01 -5.12699856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.47999999999996 meters 0.016271075526108163 Centerline is valid? [True, True] Translation: X:256.92, Y:187.08, Z:-5.13 [[ 2.68459174e-01 -9.63289115e-01 1.93706809e-03 2.56917688e+02] [ 9.63266156e-01 2.68466150e-01 6.65120288e-03 1.87082392e+02] [-6.92706855e-03 8.03357050e-05 9.99976004e-01 -5.12585001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.53999999999996 meters 0.015693248638561162 Centerline is valid? [True, True] Translation: X:256.93, Y:187.14, Z:-5.12 [[ 2.69497148e-01 -9.62996795e-01 2.90864587e-03 2.56930907e+02] [ 9.62944829e-01 2.69512824e-01 1.00047358e-02 1.87139545e+02] [-1.04184458e-02 1.04617744e-04 9.99945721e-01 -5.12268177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.59999999999997 meters 0.015694384340939296 Centerline is valid? [True, True] Translation: X:256.95, Y:187.20, Z:-5.12 [[ 2.71521038e-01 -9.62425160e-01 3.76004928e-03 2.56946026e+02] [ 9.62338051e-01 2.71547052e-01 1.29488948e-02 1.87196693e+02] [-1.34833724e-02 1.02541138e-04 9.99909090e-01 -5.12119544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.65999999999997 meters 0.015479465933160585 Centerline is valid? [True, True] Translation: X:256.96, Y:187.25, Z:-5.12 [[ 2.72311461e-01 -9.62202248e-01 3.64719788e-03 2.56962473e+02] [ 9.62120111e-01 2.72335871e-01 1.25723852e-02 1.87251764e+02] [-1.30904401e-02 8.54378525e-05 9.99914313e-01 -5.12262260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.71999999999997 meters 0.015644607357832702 Centerline is valid? [True, True] Translation: X:256.98, Y:187.31, Z:-5.13 [[ 2.72193405e-01 -9.62238353e-01 2.84625764e-03 2.56979645e+02] [ 9.62188340e-01 2.72208278e-01 9.81077782e-03 1.87308010e+02] [-1.02150816e-02 6.82068939e-05 9.99947822e-01 -5.12633066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78 meters 0.01568522785014375 Centerline is valid? [True, True] Translation: X:257.00, Y:187.36, Z:-5.13 [[ 2.73016096e-01 -9.62006891e-01 2.22533680e-03 2.56995812e+02] [ 9.61976285e-01 2.73025161e-01 7.67385599e-03 1.87363931e+02] [-7.98987528e-03 4.56350272e-05 9.99968079e-01 -5.12974591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84 meters 0.015646717152364986 Centerline is valid? [True, True] Translation: X:257.01, Y:187.42, Z:-5.13 [[ 2.74040950e-01 -9.61716310e-01 1.81579825e-03 2.57012414e+02] [ 9.61695903e-01 2.74046964e-01 6.26514305e-03 1.87419144e+02] [-6.52290425e-03 2.93399839e-05 9.99978725e-01 -5.13159192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.9 meters 0.015509240627567679 Centerline is valid? [True, True] Translation: X:257.03, Y:187.48, Z:-5.13 [[ 2.76106924e-01 -9.61124573e-01 2.12626691e-03 2.57027073e+02] [ 9.61096455e-01 2.76115111e-01 7.35191111e-03 1.87475161e+02] [-7.65319685e-03 1.36340289e-05 9.99970714e-01 -5.13126447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96 meters 0.015522885164077018 Centerline is valid? [True, True] Translation: X:257.04, Y:187.53, Z:-5.13 [[ 2.79379357e-01 -9.60177264e-01 2.60692337e-03 2.57040872e+02] [ 9.60134955e-01 2.79391519e-01 9.01376098e-03 1.87531564e+02] [-9.38316064e-03 -1.52604948e-05 9.99955977e-01 -5.12894553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02 meters 0.015427214052970649 Centerline is valid? [True, True] Translation: X:257.06, Y:187.59, Z:-5.13 [[ 2.81026171e-01 -9.59695839e-01 2.86139779e-03 2.57056567e+02] [ 9.59644715e-01 2.81040735e-01 9.90581660e-03 1.87587191e+02] [-1.03107403e-02 -3.78684429e-05 9.99946842e-01 -5.12904634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08 meters 0.015721667258105476 Centerline is valid? [True, True] Translation: X:257.07, Y:187.64, Z:-5.13 [[ 2.83600203e-01 -9.58938842e-01 2.68734347e-03 2.57071503e+02] [ 9.58893592e-01 2.83612927e-01 9.31598623e-03 1.87643415e+02] [-9.69562640e-03 -6.51391504e-05 9.99952994e-01 -5.13111548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14 meters 0.015627624230883944 Centerline is valid? [True, True] Translation: X:257.09, Y:187.70, Z:-5.13 [[ 2.86522302e-01 -9.58070133e-01 2.56738739e-03 2.57087263e+02] [ 9.58028804e-01 2.86533790e-01 8.89936838e-03 1.87700099e+02] [-9.26186229e-03 -9.02364434e-05 9.99957104e-01 -5.13140513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2 meters 0.017207934556415085 Centerline is valid? [True, True] Translation: X:257.10, Y:187.76, Z:-5.13 [[ 2.95041449e-01 -9.55480182e-01 2.85739379e-03 2.57097276e+02] [ 9.55428721e-01 2.95055220e-01 9.91842836e-03 1.87757569e+02] [-1.03199507e-02 -1.96311379e-04 9.99946729e-01 -5.13116268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26 meters 0.018975178945906883 Centerline is valid? [True, True] Translation: X:257.11, Y:187.82, Z:-5.13 [[ 3.01341590e-01 -9.53511694e-01 2.94871724e-03 2.57108909e+02] [ 9.53456752e-01 3.01355892e-01 1.02395110e-02 1.87816277e+02] [-1.06521068e-02 -2.74116156e-04 9.99943227e-01 -5.13102768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32 meters 0.022691993519583186 Centerline is valid? [True, True] Translation: X:257.12, Y:187.88, Z:-5.13 [[ 3.11630103e-01 -9.50198552e-01 3.06446021e-03 2.57117260e+02] [ 9.50139035e-01 3.11644907e-01 1.06426921e-02 1.87875194e+02] [-1.10676940e-02 -4.04919964e-04 9.99938669e-01 -5.13114869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38 meters 0.025949747598778584 Centerline is valid? [True, True] Translation: X:257.13, Y:187.93, Z:-5.13 [[ 3.17396836e-01 -9.48285830e-01 3.63769851e-03 2.57128537e+02] [ 9.48201800e-01 3.17417185e-01 1.26363439e-02 1.87933411e+02] [-1.31375338e-02 -5.61463289e-04 9.99913541e-01 -5.13028019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44 meters 0.023461500029986346 Centerline is valid? [True, True] Translation: X:257.15, Y:187.99, Z:-5.13 [[ 3.20142036e-01 -9.47364003e-01 3.24374677e-03 2.57148944e+02] [ 9.47297121e-01 3.20158022e-01 1.12697246e-02 1.87989646e+02] [-1.17150430e-02 -5.35120603e-04 9.99931233e-01 -5.13209294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.5 meters 0.02224146360239749 Centerline is valid? [True, True] Translation: X:257.17, Y:188.05, Z:-5.13 [[ 3.19131903e-01 -9.47705736e-01 2.94385573e-03 2.57168479e+02] [ 9.47650687e-01 3.19145129e-01 1.02255156e-02 1.88045304e+02] [-1.06302970e-02 -4.73541351e-04 9.99943385e-01 -5.13318149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56 meters 0.0239896697954977 Centerline is valid? [True, True] Translation: X:257.18, Y:188.10, Z:-5.13 [[ 3.16692499e-01 -9.48524931e-01 2.51332126e-03 2.57182875e+02] [ 9.48484742e-01 3.16702239e-01 8.73990002e-03 1.88101169e+02] [-9.08598754e-03 -3.84013905e-04 9.99958648e-01 -5.13441623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62 meters 0.022667362048243753 Centerline is valid? [True, True] Translation: X:257.20, Y:188.16, Z:-5.13 [[ 3.14084683e-01 -9.49392013e-01 2.37015013e-03 2.57201558e+02] [ 9.49356271e-01 3.14093443e-01 8.24496777e-03 1.88156885e+02] [-8.57215516e-03 -3.39501198e-04 9.99963201e-01 -5.13453188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68 meters 0.022522953277716386 Centerline is valid? [True, True] Translation: X:257.22, Y:188.21, Z:-5.14 [[ 3.10805600e-01 -9.50469313e-01 2.82212382e-03 2.57219692e+02] [ 9.50418643e-01 3.10818191e-01 9.82114754e-03 1.88212899e+02] [-1.02118668e-02 -3.70268556e-04 9.99947789e-01 -5.13588606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74 meters 0.020021467435641763 Centerline is valid? [True, True] Translation: X:257.24, Y:188.27, Z:-5.14 [[ 3.09424265e-01 -9.50919639e-01 2.90949857e-03 2.57240366e+02] [ 9.50865825e-01 3.09437727e-01 1.01230085e-02 1.88268009e+02] [-1.05264762e-02 -3.65761698e-04 9.99944528e-01 -5.13561963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.8 meters 0.01978439231144824 Centerline is valid? [True, True] Translation: X:257.26, Y:188.32, Z:-5.13 [[ 3.05400984e-01 -9.52218139e-01 3.29457408e-03 2.57256172e+02] [ 9.52149033e-01 3.05418531e-01 1.14777771e-02 1.88324242e+02] [-1.19355715e-02 -3.68398881e-04 9.99928701e-01 -5.13466815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86 meters 0.0195610643391594 Centerline is valid? [True, True] Translation: X:257.27, Y:188.38, Z:-5.14 [[ 3.02491434e-01 -9.53147077e-01 3.09557790e-03 2.57272154e+02] [ 9.53086097e-01 3.02507112e-01 1.07860109e-02 1.88379831e+02] [-1.12170891e-02 -3.12323659e-04 9.99937038e-01 -5.13618137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.91999999999996 meters 0.01843995394109123 Centerline is valid? [True, True] Translation: X:257.29, Y:188.44, Z:-5.14 [[ 2.98264797e-01 -9.54480162e-01 2.39389335e-03 2.57289060e+02] [ 9.54443751e-01 2.98274335e-01 8.33947239e-03 1.88436348e+02] [-8.67389790e-03 -2.02534495e-04 9.99962361e-01 -5.13978992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.97999999999996 meters 0.01799084234600552 Centerline is valid? [True, True] Translation: X:257.30, Y:188.49, Z:-5.14 [[ 2.95918868e-01 -9.55210582e-01 2.18362161e-03 2.57304193e+02] [ 9.55180266e-01 2.95926878e-01 7.61203464e-03 1.88493166e+02] [-7.91728836e-03 -1.66792406e-04 9.99968644e-01 -5.14149115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.03999999999996 meters 0.016946107227128294 Centerline is valid? [True, True] Translation: X:257.32, Y:188.55, Z:-5.14 [[ 2.91263477e-01 -9.56639324e-01 2.60570855e-03 2.57321114e+02] [ 9.56596073e-01 2.91275090e-01 9.09808075e-03 1.88549265e+02] [-9.46255982e-03 -1.57328075e-04 9.99955217e-01 -5.14118806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.09999999999997 meters 0.016382767033762572 Centerline is valid? [True, True] Translation: X:257.34, Y:188.60, Z:-5.14 [[ 2.85853430e-01 -9.58268779e-01 2.96025874e-03 2.57337705e+02] [ 9.58213009e-01 2.85868733e-01 1.03390781e-02 1.88604614e+02] [-1.07538611e-02 -1.18902493e-04 9.99942169e-01 -5.14062134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.15999999999997 meters 0.015784380275915166 Centerline is valid? [True, True] Translation: X:257.36, Y:188.66, Z:-5.14 [[ 2.81310059e-01 -9.59611748e-01 3.15347922e-03 2.57356195e+02] [ 9.59548522e-01 2.81327724e-01 1.10157165e-02 1.88660441e+02] [-1.14579721e-02 -7.29155321e-05 9.99934353e-01 -5.14106785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.21999999999997 meters 0.015677609072295498 Centerline is valid? [True, True] Translation: X:257.37, Y:188.72, Z:-5.14 [[ 2.77610602e-01 -9.60687817e-01 3.35726931e-03 2.57373780e+02] [ 9.60616064e-01 2.77630900e-01 1.17414119e-02 1.88715173e+02] [-1.22119131e-02 -3.44936092e-05 9.99925431e-01 -5.14203817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28 meters 0.015757865553428407 Centerline is valid? [True, True] Translation: X:257.39, Y:188.77, Z:-5.14 [[ 2.75607666e-01 -9.61263534e-01 3.58219479e-03 2.57390641e+02] [ 9.61181852e-01 2.75630944e-01 1.25311417e-02 1.88770764e+02] [-1.30330933e-02 -1.05381064e-05 9.99915066e-01 -5.14252717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34 meters 0.01582681278501398 Centerline is valid? [True, True] Translation: X:257.41, Y:188.82, Z:-5.14 [[ 2.73847847e-01 -9.61766170e-01 3.63209125e-03 2.57407277e+02] [ 9.61682042e-01 2.73871932e-01 1.27206582e-02 1.88824799e+02] [-1.32290266e-02 9.39207731e-06 9.99912493e-01 -5.14357428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.4 meters 0.015888766874158872 Centerline is valid? [True, True] Translation: X:257.42, Y:188.88, Z:-5.14 [[ 2.73062137e-01 -9.61989789e-01 3.56578078e-03 2.57424570e+02] [ 9.61908668e-01 2.73085417e-01 1.24928024e-02 1.88880460e+02] [-1.29917111e-02 1.86441063e-05 9.99915604e-01 -5.14338788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46 meters 0.01615715164708483 Centerline is valid? [True, True] Translation: X:257.44, Y:188.94, Z:-5.14 [[ 2.74105968e-01 -9.61692619e-01 3.63647368e-03 2.57439939e+02] [ 9.61608033e-01 2.74130089e-01 1.27548096e-02 1.88935727e+02] [-1.32630731e-02 6.92873214e-07 9.99912042e-01 -5.14397502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52 meters 0.0163915185624614 Centerline is valid? [True, True] Translation: X:257.45, Y:188.99, Z:-5.14 [[ 2.78182534e-01 -9.60521753e-01 3.52694111e-03 2.57453679e+02] [ 9.60441920e-01 2.78204885e-01 1.23838970e-02 1.88992667e+02] [-1.28762147e-02 -5.75617456e-05 9.99917096e-01 -5.14497329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58 meters 0.016750920604427587 Centerline is valid? [True, True] Translation: X:257.47, Y:189.05, Z:-5.15 [[ 2.79250955e-01 -9.60212338e-01 3.34225596e-03 2.57470374e+02] [ 9.60140496e-01 2.79270946e-01 1.17458767e-02 1.89049081e+02] [-1.22119307e-02 -7.10119901e-05 9.99925429e-01 -5.14632937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64 meters 0.01682243958024164 Centerline is valid? [True, True] Translation: X:257.49, Y:189.10, Z:-5.15 [[ 2.77467230e-01 -9.60729866e-01 3.17178131e-03 2.57487677e+02] [ 9.60665091e-01 2.77485354e-01 1.11562562e-02 1.89104353e+02] [-1.15982714e-02 -4.84759275e-05 9.99932737e-01 -5.14728680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7 meters 0.016972156624211292 Centerline is valid? [True, True] Translation: X:257.51, Y:189.16, Z:-5.15 [[ 2.73141757e-01 -9.61971308e-01 2.18709129e-03 2.57505479e+02] [ 9.61940479e-01 2.73150513e-01 7.70138162e-03 1.89159589e+02] [-8.00591326e-03 2.82730582e-07 9.99967952e-01 -5.15027574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76 meters 0.017179655401531536 Centerline is valid? [True, True] Translation: X:257.52, Y:189.22, Z:-5.15 [[ 2.68126122e-01 -9.63382019e-01 1.86215489e-03 2.57524091e+02] [ 9.63359726e-01 2.68132586e-01 6.55404626e-03 1.89215127e+02] [-6.81335473e-03 3.66140152e-05 9.99976788e-01 -5.15197060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82 meters 0.017716899434853113 Centerline is valid? [True, True] Translation: X:257.54, Y:189.27, Z:-5.15 [[ 2.62686193e-01 -9.64879354e-01 1.94833171e-03 2.57543991e+02] [ 9.64854940e-01 2.62693407e-01 6.86426581e-03 1.89270674e+02] [-7.13500226e-03 7.67096257e-05 9.99974543e-01 -5.15283063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88 meters 0.0195167461918333 Centerline is valid? [True, True] Translation: X:257.57, Y:189.33, Z:-5.15 [[ 2.52168729e-01 -9.67680935e-01 2.13067265e-03 2.57567501e+02] [ 9.67651729e-01 2.52177676e-01 7.52002669e-03 1.89325800e+02] [-7.81429454e-03 1.65433499e-04 9.99969454e-01 -5.15255909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94 meters 0.02138980966937919 Centerline is valid? [True, True] Translation: X:257.59, Y:189.38, Z:-5.15 [[ 2.45582953e-01 -9.69373333e-01 2.08697272e-03 2.57588371e+02] [ 9.69345362e-01 2.45591727e-01 7.36698493e-03 1.89381580e+02] [-7.65390196e-03 2.13791413e-04 9.99970686e-01 -5.15320254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.0 meters 0.024489831586636965 Centerline is valid? [True, True] Translation: X:257.61, Y:189.44, Z:-5.16 [[ 2.38190267e-01 -9.71216723e-01 1.86362808e-03 2.57610239e+02] [ 9.71194473e-01 2.38197433e-01 6.57857562e-03 1.89435832e+02] [-6.83313408e-03 2.42992610e-04 9.99976624e-01 -5.15541886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06 meters 0.026052003311792492 Centerline is valid? [True, True] Translation: X:257.63, Y:189.49, Z:-5.16 [[ 2.35465399e-01 -9.71881042e-01 1.81295235e-03 2.57628974e+02] [ 9.71860019e-01 2.35472240e-01 6.39751575e-03 1.89492232e+02] [-6.64452422e-03 2.55542304e-04 9.99977892e-01 -5.15702127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12 meters 0.02664154923145287 Centerline is valid? [True, True] Translation: X:257.65, Y:189.55, Z:-5.16 [[ 2.33377482e-01 -9.72384652e-01 1.74331966e-03 2.57645801e+02] [ 9.72365206e-01 2.33383850e-01 6.15505305e-03 1.89548744e+02] [-6.39194178e-03 2.58692598e-04 9.99979538e-01 -5.15781650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18 meters 0.026966168671666235 Centerline is valid? [True, True] Translation: X:257.66, Y:189.61, Z:-5.16 [[ 2.31667863e-01 -9.72793115e-01 1.88570327e-03 2.57661982e+02] [ 9.72770326e-01 2.31675356e-01 6.66499130e-03 1.89605164e+02] [-6.92052863e-03 2.90291889e-04 9.99976011e-01 -5.15873375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24 meters 0.027213759539814485 Centerline is valid? [True, True] Translation: X:257.68, Y:189.66, Z:-5.16 [[ 2.33313260e-01 -9.72400601e-01 1.41186240e-03 2.57675161e+02] [ 9.72387812e-01 2.33317439e-01 4.99161647e-03 1.89661998e+02] [-5.18326298e-03 2.08267472e-04 9.99986545e-01 -5.16115424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.3 meters 0.025675868583603306 Centerline is valid? [True, True] Translation: X:257.69, Y:189.72, Z:-5.16 [[ 2.35053163e-01 -9.71981618e-01 1.32110760e-03 2.57687070e+02] [ 9.71970397e-01 2.35056802e-01 4.67412915e-03 1.89719420e+02] [-4.85370294e-03 1.85408636e-04 9.99988204e-01 -5.16336591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36 meters 0.029069137509444083 Centerline is valid? [True, True] Translation: X:257.70, Y:189.77, Z:-5.17 [[ 2.36409855e-01 -9.71652492e-01 1.34694423e-03 2.57704579e+02] [ 9.71640800e-01 2.36413623e-01 4.77027187e-03 1.89774986e+02] [-4.95348252e-03 1.81006681e-04 9.99987715e-01 -5.16591420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.41999999999996 meters 0.026245185006015862 Centerline is valid? [True, True] Translation: X:257.71, Y:189.83, Z:-5.16 [[ 2.34730398e-01 -9.72059429e-01 1.45166016e-03 2.57713102e+02] [ 9.72045824e-01 2.34734799e-01 5.14677795e-03 1.89833779e+02] [-5.34372919e-03 2.02974955e-04 9.99985702e-01 -5.16478674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.47999999999996 meters 0.026530715968835973 Centerline is valid? [True, True] Translation: X:257.73, Y:189.89, Z:-5.17 [[ 2.33994909e-01 -9.72236691e-01 1.48286268e-03 2.57729256e+02] [ 9.72222470e-01 2.33999514e-01 5.26276188e-03 1.89890334e+02] [-5.46363934e-03 2.10212931e-04 9.99985052e-01 -5.16562984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.53999999999996 meters 0.027145330587798267 Centerline is valid? [True, True] Translation: X:257.74, Y:189.95, Z:-5.17 [[ 2.31372341e-01 -9.72863617e-01 1.79503731e-03 2.57744879e+02] [ 9.72842697e-01 2.31379148e-01 6.38562518e-03 1.89947510e+02] [-6.62767661e-03 2.68831894e-04 9.99978001e-01 -5.16597696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.59999999999997 meters 0.028600038276710846 Centerline is valid? [True, True] Translation: X:257.76, Y:190.00, Z:-5.17 [[ 2.29550003e-01 -9.73295356e-01 1.71657443e-03 2.57762116e+02] [ 9.73276269e-01 2.29556263e-01 6.10143202e-03 1.90003565e+02] [-6.33254586e-03 2.70117419e-04 9.99979913e-01 -5.16777023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.65999999999997 meters 0.02854810562786836 Centerline is valid? [True, True] Translation: X:257.78, Y:190.06, Z:-5.17 [[ 2.29331358e-01 -9.73346924e-01 1.70137717e-03 2.57777097e+02] [ 9.73328146e-01 2.29337512e-01 6.05185639e-03 1.90059133e+02] [-6.28074541e-03 2.68117848e-04 9.99980240e-01 -5.16867497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.71999999999997 meters 0.029841785483961988 Centerline is valid? [True, True] Translation: X:257.79, Y:190.11, Z:-5.17 [[ 2.28156404e-01 -9.73622585e-01 1.92778980e-03 2.57794065e+02] [ 9.73598379e-01 2.28164339e-01 6.87239347e-03 1.90114140e+02] [-7.13097039e-03 3.08912445e-04 9.99974527e-01 -5.17001477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78 meters 0.028981453192513693 Centerline is valid? [True, True] Translation: X:257.81, Y:190.17, Z:-5.17 [[ 2.27878526e-01 -9.73687885e-01 1.81103053e-03 2.57807975e+02] [ 9.73666552e-01 2.27885534e-01 6.45198663e-03 1.90170104e+02] [-6.69492887e-03 2.93070652e-04 9.99977546e-01 -5.17123395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84 meters 0.030630579453232512 Centerline is valid? [True, True] Translation: X:257.83, Y:190.23, Z:-5.17 [[ 2.26134123e-01 -9.74095161e-01 1.40591834e-03 2.57827593e+02] [ 9.74082268e-01 2.26138371e-01 5.01726484e-03 1.90225235e+02] [-5.20522549e-03 2.34905337e-04 9.99986425e-01 -5.17360657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.9 meters 0.029162241772608875 Centerline is valid? [True, True] Translation: X:257.84, Y:190.28, Z:-5.17 [[ 2.25845521e-01 -9.74162003e-01 1.48085955e-03 2.57840957e+02] [ 9.74147723e-01 2.25850237e-01 5.28052717e-03 1.90281125e+02] [-5.47854141e-03 2.49992552e-04 9.99984961e-01 -5.17371868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96 meters 0.032547007500299326 Centerline is valid? [True, True] Translation: X:257.86, Y:190.34, Z:-5.18 [[ 2.26946638e-01 -9.73905823e-01 1.63427790e-03 2.57862184e+02] [ 9.73888346e-01 2.26952366e-01 5.84071217e-03 1.90335082e+02] [-6.05920683e-03 2.66074217e-04 9.99981607e-01 -5.17582919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02 meters 0.02742892785893861 Centerline is valid? [True, True] Translation: X:257.87, Y:190.39, Z:-5.17 [[ 2.28351674e-01 -9.73576800e-01 1.93076641e-03 2.57870127e+02] [ 9.73552382e-01 2.28359634e-01 6.90194376e-03 1.90394232e+02] [-7.16048143e-03 3.03631828e-04 9.99974317e-01 -5.17393617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08 meters 0.027471468810347906 Centerline is valid? [True, True] Translation: X:257.89, Y:190.45, Z:-5.17 [[ 2.28077767e-01 -9.73641290e-01 1.78068509e-03 2.57885451e+02] [ 9.73620503e-01 2.28084544e-01 6.36844367e-03 1.90449852e+02] [-6.60672646e-03 2.81211099e-04 9.99978136e-01 -5.17423880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14 meters 0.028292955601000605 Centerline is valid? [True, True] Translation: X:257.90, Y:190.51, Z:-5.18 [[ 2.29000884e-01 -9.73424252e-01 1.95482411e-03 2.57903410e+02] [ 9.73399084e-01 2.29009033e-01 7.00612578e-03 1.90505101e+02] [-7.26760512e-03 2.98415004e-04 9.99973546e-01 -5.17595514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2 meters 0.02973466846118537 Centerline is valid? [True, True] Translation: X:257.92, Y:190.56, Z:-5.18 [[ 2.27503429e-01 -9.73775329e-01 1.94922219e-03 2.57922174e+02] [ 9.73750300e-01 2.27511570e-01 6.98853658e-03 1.90560039e+02] [-7.24873510e-03 3.08139662e-04 9.99973680e-01 -5.17759652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26 meters 0.029265458798628036 Centerline is valid? [True, True] Translation: X:257.94, Y:190.62, Z:-5.18 [[ 2.29897096e-01 -9.73212705e-01 2.08695289e-03 2.57939188e+02] [ 9.73183970e-01 2.29906359e-01 7.48513161e-03 1.90615326e+02] [-7.76442893e-03 3.10179078e-04 9.99969808e-01 -5.17931376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32 meters 0.025202125776904595 Centerline is valid? [True, True] Translation: X:257.95, Y:190.67, Z:-5.18 [[ 2.34779986e-01 -9.72046427e-01 2.02545285e-03 2.57948846e+02] [ 9.72019303e-01 2.34788575e-01 7.26637302e-03 1.90673773e+02] [-7.53880512e-03 2.62780313e-04 9.99971548e-01 -5.18014768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38 meters 0.023176371960301763 Centerline is valid? [True, True] Translation: X:257.96, Y:190.73, Z:-5.18 [[ 2.39699147e-01 -9.70844722e-01 2.20101753e-03 2.57960169e+02] [ 9.70812640e-01 2.39709128e-01 7.89633315e-03 1.90732368e+02] [-8.19371736e-03 2.44031314e-04 9.99966401e-01 -5.17967892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44 meters 0.02051313409636347 Centerline is valid? [True, True] Translation: X:257.97, Y:190.79, Z:-5.18 [[ 2.45503686e-01 -9.69391499e-01 2.83935078e-03 2.57971784e+02] [ 9.69337882e-01 2.45519979e-01 1.01985683e-02 1.90790480e+02] [-1.05835227e-02 2.48504162e-04 9.99943962e-01 -5.17922757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.5 meters 0.01767455746796197 Centerline is valid? [True, True] Translation: X:257.98, Y:190.85, Z:-5.18 [[ 2.51597256e-01 -9.67826997e-01 3.11829922e-03 2.57982558e+02] [ 9.67762054e-01 2.51616503e-01 1.12135070e-02 1.90849516e+02] [-1.16373503e-02 1.96484076e-04 9.99932264e-01 -5.17941656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56 meters 0.01755345954470773 Centerline is valid? [True, True] Translation: X:258.00, Y:190.91, Z:-5.18 [[ 2.54660185e-01 -9.67025912e-01 3.01267850e-03 2.57998670e+02] [ 9.66965229e-01 2.54677958e-01 1.08343747e-02 1.90905368e+02] [-1.12443839e-02 1.54071492e-04 9.99936768e-01 -5.18168440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62 meters 0.015833222936295275 Centerline is valid? [True, True] Translation: X:258.01, Y:190.96, Z:-5.18 [[ 2.62554021e-01 -9.64912697e-01 2.97864795e-03 2.58008873e+02] [ 9.64853196e-01 2.62570910e-01 1.07157993e-02 1.90963527e+02] [-1.11219171e-02 6.04817918e-05 9.99938148e-01 -5.18304582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68 meters 0.015939154090063842 Centerline is valid? [True, True] Translation: X:258.02, Y:191.02, Z:-5.18 [[ 2.66157821e-01 -9.63925003e-01 2.93307526e-03 2.58022324e+02] [ 9.63867219e-01 2.66173981e-01 1.05544495e-02 1.91019606e+02] [-1.09544061e-02 1.79458044e-05 9.99939999e-01 -5.18430386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74 meters 0.01587882922749953 Centerline is valid? [True, True] Translation: X:258.04, Y:191.08, Z:-5.19 [[ 2.70905993e-01 -9.62600476e-01 3.20420760e-03 2.58036024e+02] [ 9.62531393e-01 2.70924939e-01 1.15323123e-02 1.91075753e+02] [-1.19691091e-02 -4.00221188e-05 9.99928367e-01 -5.18522031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.8 meters 0.015904998960571348 Centerline is valid? [True, True] Translation: X:258.05, Y:191.13, Z:-5.18 [[ 2.74591375e-01 -9.61554548e-01 3.52539892e-03 2.58049807e+02] [ 9.61470634e-01 2.74613987e-01 1.27034676e-02 1.91132814e+02] [-1.31832009e-02 -9.86950976e-05 9.99913093e-01 -5.18487271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86 meters 0.01621842535030493 Centerline is valid? [True, True] Translation: X:258.06, Y:191.19, Z:-5.18 [[ 2.77824817e-01 -9.60622887e-01 4.12806449e-03 2.58063443e+02] [ 9.60507470e-01 2.77855431e-01 1.48915721e-02 1.91189254e+02] [-1.54521901e-02 -1.72211521e-04 9.99880593e-01 -5.18381231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.91999999999996 meters 0.01639100320303039 Centerline is valid? [True, True] Translation: X:258.08, Y:191.25, Z:-5.19 [[ 2.79835387e-01 -9.60039956e-01 3.92913324e-03 2.58077493e+02] [ 9.59935275e-01 2.79862902e-01 1.41782973e-02 1.91245996e+02] [-1.47113506e-02 -1.95875728e-04 9.99891763e-01 -5.18555526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.97999999999996 meters 0.016394399824538948 Centerline is valid? [True, True] Translation: X:258.09, Y:191.30, Z:-5.19 [[ 2.81212559e-01 -9.59638594e-01 3.64212520e-03 2.58094384e+02] [ 9.59548462e-01 2.81236069e-01 1.31537924e-02 1.91301801e+02] [-1.36471838e-02 -2.04215988e-04 9.99906852e-01 -5.18900101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.03999999999996 meters 0.016621260309528246 Centerline is valid? [True, True] Translation: X:258.11, Y:191.36, Z:-5.19 [[ 2.80674305e-01 -9.59796186e-01 3.63531887e-03 2.58110586e+02] [ 9.59706222e-01 2.80697775e-01 1.31425254e-02 1.91357201e+02] [-1.36345717e-02 -1.99931038e-04 9.99907025e-01 -5.19044315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.09999999999997 meters 0.016058870323833463 Centerline is valid? [True, True] Translation: X:258.13, Y:191.41, Z:-5.19 [[ 2.78686015e-01 -9.60375519e-01 3.60095770e-03 2.58129302e+02] [ 9.60287250e-01 2.78709226e-01 1.30216761e-02 1.91412932e+02] [-1.35093191e-02 -1.71005253e-04 9.99908730e-01 -5.19159853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.15999999999997 meters 0.015980280412808804 Centerline is valid? [True, True] Translation: X:258.14, Y:191.47, Z:-5.19 [[ 2.77231440e-01 -9.60796731e-01 3.51714078e-03 2.58144654e+02] [ 9.60712401e-01 2.77253709e-01 1.27304083e-02 1.91469814e+02] [-1.32064750e-02 -1.50308674e-04 9.99912779e-01 -5.19204010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.21999999999997 meters 0.01584665342826569 Centerline is valid? [True, True] Translation: X:258.16, Y:191.53, Z:-5.19 [[ 2.77056867e-01 -9.60845977e-01 3.80794955e-03 2.58159581e+02] [ 9.60746928e-01 2.77082986e-01 1.37970974e-02 1.91525861e+02] [-1.43120036e-02 -1.64104754e-04 9.99897565e-01 -5.19295767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28 meters 0.01595350470059449 Centerline is valid? [True, True] Translation: X:258.17, Y:191.58, Z:-5.19 [[ 2.76742199e-01 -9.60935865e-01 4.00245986e-03 2.58173344e+02] [ 9.60826201e-01 2.76771087e-01 1.45181720e-02 1.91582163e+02] [-1.50587973e-02 -1.72122539e-04 9.99886595e-01 -5.19249186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34 meters 0.015838404308028502 Centerline is valid? [True, True] Translation: X:258.19, Y:191.64, Z:-5.19 [[ 2.74645218e-01 -9.61537078e-01 4.05614773e-03 2.58189819e+02] [ 9.61424277e-01 2.74675130e-01 1.47286103e-02 1.91638780e+02] [-1.52762278e-02 -1.45463486e-04 9.99883301e-01 -5.19270601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.4 meters 0.015362615884717941 Centerline is valid? [True, True] Translation: X:258.21, Y:191.69, Z:-5.19 [[ 2.72898964e-01 -9.62034271e-01 4.02705398e-03 2.58205901e+02] [ 9.61922932e-01 2.72928649e-01 1.46364657e-02 1.91694684e+02] [-1.51798800e-02 -1.20560753e-04 9.99884772e-01 -5.19360021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46 meters 0.014958953453011153 Centerline is valid? [True, True] Translation: X:258.23, Y:191.75, Z:-5.19 [[ 2.67409935e-01 -9.63574425e-01 4.03164435e-03 2.58226033e+02] [ 9.63462929e-01 2.67440323e-01 1.46580490e-02 1.91749702e+02] [-1.52023454e-02 -3.53680582e-05 9.99884437e-01 -5.19439432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52 meters 0.014856854191725832 Centerline is valid? [True, True] Translation: X:258.24, Y:191.80, Z:-5.20 [[ 2.63111025e-01 -9.64757347e-01 3.98122913e-03 2.58244175e+02] [ 9.64648547e-01 2.63141143e-01 1.44886424e-02 1.91804723e+02] [-1.50256493e-02 2.83653487e-05 9.99887108e-01 -5.19563166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58 meters 0.01527214923225258 Centerline is valid? [True, True] Translation: X:258.26, Y:191.86, Z:-5.20 [[ 2.58725648e-01 -9.65942670e-01 3.97453178e-03 2.58263452e+02] [ 9.65834133e-01 2.58756158e-01 1.44802910e-02 1.91859300e+02] [-1.50155655e-02 9.23157903e-05 9.99887256e-01 -5.19669618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64 meters 0.01584407513628914 Centerline is valid? [True, True] Translation: X:258.28, Y:191.91, Z:-5.20 [[ 2.54328206e-01 -9.67109791e-01 3.97699873e-03 2.58282561e+02] [ 9.67001185e-01 2.54359249e-01 1.44941511e-02 1.91914970e+02] [-1.50290219e-02 1.59491023e-04 9.99887045e-01 -5.19813007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7 meters 0.016930464839534216 Centerline is valid? [True, True] Translation: X:258.30, Y:191.97, Z:-5.20 [[ 2.48918149e-01 -9.68517024e-01 3.81179524e-03 2.58302932e+02] [ 9.68417225e-01 2.48947227e-01 1.39052699e-02 1.91969349e+02] [-1.44164265e-02 2.30134123e-04 9.99896051e-01 -5.19916762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76 meters 0.01751409142579532 Centerline is valid? [True, True] Translation: X:258.32, Y:192.03, Z:-5.20 [[ 2.45800683e-01 -9.69313650e-01 3.61550121e-03 2.58320033e+02] [ 9.69223904e-01 2.45827133e-01 1.31925788e-02 1.92025373e+02] [-1.36765350e-02 2.61485308e-04 9.99906438e-01 -5.20010721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82 meters 0.01763390526267175 Centerline is valid? [True, True] Translation: X:258.34, Y:192.08, Z:-5.20 [[ 2.43460936e-01 -9.69904858e-01 3.36748308e-03 2.58335583e+02] [ 9.69826923e-01 2.43484072e-01 1.22982099e-02 1.92081906e+02] [-1.27480220e-02 2.71742053e-04 9.99918704e-01 -5.20153667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88 meters 0.017991145381520777 Centerline is valid? [True, True] Translation: X:258.35, Y:192.14, Z:-5.20 [[ 2.41749320e-01 -9.70333763e-01 3.10705506e-03 2.58350644e+02] [ 9.70267335e-01 2.41769136e-01 1.13571153e-02 1.92138266e+02] [-1.17713825e-02 2.69099115e-04 9.99930679e-01 -5.20197476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94 meters 0.018803077685548914 Centerline is valid? [True, True] Translation: X:258.37, Y:192.19, Z:-5.20 [[ 2.39155179e-01 -9.70976904e-01 2.94156494e-03 2.58367690e+02] [ 9.70917301e-01 2.39173102e-01 1.07620203e-02 1.92194100e+02] [-1.11532163e-02 2.82223400e-04 9.99937761e-01 -5.20237494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.0 meters 0.019823890136834627 Centerline is valid? [True, True] Translation: X:258.39, Y:192.25, Z:-5.20 [[ 2.36912313e-01 -9.71526573e-01 2.94512689e-03 2.58385105e+02] [ 9.71466725e-01 2.36930422e-01 1.07878185e-02 1.92249229e+02] [-1.11784425e-02 3.05325749e-04 9.99937473e-01 -5.20299237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06 meters 0.020527986251418426 Centerline is valid? [True, True] Translation: X:258.40, Y:192.31, Z:-5.20 [[ 2.35717409e-01 -9.71816617e-01 3.12505557e-03 2.58402726e+02] [ 9.71749230e-01 2.35737881e-01 1.14492360e-02 1.92305330e+02] [-1.18632518e-02 3.37986102e-04 9.99929572e-01 -5.20271809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12 meters 0.019554640452735306 Centerline is valid? [True, True] Translation: X:258.42, Y:192.36, Z:-5.20 [[ 2.34271040e-01 -9.72166760e-01 2.97845517e-03 2.58416558e+02] [ 9.72105469e-01 2.34289730e-01 1.09215397e-02 1.92362580e+02] [-1.13153793e-02 3.36772098e-04 9.99935922e-01 -5.20237757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18 meters 0.02002797190312741 Centerline is valid? [True, True] Translation: X:258.43, Y:192.42, Z:-5.20 [[ 2.33625778e-01 -9.72323209e-01 2.56367622e-03 2.58432533e+02] [ 9.72277739e-01 2.33639658e-01 9.40793072e-03 1.92419535e+02] [-9.74652583e-03 2.94670188e-04 9.99952458e-01 -5.20399321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24 meters 0.019622855887188054 Centerline is valid? [True, True] Translation: X:258.45, Y:192.48, Z:-5.21 [[ 2.33286597e-01 -9.72405458e-01 2.23375983e-03 2.58446976e+02] [ 9.72370889e-01 2.33297148e-01 8.20333455e-03 1.92476845e+02] [-8.49809708e-03 2.58315033e-04 9.99963857e-01 -5.20574706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.3 meters 0.023385152280659287 Centerline is valid? [True, True] Translation: X:258.47, Y:192.53, Z:-5.21 [[ 2.33644243e-01 -9.72319854e-01 2.11400501e-03 2.58467010e+02] [ 9.72288799e-01 2.33653685e-01 7.77482631e-03 1.92531576e+02] [-8.05356305e-03 2.38879981e-04 9.99967541e-01 -5.20631983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36 meters 0.019420885716291577 Centerline is valid? [True, True] Translation: X:258.48, Y:192.59, Z:-5.20 [[ 2.33106700e-01 -9.72448789e-01 2.14943646e-03 2.58475007e+02] [ 9.72416709e-01 2.33116478e-01 7.90269148e-03 1.92589478e+02] [-8.18603181e-03 2.47977593e-04 9.99966463e-01 -5.20371605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.41999999999996 meters 0.01958518274867866 Centerline is valid? [True, True] Translation: X:258.49, Y:192.65, Z:-5.20 [[ 2.32976177e-01 -9.72479226e-01 2.50126003e-03 2.58490521e+02] [ 9.72435652e-01 2.32989427e-01 9.21028313e-03 1.92646204e+02] [-9.53957615e-03 2.86537876e-04 9.99954456e-01 -5.20333186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.47999999999996 meters 0.019170378373075312 Centerline is valid? [True, True] Translation: X:258.51, Y:192.70, Z:-5.20 [[ 2.33076655e-01 -9.72454520e-01 2.73472930e-03 2.58506325e+02] [ 9.72402312e-01 2.33092493e-01 1.00813447e-02 1.92702319e+02] [-1.04410941e-02 3.09530992e-04 9.99945442e-01 -5.20449124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.53999999999996 meters 0.02015859001449811 Centerline is valid? [True, True] Translation: X:258.52, Y:192.76, Z:-5.21 [[ 2.32089572e-01 -9.72690667e-01 2.70135002e-03 2.58524612e+02] [ 9.72639609e-01 2.32105081e-01 9.97109662e-03 1.92756828e+02] [-1.03257897e-02 3.13252475e-04 9.99946639e-01 -5.20625522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.59999999999997 meters 0.020327551977150072 Centerline is valid? [True, True] Translation: X:258.54, Y:192.81, Z:-5.21 [[ 2.29581413e-01 -9.73286202e-01 2.51864177e-03 2.58541786e+02] [ 9.73241857e-01 2.29595009e-01 9.29623836e-03 1.92813369e+02] [-9.62616811e-03 3.17004051e-04 9.99953617e-01 -5.20787398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.65999999999997 meters 0.02191467328972103 Centerline is valid? [True, True] Translation: X:258.56, Y:192.87, Z:-5.21 [[ 2.26044917e-01 -9.74113691e-01 2.49266830e-03 2.58562858e+02] [ 9.74070178e-01 2.26058396e-01 9.21361534e-03 1.92869080e+02] [-9.53859744e-03 3.45342939e-04 9.99954447e-01 -5.20960754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.71999999999997 meters 0.022372424673732457 Centerline is valid? [True, True] Translation: X:258.58, Y:192.92, Z:-5.21 [[ 2.24166682e-01 -9.74547308e-01 2.61597814e-03 2.58580386e+02] [ 9.74499397e-01 2.24181621e-01 9.67089787e-03 1.92924684e+02] [-1.00112017e-02 3.81376031e-04 9.99949814e-01 -5.21054801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78 meters 0.022766377708205398 Centerline is valid? [True, True] Translation: X:258.60, Y:192.98, Z:-5.21 [[ 2.21997850e-01 -9.75043905e-01 2.51757219e-03 2.58597208e+02] [ 9.74999564e-01 2.22011785e-01 9.30684083e-03 1.92980746e+02] [-9.63350912e-03 3.88533135e-04 9.99953521e-01 -5.21126169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84 meters 0.023052733878063038 Centerline is valid? [True, True] Translation: X:258.61, Y:193.04, Z:-5.21 [[ 2.21511572e-01 -9.75154612e-01 2.47120172e-03 2.58613511e+02] [ 9.75111812e-01 2.21525023e-01 9.14425393e-03 1.93037429e+02] [-9.46449441e-03 3.84139919e-04 9.99955137e-01 -5.21320157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.9 meters 0.023475690107380248 Centerline is valid? [True, True] Translation: X:258.63, Y:193.09, Z:-5.21 [[ 2.21986979e-01 -9.75046303e-01 2.54731525e-03 2.58628321e+02] [ 9.75000723e-01 2.22001253e-01 9.43575395e-03 1.93094193e+02] [-9.76580418e-03 3.89019696e-04 9.99952238e-01 -5.21483048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96 meters 0.024249981555149562 Centerline is valid? [True, True] Translation: X:258.64, Y:193.15, Z:-5.22 [[ 2.24231349e-01 -9.74532596e-01 2.55380098e-03 2.58642498e+02] [ 9.74486629e-01 2.24245595e-01 9.47225177e-03 1.93150263e+02] [-9.80369673e-03 3.64669110e-04 9.99951876e-01 -5.21530752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02 meters 0.01994073111962534 Centerline is valid? [True, True] Translation: X:258.65, Y:193.21, Z:-5.21 [[ 2.29140790e-01 -9.73389076e-01 2.86453912e-03 2.58647294e+02] [ 9.73331126e-01 2.29158422e-01 1.06271604e-02 1.93210787e+02] [-1.10007951e-02 3.53029167e-04 9.99939427e-01 -5.21466488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08 meters 0.02017321742927171 Centerline is valid? [True, True] Translation: X:258.67, Y:193.26, Z:-5.23 [[ 2.28560552e-01 -9.73529055e-01 1.11920445e-03 2.58670562e+02] [ 9.73520235e-01 2.28563248e-01 4.14644038e-03 1.93264936e+02] [-4.29248919e-03 1.41855482e-04 9.99990777e-01 -5.22991670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14 meters 0.019617040805905324 Centerline is valid? [True, True] Translation: X:258.68, Y:193.32, Z:-5.22 [[ 2.30816637e-01 -9.72995617e-01 1.79125905e-03 2.58681934e+02] [ 9.72972864e-01 2.30823495e-01 6.65734040e-03 1.93323071e+02] [-6.89102770e-03 2.06221523e-04 9.99976235e-01 -5.22388165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2 meters 0.01815376092589937 Centerline is valid? [True, True] Translation: X:258.69, Y:193.38, Z:-5.21 [[ 2.33918214e-01 -9.72251945e-01 2.90238134e-03 2.58686154e+02] [ 9.72192088e-01 2.33936030e-01 1.07924804e-02 1.93383144e+02] [-1.11719817e-02 2.97114427e-04 9.99937547e-01 -5.21325472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26 meters 0.017807876759605382 Centerline is valid? [True, True] Translation: X:258.70, Y:193.44, Z:-5.22 [[ 2.36224082e-01 -9.71693060e-01 3.28337993e-03 2.58702218e+02] [ 9.71616371e-01 2.36246702e-01 1.22116153e-02 1.93439455e+02] [-1.26416295e-02 3.05508085e-04 9.99920045e-01 -5.21602929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32 meters 0.019678947383345146 Centerline is valid? [True, True] Translation: X:258.73, Y:193.49, Z:-5.22 [[ 2.31637732e-01 -9.72796508e-01 3.30378127e-03 2.58726368e+02] [ 9.72718790e-01 2.31661005e-01 1.23017969e-02 1.93493376e+02] [-1.27325024e-02 3.64089782e-04 9.99918872e-01 -5.22147186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38 meters 0.020955006560519972 Centerline is valid? [True, True] Translation: X:258.74, Y:193.55, Z:-5.22 [[ 2.26082780e-01 -9.74105269e-01 2.34543612e-03 2.58744218e+02] [ 9.74066169e-01 2.26094733e-01 8.73333505e-03 1.93550388e+02] [-9.03747844e-03 3.10153313e-04 9.99959113e-01 -5.22223957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44 meters 0.021785541174788436 Centerline is valid? [True, True] Translation: X:258.76, Y:193.61, Z:-5.22 [[ 2.23845566e-01 -9.74621731e-01 2.37574293e-03 2.58762067e+02] [ 9.74581642e-01 2.23857922e-01 8.84612586e-03 1.93606302e+02] [-9.15345537e-03 3.35189394e-04 9.99958050e-01 -5.22217476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.5 meters 0.022726035221324794 Centerline is valid? [True, True] Translation: X:258.78, Y:193.66, Z:-5.22 [[ 2.21849526e-01 -9.75077478e-01 2.58838354e-03 2.58780061e+02] [ 9.75029813e-01 2.21864294e-01 9.64879142e-03 1.93662612e+02] [-9.98258909e-03 3.83171317e-04 9.99950099e-01 -5.22294527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56 meters 0.023561081883970332 Centerline is valid? [True, True] Translation: X:258.80, Y:193.72, Z:-5.22 [[ 2.16622711e-01 -9.76249023e-01 3.52787083e-03 2.58800989e+02] [ 9.76160361e-01 2.16650631e-01 1.31702101e-02 1.93718917e+02] [-1.36217201e-02 5.90801055e-04 9.99907046e-01 -5.22141506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62 meters 0.02565180929918179 Centerline is valid? [True, True] Translation: X:258.82, Y:193.77, Z:-5.22 [[ 2.14434040e-01 -9.76731043e-01 3.80957728e-03 2.58819654e+02] [ 9.76627675e-01 2.14466830e-01 1.42254603e-02 1.93774115e+02] [-1.47114766e-02 6.70115687e-04 9.99891556e-01 -5.22104004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68 meters 0.025095001664675234 Centerline is valid? [True, True] Translation: X:258.83, Y:193.83, Z:-5.22 [[ 2.11649061e-01 -9.77339365e-01 3.52708723e-03 2.58834545e+02] [ 9.77250790e-01 2.11677423e-01 1.31742696e-02 1.93832092e+02] [-1.36223370e-02 6.58526992e-04 9.99906995e-01 -5.22183678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74 meters 0.02866903551000043 Centerline is valid? [True, True] Translation: X:258.86, Y:193.89, Z:-5.22 [[ 2.08090745e-01 -9.78104189e-01 3.23060143e-03 2.58855589e+02] [ 9.78029952e-01 2.08114811e-01 1.20680457e-02 1.93886775e+02] [-1.24761421e-02 6.48376339e-04 9.99921960e-01 -5.22401331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.8 meters 0.029807305620261817 Centerline is valid? [True, True] Translation: X:258.87, Y:193.94, Z:-5.23 [[ 2.05348666e-01 -9.78684258e-01 3.00798084e-03 2.58872640e+02] [ 9.78619920e-01 2.05369712e-01 1.12397913e-02 1.93943280e+02] [-1.16179549e-02 6.35593841e-04 9.99932307e-01 -5.22553304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86 meters 0.03063136077862985 Centerline is valid? [True, True] Translation: X:258.89, Y:194.00, Z:-5.23 [[ 2.05023008e-01 -9.78752693e-01 2.95511673e-03 2.58887717e+02] [ 9.78690614e-01 2.05043341e-01 1.10413372e-02 1.93999556e+02] [-1.14126655e-02 6.28416827e-04 9.99934676e-01 -5.22747751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.91999999999996 meters 0.03228620735121844 Centerline is valid? [True, True] Translation: X:258.90, Y:194.06, Z:-5.23 [[ 2.04702278e-01 -9.78820392e-01 2.75997241e-03 2.58902580e+02] [ 9.78766100e-01 2.04720040e-01 1.03260336e-02 1.94055479e+02] [-1.06723540e-02 5.87604831e-04 9.99942876e-01 -5.22781709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.97999999999996 meters 0.033245463066184776 Centerline is valid? [True, True] Translation: X:258.92, Y:194.11, Z:-5.23 [[ 2.04416383e-01 -9.78880971e-01 2.44672356e-03 2.58917485e+02] [ 9.78838315e-01 2.04430354e-01 9.15335193e-03 1.94112023e+02] [-9.46022659e-03 5.23851671e-04 9.99955114e-01 -5.22916828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.03999999999996 meters 0.029631358648521747 Centerline is valid? [True, True] Translation: X:258.93, Y:194.17, Z:-5.23 [[ 2.04843113e-01 -9.78792623e-01 2.07358437e-03 2.58927160e+02] [ 9.78761941e-01 2.04853137e-01 7.76238254e-03 1.94170105e+02] [-8.02254303e-03 4.39474852e-04 9.99967722e-01 -5.23215003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.09999999999997 meters 0.02907392496380938 Centerline is valid? [True, True] Translation: X:258.94, Y:194.23, Z:-5.23 [[ 2.06357169e-01 -9.78474792e-01 1.94918975e-03 2.58941252e+02] [ 9.78447615e-01 2.06365987e-01 7.30370409e-03 1.94227481e+02] [-7.54873681e-03 4.00008367e-04 9.99971428e-01 -5.23451477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.15999999999997 meters 0.029161159709206397 Centerline is valid? [True, True] Translation: X:258.96, Y:194.28, Z:-5.24 [[ 2.08922486e-01 -9.77930523e-01 1.81318247e-03 2.58955309e+02] [ 9.77906911e-01 2.08930059e-01 6.80473887e-03 1.94284758e+02] [-7.03339016e-03 3.51460704e-04 9.99975204e-01 -5.23602251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.21999999999997 meters 0.02631975502238969 Centerline is valid? [True, True] Translation: X:258.97, Y:194.34, Z:-5.24 [[ 2.12773747e-01 -9.77100351e-01 1.49529829e-03 2.58965651e+02] [ 9.77084267e-01 2.12778834e-01 5.61276185e-03 1.94342942e+02] [-5.80239940e-03 2.66784061e-04 9.99983130e-01 -5.23805235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28 meters 0.02867021942938851 Centerline is valid? [True, True] Translation: X:258.98, Y:194.40, Z:-5.24 [[ 2.14711305e-01 -9.76676525e-01 1.42156311e-03 2.58983813e+02] [ 9.76661979e-01 2.14715874e-01 5.33595667e-03 1.94397895e+02] [-5.51673578e-03 2.42696418e-04 9.99984753e-01 -5.24125325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34 meters 0.024217041089832646 Centerline is valid? [True, True] Translation: X:258.99, Y:194.46, Z:-5.24 [[ 2.19947214e-01 -9.75510330e-01 1.67906336e-03 2.58992421e+02] [ 9.75490010e-01 2.19953478e-01 6.30142392e-03 1.94457379e+02] [-6.51641995e-03 2.51928904e-04 9.99978736e-01 -5.24331289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.4 meters 0.022666154372870465 Centerline is valid? [True, True] Translation: X:259.00, Y:194.52, Z:-5.24 [[ 2.28807279e-01 -9.73470113e-01 1.77970554e-03 2.59000864e+02] [ 9.73447141e-01 2.28814112e-01 6.69079115e-03 1.94515713e+02] [-6.92050696e-03 2.01547549e-04 9.99976033e-01 -5.24453334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46 meters 0.019187932242042467 Centerline is valid? [True, True] Translation: X:259.00, Y:194.58, Z:-5.24 [[ 2.43642949e-01 -9.69860443e-01 2.97221946e-03 2.59004992e+02] [ 9.69796031e-01 2.43661026e-01 1.11786585e-02 1.94576504e+02] [-1.15659528e-02 1.58845304e-04 9.99933100e-01 -5.24266026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52 meters 0.01850614324116051 Centerline is valid? [True, True] Translation: X:259.01, Y:194.63, Z:-5.24 [[ 2.52568742e-01 -9.67573328e-01 3.29936049e-03 2.59013812e+02] [ 9.67493699e-01 2.52590285e-01 1.24132799e-02 1.94633625e+02] [-1.28441449e-02 5.69040064e-05 9.99917509e-01 -5.24369258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58 meters 0.018659171902903376 Centerline is valid? [True, True] Translation: X:259.02, Y:194.69, Z:-5.25 [[ 2.63873119e-01 -9.64552214e-01 3.16277634e-03 2.59022932e+02] [ 9.64478789e-01 2.63892057e-01 1.19016083e-02 1.94691657e+02] [-1.23143542e-02 -9.00838145e-05 9.99924171e-01 -5.24668484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64 meters 0.019727369881854265 Centerline is valid? [True, True] Translation: X:259.04, Y:194.75, Z:-5.25 [[ 2.72032577e-01 -9.62283149e-01 3.06879495e-03 2.59035528e+02] [ 9.62213712e-01 2.72049818e-01 1.15614950e-02 1.94749953e+02] [-1.19602969e-02 -1.92266697e-04 9.99928455e-01 -5.24951411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7 meters 0.022995946098135538 Centerline is valid? [True, True] Translation: X:259.04, Y:194.81, Z:-5.25 [[ 2.86343035e-01 -9.58121201e-01 3.38093551e-03 2.59041319e+02] [ 9.58036590e-01 2.86362703e-01 1.27395156e-02 1.94810227e+02] [-1.31741739e-02 -4.08811653e-04 9.99913133e-01 -5.25049137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76 meters 0.024328518962931475 Centerline is valid? [True, True] Translation: X:259.05, Y:194.87, Z:-5.25 [[ 2.94500466e-01 -9.55643498e-01 3.87035204e-03 2.59053621e+02] [ 9.55532373e-01 2.94525292e-01 1.45854744e-02 1.94868635e+02] [-1.50784304e-02 -5.97182357e-04 9.99886136e-01 -5.24977219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82 meters 0.026374471433919973 Centerline is valid? [True, True] Translation: X:259.07, Y:194.93, Z:-5.25 [[ 3.01035893e-01 -9.53603784e-01 4.14906341e-03 2.59065708e+02] [ 9.53475847e-01 3.01063546e-01 1.56381431e-02 1.94927386e+02] [-1.61617242e-02 -7.51610611e-04 9.99869108e-01 -5.25076225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88 meters 0.0281563644695874 Centerline is valid? [True, True] Translation: X:259.08, Y:194.98, Z:-5.25 [[ 3.01565169e-01 -9.53438224e-01 3.74187761e-03 2.59078258e+02] [ 9.53334130e-01 3.01587602e-01 1.41051369e-02 1.94984229e+02] [-1.45768806e-02 -6.86358347e-04 9.99893516e-01 -5.25293668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94 meters 0.02606046283703477 Centerline is valid? [True, True] Translation: X:259.10, Y:195.04, Z:-5.26 [[ 3.01823021e-01 -9.53359061e-01 3.06014402e-03 2.59096158e+02] [ 9.53289402e-01 3.01838005e-01 1.15384533e-02 1.95040272e+02] [-1.19239568e-02 -5.65367978e-04 9.99928747e-01 -5.25619160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.0 meters 0.026440073817157017 Centerline is valid? [True, True] Translation: X:259.11, Y:195.10, Z:-5.26 [[ 3.01305501e-01 -9.53522998e-01 2.98101369e-03 2.59110090e+02] [ 9.53456777e-01 3.01319750e-01 1.12508665e-02 1.95096864e+02] [-1.16261982e-02 -5.47680254e-04 9.99932263e-01 -5.25819295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06 meters 0.02689921424529619 Centerline is valid? [True, True] Translation: X:259.12, Y:195.15, Z:-5.26 [[ 3.00662085e-01 -9.53726180e-01 2.94689553e-03 2.59123584e+02] [ 9.53661352e-01 3.00676047e-01 1.11328549e-02 1.95153678e+02] [-1.15037560e-02 -5.36886976e-04 9.99933685e-01 -5.25861887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12 meters 0.02555054009589471 Centerline is valid? [True, True] Translation: X:259.14, Y:195.21, Z:-5.26 [[ 2.96011493e-01 -9.55179052e-01 3.18982556e-03 2.59139049e+02] [ 9.55103009e-01 2.96028215e-01 1.20639432e-02 1.95210984e+02] [-1.24675042e-02 -5.24453849e-04 9.99922140e-01 -5.25735087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18 meters 0.023787215928366016 Centerline is valid? [True, True] Translation: X:259.16, Y:195.27, Z:-5.26 [[ 2.94340945e-01 -9.55694919e-01 3.26022254e-03 2.59155534e+02] [ 9.55615400e-01 2.94358548e-01 1.23390976e-02 1.95267132e+02] [-1.27520873e-02 -5.16382792e-04 9.99918555e-01 -5.25679542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24 meters 0.023754809366370148 Centerline is valid? [True, True] Translation: X:259.17, Y:195.32, Z:-5.26 [[ 2.91368575e-01 -9.56605394e-01 3.23646625e-03 2.59170379e+02] [ 9.56526910e-01 2.91386159e-01 1.22628447e-02 1.95323847e+02] [-1.26737649e-02 -4.77240531e-04 9.99919571e-01 -5.25860199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.3 meters 0.022241657427529822 Centerline is valid? [True, True] Translation: X:259.19, Y:195.38, Z:-5.26 [[ 2.89592785e-01 -9.57144002e-01 3.37315676e-03 2.59188703e+02] [ 9.57058755e-01 2.89612043e-01 1.27829472e-02 1.95380323e+02] [-1.32120280e-02 -4.73540059e-04 9.99912605e-01 -5.25969498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36 meters 0.022541865632087727 Centerline is valid? [True, True] Translation: X:259.20, Y:195.44, Z:-5.26 [[ 2.88798226e-01 -9.57384747e-01 3.16718380e-03 2.59202662e+02] [ 9.57309484e-01 2.88815261e-01 1.20123701e-02 1.95437044e+02] [-1.24151909e-02 -4.37176078e-04 9.99922833e-01 -5.26102860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.41999999999996 meters 0.020410515324195775 Centerline is valid? [True, True] Translation: X:259.22, Y:195.49, Z:-5.26 [[ 2.87506646e-01 -9.57773093e-01 3.26039776e-03 2.59221090e+02] [ 9.57693202e-01 2.87524801e-01 1.23781819e-02 1.95492524e+02] [-1.27929348e-02 -4.36348797e-04 9.99918072e-01 -5.26061474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.47999999999996 meters 0.023672403802064142 Centerline is valid? [True, True] Translation: X:259.23, Y:195.55, Z:-5.26 [[ 2.88965121e-01 -9.57334888e-01 3.01185551e-03 2.59230824e+02] [ 9.57266545e-01 2.88980505e-01 1.14468523e-02 1.95549138e+02] [-1.18288386e-02 -4.24592555e-04 9.99929947e-01 -5.26228210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.53999999999996 meters 0.022754213337154928 Centerline is valid? [True, True] Translation: X:259.25, Y:195.61, Z:-5.26 [[ 2.90775274e-01 -9.56786812e-01 2.95590175e-03 2.59247050e+02] [ 9.56720923e-01 2.90789966e-01 1.12370161e-02 1.95605475e+02] [-1.16109754e-02 -4.39473394e-04 9.99932494e-01 -5.26299435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.59999999999997 meters 0.022581113760618512 Centerline is valid? [True, True] Translation: X:259.26, Y:195.66, Z:-5.26 [[ 2.94361962e-01 -9.55689682e-01 2.87540066e-03 2.59262698e+02] [ 9.55627134e-01 2.94375624e-01 1.09440967e-02 1.95662500e+02] [-1.13056081e-02 -4.73714865e-04 9.99935977e-01 -5.26428171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.65999999999997 meters 0.026637587432945618 Centerline is valid? [True, True] Translation: X:259.27, Y:195.72, Z:-5.26 [[ 3.01757755e-01 -9.53380023e-01 2.96481388e-03 2.59271468e+02] [ 9.53313380e-01 3.01771763e-01 1.12872721e-02 1.95720930e+02] [-1.16557569e-02 -5.79625151e-04 9.99931901e-01 -5.26447056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.71999999999997 meters 0.02671686456684285 Centerline is valid? [True, True] Translation: X:259.29, Y:195.78, Z:-5.26 [[ 3.06791231e-01 -9.51771432e-01 3.20637660e-03 2.59286577e+02] [ 9.51693383e-01 3.06807201e-01 1.22084659e-02 1.95778900e+02] [-1.26034085e-02 -6.93962892e-04 9.99920333e-01 -5.26426404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78 meters 0.029133219600177552 Centerline is valid? [True, True] Translation: X:259.30, Y:195.84, Z:-5.26 [[ 3.11603103e-01 -9.50207033e-01 3.17804763e-03 2.59298156e+02] [ 9.50130261e-01 3.11618403e-01 1.21019743e-02 1.95837538e+02] [-1.24897192e-02 -7.51453500e-04 9.99921718e-01 -5.26417593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84 meters 0.029543749579678542 Centerline is valid? [True, True] Translation: X:259.31, Y:195.89, Z:-5.27 [[ 3.13731186e-01 -9.49506912e-01 3.06043270e-03 2.59312629e+02] [ 9.49435679e-01 3.13745215e-01 1.16546460e-02 1.95894741e+02] [-1.20263631e-02 -7.50741917e-04 9.99927399e-01 -5.26518396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.9 meters 0.03227645925232216 Centerline is valid? [True, True] Translation: X:259.32, Y:195.95, Z:-5.27 [[ 3.12560400e-01 -9.49892927e-01 3.06977853e-03 2.59323350e+02] [ 9.49821251e-01 3.12574601e-01 1.16923254e-02 1.95951536e+02] [-1.20659920e-02 -7.38817036e-04 9.99926930e-01 -5.26634984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96 meters 0.02614455683428221 Centerline is valid? [True, True] Translation: X:259.35, Y:196.01, Z:-5.27 [[ 3.09357070e-01 -9.50940863e-01 3.11097938e-03 2.59346994e+02] [ 9.50867239e-01 3.09371900e-01 1.18541768e-02 1.96007154e+02] [-1.22350708e-02 -7.09045048e-04 9.99924897e-01 -5.26688351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02 meters 0.0257806855893333 Centerline is valid? [True, True] Translation: X:259.36, Y:196.07, Z:-5.27 [[ 3.04725163e-01 -9.52435473e-01 3.04061243e-03 2.59361950e+02] [ 9.52365201e-01 3.04739671e-01 1.15868927e-02 1.96065781e+02] [-1.19623628e-02 -6.35044286e-04 9.99928247e-01 -5.26688535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08 meters 0.024702142020624616 Centerline is valid? [True, True] Translation: X:259.38, Y:196.12, Z:-5.27 [[ 2.96214828e-01 -9.55116222e-01 3.12694765e-03 2.59376686e+02] [ 9.55042036e-01 2.96230833e-01 1.19164646e-02 1.96123210e+02] [-1.23079070e-02 -5.43467075e-04 9.99924107e-01 -5.26660089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14 meters 0.022042616414180455 Centerline is valid? [True, True] Translation: X:259.39, Y:196.18, Z:-5.27 [[ 2.90595567e-01 -9.56840628e-01 3.19818630e-03 2.59394788e+02] [ 9.56763101e-01 2.90612765e-01 1.21897348e-02 1.96180493e+02] [-1.25930673e-02 -4.82376261e-04 9.99920588e-01 -5.26778730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2 meters 0.02071329205127543 Centerline is valid? [True, True] Translation: X:259.41, Y:196.24, Z:-5.27 [[ 2.83374209e-01 -9.59003724e-01 3.30379055e-03 2.59411562e+02] [ 9.58921122e-01 2.83393184e-01 1.25930665e-02 1.96236758e+02] [-1.30130694e-02 -4.00475728e-04 9.99915246e-01 -5.26833076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26 meters 0.019690204358069698 Centerline is valid? [True, True] Translation: X:259.43, Y:196.29, Z:-5.27 [[ 2.79483491e-01 -9.60145120e-01 3.21360173e-03 2.59427399e+02] [ 9.60067014e-01 2.79501761e-01 1.22513138e-02 1.96293725e+02] [-1.26612465e-02 -3.38766936e-04 9.99919786e-01 -5.26913649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32 meters 0.01792800827565026 Centerline is valid? [True, True] Translation: X:259.45, Y:196.35, Z:-5.27 [[ 2.75047485e-01 -9.61425730e-01 3.07375364e-03 2.59446053e+02] [ 9.61354324e-01 2.75064528e-01 1.17204900e-02 1.96349850e+02] [-1.21138612e-02 -2.68724932e-04 9.99926588e-01 -5.27053603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38 meters 0.017341960977919284 Centerline is valid? [True, True] Translation: X:259.46, Y:196.41, Z:-5.27 [[ 2.71362874e-01 -9.62473520e-01 2.62949530e-03 2.59462952e+02] [ 9.62421322e-01 2.71375547e-01 1.00255475e-02 1.96406389e+02] [-1.03629047e-02 -1.89879027e-04 9.99946286e-01 -5.27311266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44 meters 0.01716546504198589 Centerline is valid? [True, True] Translation: X:259.48, Y:196.46, Z:-5.27 [[ 2.70873437e-01 -9.62611710e-01 2.50518508e-03 2.59477965e+02] [ 9.62564258e-01 2.70884963e-01 9.55958844e-03 1.96462507e+02] [-9.88078875e-03 -1.78036958e-04 9.99951168e-01 -5.27493979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5 meters 0.017011166471835554 Centerline is valid? [True, True] Translation: X:259.49, Y:196.52, Z:-5.27 [[ 2.70631710e-01 -9.62679474e-01 2.58982806e-03 2.59491967e+02] [ 9.62628642e-01 2.70644038e-01 9.89458063e-03 1.96518692e+02] [-1.02262312e-02 -1.84744609e-04 9.99947694e-01 -5.27453497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56 meters 0.016404393580128865 Centerline is valid? [True, True] Translation: X:259.51, Y:196.57, Z:-5.28 [[ 2.67295690e-01 -9.63611586e-01 2.39294819e-03 2.59508695e+02] [ 9.63568128e-01 2.67306365e-01 9.15256114e-03 1.96574712e+02] [-9.45916423e-03 -1.40671537e-04 9.99955251e-01 -5.27547411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62 meters 0.016312620920859795 Centerline is valid? [True, True] Translation: X:259.52, Y:196.63, Z:-5.28 [[ 2.63126108e-01 -9.64759671e-01 1.85137645e-03 2.59523948e+02] [ 9.64733631e-01 2.63132610e-01 7.08883627e-03 1.96630572e+02] [-7.32618087e-03 -7.91727784e-05 9.99973160e-01 -5.27844093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68 meters 0.016112540845115948 Centerline is valid? [True, True] Translation: X:259.54, Y:196.69, Z:-5.28 [[ 2.60736889e-01 -9.65407055e-01 2.34394744e-03 2.59538977e+02] [ 9.65365265e-01 2.60747412e-01 8.98284744e-03 1.96686235e+02] [-9.28328252e-03 -7.93942519e-05 9.99956906e-01 -5.27782335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74 meters 0.015910334564439913 Centerline is valid? [True, True] Translation: X:259.55, Y:196.74, Z:-5.28 [[ 2.59798162e-01 -9.65659366e-01 2.62761734e-03 2.59552732e+02] [ 9.65606850e-01 2.59811437e-01 1.00711482e-02 1.96742923e+02] [-1.04079837e-02 -7.92205003e-05 9.99945832e-01 -5.27607685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.8 meters 0.01564359078947237 Centerline is valid? [True, True] Translation: X:259.57, Y:196.80, Z:-5.28 [[ 2.57879368e-01 -9.66173877e-01 2.50428682e-03 2.59567096e+02] [ 9.66126118e-01 2.57891521e-01 9.60667242e-03 1.96798476e+02] [-9.92755027e-03 -5.79057176e-05 9.99950719e-01 -5.27589177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86 meters 0.015785399384413507 Centerline is valid? [True, True] Translation: X:259.58, Y:196.85, Z:-5.28 [[ 2.55844728e-01 -9.66714685e-01 2.48850595e-03 2.59581865e+02] [ 9.66667440e-01 2.55856827e-01 9.55746862e-03 1.96854847e+02] [-9.87604650e-03 -3.96702799e-05 9.99951230e-01 -5.27679158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.91999999999996 meters 0.015747262221193156 Centerline is valid? [True, True] Translation: X:259.60, Y:196.91, Z:-5.28 [[ 2.54192698e-01 -9.67150449e-01 2.46614637e-03 2.59597326e+02] [ 9.67103961e-01 2.54204659e-01 9.48260328e-03 1.96910942e+02] [-9.79800992e-03 -2.53885896e-05 9.99951998e-01 -5.27737922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.97999999999996 meters 0.015694284248496875 Centerline is valid? [True, True] Translation: X:259.61, Y:196.97, Z:-5.28 [[ 2.52883194e-01 -9.67493774e-01 2.42624459e-03 2.59611788e+02] [ 9.67448653e-01 2.52894833e-01 9.34381913e-03 1.96965600e+02] [-9.65367155e-03 -1.56277704e-05 9.99953402e-01 -5.27825187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.03999999999996 meters 0.015744318079250502 Centerline is valid? [True, True] Translation: X:259.63, Y:197.02, Z:-5.28 [[ 2.53268995e-01 -9.67393622e-01 2.09701309e-03 2.59625550e+02] [ 9.67359914e-01 2.53277675e-01 8.07569426e-03 1.97022414e+02] [-8.34350172e-03 -1.67565656e-05 9.99965192e-01 -5.27878579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.09999999999997 meters 0.01576369216143801 Centerline is valid? [True, True] Translation: X:259.64, Y:197.08, Z:-5.28 [[ 2.55455654e-01 -9.66818583e-01 2.05827979e-03 2.59639140e+02] [ 9.66786024e-01 2.55463943e-01 7.93456497e-03 1.97080018e+02] [-8.19710113e-03 -3.70133455e-05 9.99966403e-01 -5.27951591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.15999999999997 meters 0.01594921999708022 Centerline is valid? [True, True] Translation: X:259.65, Y:197.14, Z:-5.28 [[ 2.57783166e-01 -9.66200495e-01 2.10789622e-03 2.59653061e+02] [ 9.66166255e-01 2.57791777e-01 8.13437883e-03 1.97137446e+02] [-8.40283916e-03 -6.03277269e-05 9.99964694e-01 -5.27976675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.21999999999997 meters 0.016759078739437314 Centerline is valid? [True, True] Translation: X:259.66, Y:197.19, Z:-5.28 [[ 2.61780176e-01 -9.65125004e-01 2.20602131e-03 2.59664284e+02] [ 9.65087351e-01 2.61789451e-01 8.52578281e-03 1.97194292e+02] [-8.80595927e-03 -1.02877670e-04 9.99961222e-01 -5.28047330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28 meters 0.016739270714262906 Centerline is valid? [True, True] Translation: X:259.68, Y:197.25, Z:-5.28 [[ 2.63108180e-01 -9.64763758e-01 2.23089938e-03 2.59679316e+02] [ 9.64725221e-01 2.63117611e-01 8.62385535e-03 1.97250768e+02] [-8.90697201e-03 -1.16801984e-04 9.99960325e-01 -5.28037029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34 meters 0.017498128411131308 Centerline is valid? [True, True] Translation: X:259.69, Y:197.31, Z:-5.28 [[ 2.68062154e-01 -9.63399248e-01 2.13805203e-03 2.59692731e+02] [ 9.63363698e-01 2.68070633e-01 8.27777765e-03 1.97308400e+02] [-8.54795372e-03 -1.59237187e-04 9.99963453e-01 -5.28135819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.4 meters 0.019029301790495376 Centerline is valid? [True, True] Translation: X:259.70, Y:197.37, Z:-5.28 [[ 2.74057226e-01 -9.61711082e-01 2.10499269e-03 2.59702839e+02] [ 9.61676549e-01 2.74065229e-01 8.15257515e-03 1.97366192e+02] [-8.41732718e-03 -2.09950025e-04 9.99964552e-01 -5.28238292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46 meters 0.019179359559419212 Centerline is valid? [True, True] Translation: X:259.72, Y:197.42, Z:-5.28 [[ 2.77570643e-01 -9.60702758e-01 2.17929288e-03 2.59716492e+02] [ 9.60665696e-01 2.77579086e-01 8.44227374e-03 1.97423637e+02] [-8.71544179e-03 -2.49755441e-04 9.99961989e-01 -5.28237055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52 meters 0.019771634472983666 Centerline is valid? [True, True] Translation: X:259.73, Y:197.48, Z:-5.28 [[ 2.76985178e-01 -9.60871868e-01 2.11319575e-03 2.59729597e+02] [ 9.60837018e-01 2.76993137e-01 8.18704970e-03 1.97479514e+02] [-8.45204645e-03 -2.37254713e-04 9.99964253e-01 -5.28360579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58 meters 0.019162676680177928 Centerline is valid? [True, True] Translation: X:259.75, Y:197.54, Z:-5.29 [[ 2.74004201e-01 -9.61726769e-01 1.82178307e-03 2.59745450e+02] [ 9.61700905e-01 2.74010198e-01 7.05556964e-03 1.97536591e+02] [-7.28471734e-03 -1.81245295e-04 9.99973450e-01 -5.28545476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64 meters 0.018175445327051242 Centerline is valid? [True, True] Translation: X:259.76, Y:197.59, Z:-5.29 [[ 2.67887325e-01 -9.63448119e-01 2.02548806e-03 2.59762994e+02] [ 9.63416082e-01 2.67894938e-01 7.85845443e-03 1.97592634e+02] [-8.11383113e-03 -1.53792572e-04 9.99967071e-01 -5.28749605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7 meters 0.017411531972727958 Centerline is valid? [True, True] Translation: X:259.78, Y:197.65, Z:-5.29 [[ 2.63853090e-01 -9.64560007e-01 2.35358552e-03 2.59778578e+02] [ 9.64516777e-01 2.63863550e-01 9.13308516e-03 1.97648962e+02] [-9.43043412e-03 -1.39720017e-04 9.99955523e-01 -5.28698323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76 meters 0.016056478655835316 Centerline is valid? [True, True] Translation: X:259.80, Y:197.70, Z:-5.29 [[ 2.57384150e-01 -9.66306224e-01 2.38345240e-03 2.59796205e+02] [ 9.66261976e-01 2.57395174e-01 9.24760890e-03 1.97704663e+02] [-9.54951119e-03 -7.71485341e-05 9.99954399e-01 -5.28681332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82 meters 0.015696870983150556 Centerline is valid? [True, True] Translation: X:259.81, Y:197.76, Z:-5.29 [[ 2.51837327e-01 -9.67766331e-01 2.50793007e-03 2.59812838e+02] [ 9.67717269e-01 2.51849813e-01 9.74466191e-03 1.97760042e+02] [-1.00621774e-02 -2.71023687e-05 9.99949375e-01 -5.28823341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88 meters 0.015887767383476057 Centerline is valid? [True, True] Translation: X:259.83, Y:197.82, Z:-5.29 [[ 2.41027548e-01 -9.70515103e-01 2.48124455e-03 2.59834785e+02] [ 9.70467218e-01 2.41040305e-01 9.64107741e-03 1.97815021e+02] [-9.95489118e-03 8.42012458e-05 9.99950445e-01 -5.28998963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94 meters 0.01659449986860807 Centerline is valid? [True, True] Translation: X:259.85, Y:197.87, Z:-5.29 [[ 2.34558695e-01 -9.72098767e-01 2.49129283e-03 2.59852421e+02] [ 9.72050479e-01 2.34571877e-01 9.69024452e-03 1.97871422e+02] [-1.00042620e-02 1.48731286e-04 9.99949945e-01 -5.29033821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0 meters 0.017910559385014513 Centerline is valid? [True, True] Translation: X:259.87, Y:197.93, Z:-5.29 [[ 2.28853674e-01 -9.73457671e-01 2.48152861e-03 2.59868167e+02] [ 9.73409702e-01 2.28867037e-01 9.66601540e-03 1.97927593e+02] [-9.97739694e-03 2.03440888e-04 9.99950204e-01 -5.29051169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06 meters 0.01897412302465518 Centerline is valid? [True, True] Translation: X:259.89, Y:197.98, Z:-5.29 [[ 2.24655920e-01 -9.74434541e-01 2.65370033e-03 2.59888930e+02] [ 9.74379741e-01 2.24671439e-01 1.03375399e-02 1.97983773e+02] [-1.06694667e-02 2.63322288e-04 9.99943045e-01 -5.29289121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12 meters 0.01957922757168189 Centerline is valid? [True, True] Translation: X:259.90, Y:198.04, Z:-5.29 [[ 2.23492543e-01 -9.74702560e-01 2.45025788e-03 2.59904649e+02] [ 9.74655790e-01 2.23505831e-01 9.55167228e-03 1.98040193e+02] [-9.85768635e-03 2.53430503e-04 9.99951380e-01 -5.29452810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18 meters 0.019860520612770483 Centerline is valid? [True, True] Translation: X:259.92, Y:198.10, Z:-5.30 [[ 2.24302644e-01 -9.74516741e-01 2.33337188e-03 2.59918743e+02] [ 9.74474212e-01 2.24314661e-01 9.10724893e-03 1.98096044e+02] [-9.39857607e-03 2.31030714e-04 9.99955806e-01 -5.29570301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24 meters 0.018565011263345182 Centerline is valid? [True, True] Translation: X:259.93, Y:198.15, Z:-5.30 [[ 2.26225298e-01 -9.74071196e-01 2.72407956e-03 2.59930830e+02] [ 9.74013145e-01 2.26241563e-01 1.06371590e-02 1.98153805e+02] [-1.09776502e-02 2.46894836e-04 9.99939713e-01 -5.29561117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.3 meters 0.018517346700209204 Centerline is valid? [True, True] Translation: X:259.95, Y:198.21, Z:-5.30 [[ 2.26359962e-01 -9.74038835e-01 3.08487984e-03 2.59945023e+02] [ 9.73964204e-01 2.26380815e-01 1.20604929e-02 1.98211248e+02] [-1.24457460e-02 2.74549835e-04 9.99922511e-01 -5.29521763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36 meters 0.019550397351685834 Centerline is valid? [True, True] Translation: X:259.96, Y:198.27, Z:-5.30 [[ 2.22409614e-01 -9.74949747e-01 2.63697379e-03 2.59962738e+02] [ 9.74895147e-01 2.22425076e-01 1.03217251e-02 1.98268565e+02] [-1.06496924e-02 2.75122040e-04 9.99943253e-01 -5.29741423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.41999999999996 meters 0.02010884495530199 Centerline is valid? [True, True] Translation: X:259.98, Y:198.33, Z:-5.30 [[ 2.19315958e-01 -9.75651035e-01 2.35978904e-03 2.59978761e+02] [ 9.75607385e-01 2.19328478e-01 9.23307683e-03 1.98325069e+02] [-9.52582990e-03 2.77266526e-04 9.99954590e-01 -5.29881225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.47999999999996 meters 0.02153320721542382 Centerline is valid? [True, True] Translation: X:260.00, Y:198.38, Z:-5.30 [[ 2.15325171e-01 -9.76539618e-01 2.33353410e-03 2.59997234e+02] [ 9.76496853e-01 2.15337592e-01 9.14426239e-03 1.98381371e+02] [-9.43223211e-03 3.09698845e-04 9.99955468e-01 -5.29995748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.53999999999996 meters 0.023350389233242997 Centerline is valid? [True, True] Translation: X:260.02, Y:198.44, Z:-5.30 [[ 2.11286709e-01 -9.77421190e-01 2.39646270e-03 2.60017250e+02] [ 9.77376127e-01 2.11299997e-01 9.39244312e-03 1.98437676e+02] [-9.68674550e-03 3.57747031e-04 9.99953018e-01 -5.30116595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.59999999999997 meters 0.023713228018405322 Centerline is valid? [True, True] Translation: X:260.03, Y:198.50, Z:-5.30 [[ 2.08552386e-01 -9.78007684e-01 2.62169324e-03 2.60033554e+02] [ 9.77953780e-01 2.08568440e-01 1.02767065e-02 1.98495256e+02] [-1.05975004e-02 4.20663150e-04 9.99943756e-01 -5.30100498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.65999999999997 meters 0.024806416697069785 Centerline is valid? [True, True] Translation: X:260.05, Y:198.55, Z:-5.30 [[ 2.08581609e-01 -9.78000866e-01 2.83181325e-03 2.60048426e+02] [ 9.77937826e-01 2.08600343e-01 1.11133338e-02 1.98551285e+02] [-1.14595673e-02 4.51300241e-04 9.99934235e-01 -5.29986079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.71999999999997 meters 0.02301684966378041 Centerline is valid? [True, True] Translation: X:260.06, Y:198.61, Z:-5.30 [[ 2.11812371e-01 -9.77306675e-01 2.67993940e-03 2.60059013e+02] [ 9.77250147e-01 2.11828963e-01 1.05186286e-02 1.98609844e+02] [-1.08476147e-02 3.90995513e-04 9.99941086e-01 -5.30027414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78 meters 0.02092861590606932 Centerline is valid? [True, True] Translation: X:260.07, Y:198.67, Z:-5.30 [[ 2.16973824e-01 -9.76173940e-01 2.60754301e-03 2.60069446e+02] [ 9.76120212e-01 2.16989253e-01 1.02467275e-02 1.98668382e+02] [-1.05683972e-02 3.22003785e-04 9.99944101e-01 -5.30216043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84 meters 0.019030361143325094 Centerline is valid? [True, True] Translation: X:260.08, Y:198.73, Z:-5.30 [[ 2.24311684e-01 -9.74513509e-01 2.77297946e-03 2.60080284e+02] [ 9.74452617e-01 2.24328675e-01 1.08968921e-02 1.98727154e+02] [-1.12412274e-02 2.57836876e-04 9.99936782e-01 -5.30334343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.9 meters 0.01754410081680057 Centerline is valid? [True, True] Translation: X:260.09, Y:198.79, Z:-5.30 [[ 2.31402794e-01 -9.72852689e-01 3.22359113e-03 2.60091387e+02] [ 9.72770068e-01 2.31425159e-01 1.26803449e-02 1.98786187e+02] [-1.30821277e-02 2.01545719e-04 9.99914405e-01 -5.30239646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96 meters 0.016909402612725163 Centerline is valid? [True, True] Translation: X:260.10, Y:198.84, Z:-5.30 [[ 2.46324375e-01 -9.69181044e-01 3.52225309e-03 2.60098733e+02] [ 9.69081822e-01 2.46349557e-01 1.38678907e-02 1.98844547e+02] [-1.43082023e-02 -2.64806246e-06 9.99897632e-01 -5.29972575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02 meters 0.017669743755639112 Centerline is valid? [True, True] Translation: X:260.11, Y:198.90, Z:-5.30 [[ 2.53496586e-01 -9.67330548e-01 3.33044931e-03 2.60113136e+02] [ 9.67241632e-01 2.53518442e-01 1.31158464e-02 1.98900989e+02] [-1.35316892e-02 -1.03473073e-04 9.99908437e-01 -5.30373473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08 meters 0.018755786367591246 Centerline is valid? [True, True] Translation: X:260.13, Y:198.96, Z:-5.31 [[ 2.62222273e-01 -9.65002582e-01 3.08147037e-03 2.60126244e+02] [ 9.64926246e-01 2.62240295e-01 1.21395404e-02 1.98958710e+02] [-1.25227736e-02 -2.09866258e-04 9.99921565e-01 -5.30521268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14 meters 0.021204176523928798 Centerline is valid? [True, True] Translation: X:260.14, Y:199.02, Z:-5.31 [[ 2.72142286e-01 -9.62252876e-01 2.82467690e-03 2.60135487e+02] [ 9.62188553e-01 2.72156767e-01 1.11302556e-02 1.99016750e+02] [-1.14788754e-02 -3.11141428e-04 9.99934067e-01 -5.30664435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2 meters 0.023211972913541757 Centerline is valid? [True, True] Translation: X:260.15, Y:199.08, Z:-5.31 [[ 2.83958209e-01 -9.58832940e-01 2.66997126e-03 2.60146877e+02] [ 9.58775290e-01 2.83970439e-01 1.05229664e-02 1.99075967e+02] [-1.08479597e-02 -4.28180232e-04 9.99941067e-01 -5.30862863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26 meters 0.026525575486196988 Centerline is valid? [True, True] Translation: X:260.16, Y:199.14, Z:-5.31 [[ 2.96047253e-01 -9.55169478e-01 2.70039207e-03 2.60156278e+02] [ 9.55110346e-01 2.96059016e-01 1.06435928e-02 1.99135215e+02] [-1.09659104e-02 -5.71834010e-04 9.99939709e-01 -5.30993777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32 meters 0.030023139193491238 Centerline is valid? [True, True] Translation: X:260.16, Y:199.20, Z:-5.31 [[ 3.10824771e-01 -9.50462065e-01 3.13448284e-03 2.60163073e+02] [ 9.50382143e-01 3.10839381e-01 1.23555903e-02 1.99196271e+02] [-1.27178405e-02 -8.61466998e-04 9.99918754e-01 -5.30771543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38 meters 0.032745680911955045 Centerline is valid? [True, True] Translation: X:260.17, Y:199.26, Z:-5.31 [[ 3.17404392e-01 -9.48284915e-01 3.18929132e-03 2.60172828e+02] [ 9.48202067e-01 3.17418944e-01 1.25719481e-02 1.99255722e+02] [-1.29341303e-02 -9.66298928e-04 9.99915884e-01 -5.30674012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44 meters 0.036713139899602044 Centerline is valid? [True, True] Translation: X:260.19, Y:199.31, Z:-5.31 [[ 3.23493964e-01 -9.46226221e-01 2.75581080e-03 2.60185226e+02] [ 9.46164290e-01 3.23504431e-01 1.08636822e-02 1.99313531e+02] [-1.11710179e-02 -9.06885833e-04 9.99937191e-01 -5.30986196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5 meters 0.0397752904796237 Centerline is valid? [True, True] Translation: X:260.20, Y:199.37, Z:-5.31 [[ 3.25967767e-01 -9.45377674e-01 2.46331929e-03 2.60198148e+02] [ 9.45328169e-01 3.25976000e-01 9.71081677e-03 1.99370958e+02] [-9.98337234e-03 -8.36768141e-04 9.99949815e-01 -5.31084627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56 meters 0.03717773559853216 Centerline is valid? [True, True] Translation: X:260.22, Y:199.43, Z:-5.31 [[ 3.26170016e-01 -9.45308113e-01 2.38578322e-03 2.60219879e+02] [ 9.45261706e-01 3.26177732e-01 9.40188057e-03 1.99426148e+02] [-9.66586334e-03 -8.11422019e-04 9.99952955e-01 -5.30887218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62 meters 0.03366079552279049 Centerline is valid? [True, True] Translation: X:260.24, Y:199.48, Z:-5.31 [[ 3.24734609e-01 -9.45802288e-01 2.33792803e-03 2.60243155e+02] [ 9.45757604e-01 3.24742076e-01 9.22705744e-03 1.99481558e+02] [-9.48619564e-03 -7.85231675e-04 9.99954697e-01 -5.30899993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68 meters 0.03313624070875304 Centerline is valid? [True, True] Translation: X:260.26, Y:199.54, Z:-5.31 [[ 3.22233148e-01 -9.46658222e-01 2.00208288e-03 2.60262302e+02] [ 9.46625458e-01 3.22238709e-01 7.90295143e-03 1.99538615e+02] [-8.12654255e-03 -6.51370291e-04 9.99966767e-01 -5.31026074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74 meters 0.03134006941186243 Centerline is valid? [True, True] Translation: X:260.28, Y:199.60, Z:-5.31 [[ 3.18133107e-01 -9.48044296e-01 1.82726558e-03 2.60283491e+02] [ 9.48017020e-01 3.18137858e-01 7.21343764e-03 1.99595302e+02] [-7.41998076e-03 -5.62554456e-04 9.99972313e-01 -5.31025934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.8 meters 0.031267140088429346 Centerline is valid? [True, True] Translation: X:260.30, Y:199.65, Z:-5.31 [[ 3.14993845e-01 -9.49092069e-01 1.76703579e-03 2.60301060e+02] [ 9.49066573e-01 3.14998371e-01 6.97611541e-03 1.99653117e+02] [-7.17758920e-03 -5.20398816e-04 9.99974105e-01 -5.31091659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86 meters 0.03167381823552132 Centerline is valid? [True, True] Translation: X:260.32, Y:199.71, Z:-5.31 [[ 3.12496519e-01 -9.49917546e-01 1.60702087e-03 2.60317982e+02] [ 9.49896473e-01 3.12500318e-01 6.34361691e-03 1.99711094e+02] [-6.52810754e-03 -4.55854745e-04 9.99978588e-01 -5.31245031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.91999999999996 meters 0.031491245344806365 Centerline is valid? [True, True] Translation: X:260.34, Y:199.77, Z:-5.31 [[ 3.09823117e-01 -9.50793434e-01 1.21727265e-03 2.60335060e+02] [ 9.50781344e-01 3.09825331e-01 4.80633310e-03 1.99768835e+02] [-4.94697185e-03 -3.31752970e-04 9.99987709e-01 -5.31298538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.97999999999996 meters 0.02974608710171206 Centerline is valid? [True, True] Translation: X:260.35, Y:199.83, Z:-5.31 [[ 3.06290088e-01 -9.51937345e-01 1.29320997e-03 2.60353688e+02] [ 9.51923706e-01 3.06292637e-01 5.10666967e-03 1.99826011e+02] [-5.25733026e-03 -3.33085072e-04 9.99986125e-01 -5.31333999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.03999999999996 meters 0.027604225024418252 Centerline is valid? [True, True] Translation: X:260.37, Y:199.88, Z:-5.31 [[ 3.00858945e-01 -9.53667559e-01 1.44279203e-03 2.60372764e+02] [ 9.53650604e-01 3.00862215e-01 5.69684679e-03 1.99883507e+02] [-5.86697958e-03 -3.38027827e-04 9.99982732e-01 -5.31361438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.09999999999997 meters 0.026990348477604835 Centerline is valid? [True, True] Translation: X:260.39, Y:199.94, Z:-5.31 [[ 2.96305312e-01 -9.55091734e-01 1.71523313e-03 2.60386404e+02] [ 9.55067779e-01 2.96310046e-01 6.77446893e-03 1.99941572e+02] [-6.97848008e-03 -3.69147231e-04 9.99975582e-01 -5.31479203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.15999999999997 meters 0.02744713346549149 Centerline is valid? [True, True] Translation: X:260.40, Y:200.00, Z:-5.32 [[ 2.93980141e-01 -9.55809728e-01 1.85496242e-03 2.60397288e+02] [ 9.55781715e-01 2.93985746e-01 7.32769432e-03 1.99999770e+02] [-7.54921402e-03 -3.81257446e-04 9.99971432e-01 -5.31587563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.21999999999997 meters 0.026951821649497783 Centerline is valid? [True, True] Translation: X:260.41, Y:200.06, Z:-5.32 [[ 2.91290705e-01 -9.56633188e-01 1.63372279e-03 2.60410140e+02] [ 9.56611466e-01 2.91295113e-01 6.45442238e-03 2.00058235e+02] [-6.65041012e-03 -3.17275293e-04 9.99977835e-01 -5.31762341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28 meters 0.023333223058317257 Centerline is valid? [True, True] Translation: X:260.42, Y:200.12, Z:-5.32 [[ 2.86221403e-01 -9.58162100e-01 1.64285586e-03 2.60424750e+02] [ 9.58140152e-01 2.86225977e-01 6.49144192e-03 2.00116038e+02] [-6.69008164e-03 -2.83903446e-04 9.99977581e-01 -5.31853724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34 meters 0.022133532846911254 Centerline is valid? [True, True] Translation: X:260.44, Y:200.17, Z:-5.32 [[ 2.82996576e-01 -9.59119334e-01 1.74382443e-03 2.60436089e+02] [ 9.59094616e-01 2.83001812e-01 6.89146281e-03 2.00174793e+02] [-7.10324070e-03 -2.77767751e-04 9.99974733e-01 -5.31936661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.4 meters 0.021499819668127668 Centerline is valid? [True, True] Translation: X:260.44, Y:200.23, Z:-5.32 [[ 2.78533742e-01 -9.60424601e-01 1.88149963e-03 2.60443405e+02] [ 9.60395840e-01 2.78539971e-01 7.43736789e-03 2.00234588e+02] [-7.66710394e-03 -2.64573492e-04 9.99970572e-01 -5.32069019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46 meters 0.021248851021236397 Centerline is valid? [True, True] Translation: X:260.45, Y:200.29, Z:-5.32 [[ 2.75487898e-01 -9.61302517e-01 1.97177922e-03 2.60451731e+02] [ 9.61270963e-01 2.75494840e-01 7.79288283e-03 2.00291905e+02] [-8.03453289e-03 -2.51430808e-04 9.99967691e-01 -5.32213357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52 meters 0.019145909633370452 Centerline is valid? [True, True] Translation: X:260.46, Y:200.35, Z:-5.32 [[ 2.71512179e-01 -9.62432813e-01 2.05374462e-03 2.60463704e+02] [ 9.62398573e-01 2.71519850e-01 8.12139224e-03 2.00350585e+02] [-8.37392681e-03 -2.28536013e-04 9.99964912e-01 -5.32359062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58 meters 0.016046575743335484 Centerline is valid? [True, True] Translation: X:260.48, Y:200.41, Z:-5.32 [[ 2.54464862e-01 -9.67078654e-01 2.55169991e-03 2.60484876e+02] [ 9.67025997e-01 2.54477636e-01 1.00922484e-02 2.00407399e+02] [-1.04093486e-02 -1.00562454e-04 9.99945816e-01 -5.32409981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64 meters 0.015375596895235077 Centerline is valid? [True, True] Translation: X:260.50, Y:200.46, Z:-5.33 [[ 2.43599640e-01 -9.69873044e-01 2.34375983e-03 2.60503691e+02] [ 9.69828770e-01 2.43610914e-01 9.26713925e-03 2.00462752e+02] [-9.55891403e-03 1.55739267e-05 9.99954312e-01 -5.32589348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7 meters 0.01630493766197812 Centerline is valid? [True, True] Translation: X:260.53, Y:200.52, Z:-5.33 [[ 2.30416715e-01 -9.73088871e-01 2.48727807e-03 2.60525503e+02] [ 9.73039026e-01 2.30430090e-01 9.85022300e-03 2.00518765e+02] [-1.01582861e-02 1.50562605e-04 9.99948392e-01 -5.32795846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76 meters 0.017350259272939168 Centerline is valid? [True, True] Translation: X:260.54, Y:200.58, Z:-5.33 [[ 2.24355438e-01 -9.74505227e-01 2.04956566e-03 2.60544450e+02] [ 9.74471432e-01 2.24364730e-01 8.11762676e-03 2.00575469e+02] [-8.37051995e-03 1.76009480e-04 9.99964951e-01 -5.32987641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82 meters 0.01730237550284069 Centerline is valid? [True, True] Translation: X:260.56, Y:200.63, Z:-5.33 [[ 2.24651503e-01 -9.74437337e-01 1.89144793e-03 2.60558908e+02] [ 9.74408604e-01 2.24659407e-01 7.48492111e-03 2.00631788e+02] [-7.71851817e-03 1.61544358e-04 9.99970199e-01 -5.33177164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88 meters 0.016690189832942397 Centerline is valid? [True, True] Translation: X:260.57, Y:200.69, Z:-5.33 [[ 2.27087520e-01 -9.73871604e-01 2.31473159e-03 2.60571189e+02] [ 9.73828392e-01 2.27099253e-01 9.17559933e-03 2.00689515e+02] [-9.46152945e-03 1.70487248e-04 9.99955224e-01 -5.33129257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94 meters 0.015936405397401484 Centerline is valid? [True, True] Translation: X:260.58, Y:200.75, Z:-5.33 [[ 2.29301419e-01 -9.73352279e-01 2.48998029e-03 2.60583916e+02] [ 9.73302129e-01 2.29314884e-01 9.88178514e-03 2.00746789e+02] [-1.01894476e-02 1.57595759e-04 9.99948074e-01 -5.33145004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0 meters 0.015330320642038693 Centerline is valid? [True, True] Translation: X:260.60, Y:200.80, Z:-5.33 [[ 2.31008729e-01 -9.72948685e-01 2.41325536e-03 2.60597427e+02] [ 9.72901462e-01 2.31021295e-01 9.58673806e-03 2.00804081e+02] [-9.88491756e-03 1.33239498e-04 9.99951134e-01 -5.33389285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06 meters 0.015004646388790724 Centerline is valid? [True, True] Translation: X:260.61, Y:200.86, Z:-5.34 [[ 2.32981099e-01 -9.72478983e-01 2.10595503e-03 2.60611917e+02] [ 9.72442942e-01 2.32990596e-01 8.37297807e-03 2.00861282e+02] [-8.63321291e-03 9.71754799e-05 9.99962728e-01 -5.33552221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12 meters 0.01459398235203728 Centerline is valid? [True, True] Translation: X:260.62, Y:200.92, Z:-5.34 [[ 2.34836740e-01 -9.72032351e-01 2.19408266e-03 2.60624000e+02] [ 9.71993121e-01 2.34846975e-01 8.73331444e-03 2.00918940e+02] [-9.00433785e-03 8.17301611e-05 9.99959457e-01 -5.33556590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18 meters 0.015449448351644737 Centerline is valid? [True, True] Translation: X:260.64, Y:200.97, Z:-5.34 [[ 2.38883577e-01 -9.71046165e-01 1.99560314e-03 2.60638545e+02] [ 9.71013581e-01 2.38891910e-01 7.95496839e-03 2.00974699e+02] [-8.20137499e-03 3.74464473e-05 9.99966367e-01 -5.34025332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24 meters 0.014055677115343872 Centerline is valid? [True, True] Translation: X:260.65, Y:201.03, Z:-5.34 [[ 2.39282587e-01 -9.70946049e-01 2.75922465e-03 2.60649378e+02] [ 9.70883707e-01 2.39298491e-01 1.10027136e-02 2.01032955e+02] [-1.13433196e-02 4.61284754e-05 9.99935661e-01 -5.33685584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.3 meters 0.014202139468521986 Centerline is valid? [True, True] Translation: X:260.66, Y:201.09, Z:-5.34 [[ 2.40047117e-01 -9.70756126e-01 3.15038976e-03 2.60662816e+02] [ 9.70674641e-01 2.40067786e-01 1.25777775e-02 2.01088742e+02] [-1.29662617e-02 3.87442164e-05 9.99915934e-01 -5.33648101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36 meters 0.014279117103075918 Centerline is valid? [True, True] Translation: X:260.68, Y:201.14, Z:-5.34 [[ 2.38959894e-01 -9.71024654e-01 3.04807901e-03 2.60676965e+02] [ 9.70948193e-01 2.38979329e-01 1.21855125e-02 2.01144599e+02] [-1.25608610e-02 4.76780163e-05 9.99921108e-01 -5.33726553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.41999999999996 meters 0.014440532558266325 Centerline is valid? [True, True] Translation: X:260.69, Y:201.20, Z:-5.34 [[ 2.36211269e-01 -9.71697640e-01 2.81644474e-03 2.60694426e+02] [ 9.71632362e-01 2.36228047e-01 1.12633216e-02 2.01199974e+02] [-1.16098662e-02 7.60253693e-05 9.99932600e-01 -5.34023507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.47999999999996 meters 0.014539591249131654 Centerline is valid? [True, True] Translation: X:260.71, Y:201.26, Z:-5.34 [[ 2.35129000e-01 -9.71960307e-01 2.74143654e-03 2.60708719e+02] [ 9.71898468e-01 2.35144965e-01 1.09642132e-02 2.01256434e+02] [-1.13014150e-02 8.63934915e-05 9.99936133e-01 -5.34166629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.53999999999996 meters 0.014696210322701466 Centerline is valid? [True, True] Translation: X:260.72, Y:201.31, Z:-5.34 [[ 2.33990501e-01 -9.72235499e-01 2.56512313e-03 2.60722394e+02] [ 9.72181222e-01 2.34004544e-01 1.02735653e-02 2.01312110e+02] [-1.05885754e-02 8.98478450e-05 9.99943935e-01 -5.34272321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.59999999999997 meters 0.014452078514454762 Centerline is valid? [True, True] Translation: X:260.74, Y:201.37, Z:-5.34 [[ 2.33893070e-01 -9.72258969e-01 2.55529232e-03 2.60735136e+02] [ 9.72205109e-01 2.33907011e-01 1.02340800e-02 2.01368074e+02] [-1.05478769e-02 9.05878487e-05 9.99944366e-01 -5.34380108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.65999999999997 meters 0.014566947267938026 Centerline is valid? [True, True] Translation: X:260.75, Y:201.42, Z:-5.35 [[ 2.34124363e-01 -9.72202508e-01 2.84009996e-03 2.60750029e+02] [ 9.72135749e-01 2.34141570e-01 1.13934768e-02 2.01424280e+02] [-1.17417522e-02 9.34722040e-05 9.99931059e-01 -5.34503395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.71999999999997 meters 0.014424587419685378 Centerline is valid? [True, True] Translation: X:260.76, Y:201.48, Z:-5.35 [[ 2.34754161e-01 -9.72050308e-01 2.94646534e-03 2.60763010e+02] [ 9.71978415e-01 2.34772635e-01 1.18224402e-02 2.01480351e+02] [-1.21837561e-02 8.85336912e-05 9.99925771e-01 -5.34530922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78 meters 0.014436209161530385 Centerline is valid? [True, True] Translation: X:260.78, Y:201.54, Z:-5.35 [[ 2.38569957e-01 -9.71121194e-01 2.82868249e-03 2.60775626e+02] [ 9.71054680e-01 2.38586724e-01 1.13659099e-02 2.01537111e+02] [-1.17125621e-02 3.52407340e-05 9.99931405e-01 -5.34762601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84 meters 0.014235843451114505 Centerline is valid? [True, True] Translation: X:260.79, Y:201.59, Z:-5.35 [[ 2.40879591e-01 -9.70551049e-01 2.77216029e-03 2.60789345e+02] [ 9.70487115e-01 2.40895542e-01 1.11399289e-02 2.01593524e+02] [-1.14796707e-02 6.96431799e-06 9.99934106e-01 -5.34896751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.9 meters 0.014403432564452536 Centerline is valid? [True, True] Translation: X:260.80, Y:201.65, Z:-5.35 [[ 2.45989817e-01 -9.69269348e-01 2.43732107e-03 2.60801794e+02] [ 9.69219755e-01 2.46001886e-01 9.80501689e-03 2.01650820e+02] [-1.01032879e-02 -4.96345740e-05 9.99948959e-01 -5.35019356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96 meters 0.01514977389366871 Centerline is valid? [True, True] Translation: X:260.81, Y:201.71, Z:-5.35 [[ 2.51075007e-01 -9.67964916e-01 2.29398200e-03 2.60812113e+02] [ 9.67920842e-01 2.51085467e-01 9.23748939e-03 2.01708806e+02] [-9.51755118e-03 -9.89097209e-05 9.99954702e-01 -5.35064093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02 meters 0.016732598162932783 Centerline is valid? [True, True] Translation: X:260.82, Y:201.77, Z:-5.35 [[ 2.59690369e-01 -9.65687558e-01 2.90735432e-03 2.60821185e+02] [ 9.65616388e-01 2.59706535e-01 1.17263664e-02 2.01767229e+02] [-1.20790650e-02 -2.37835452e-04 9.99927017e-01 -5.34973185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08 meters 0.01832982241665809 Centerline is valid? [True, True] Translation: X:260.83, Y:201.82, Z:-5.35 [[ 2.64797864e-01 -9.64298054e-01 3.36961333e-03 2.60831897e+02] [ 9.64202267e-01 2.64819070e-01 1.35959098e-02 2.01824379e+02] [-1.40028472e-02 -3.51179048e-04 9.99901894e-01 -5.34994655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14 meters 0.01892478618405761 Centerline is valid? [True, True] Translation: X:260.85, Y:201.88, Z:-5.35 [[ 2.69126551e-01 -9.63098202e-01 3.57114214e-03 2.60845813e+02] [ 9.62990430e-01 2.69149883e-01 1.44143344e-02 2.01882404e+02] [-1.48435920e-02 -4.40304392e-04 9.99889731e-01 -5.35057114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2 meters 0.018089860282004204 Centerline is valid? [True, True] Translation: X:260.86, Y:201.94, Z:-5.35 [[ 2.69433489e-01 -9.63013467e-01 3.26460107e-03 2.60861984e+02] [ 9.62923377e-01 2.69452959e-01 1.31784855e-02 2.01938423e+02] [-1.35707155e-02 -4.07164656e-04 9.99907831e-01 -5.35200881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26 meters 0.017959568245440132 Centerline is valid? [True, True] Translation: X:260.88, Y:201.99, Z:-5.36 [[ 2.66785361e-01 -9.63751767e-01 2.84663305e-03 2.60879691e+02] [ 9.63683292e-01 2.66800352e-01 1.14928332e-02 2.01994592e+02] [-1.18357210e-02 -3.22866945e-04 9.99929903e-01 -5.35570312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32 meters 0.017872619565930524 Centerline is valid? [True, True] Translation: X:260.89, Y:202.05, Z:-5.36 [[ 2.65676632e-01 -9.64058161e-01 2.79086286e-03 2.60894753e+02] [ 9.63992222e-01 2.65691113e-01 1.12795136e-02 2.02051074e+02] [-1.16156146e-02 -3.06333078e-04 9.99932490e-01 -5.35728745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38 meters 0.017914692301975593 Centerline is valid? [True, True] Translation: X:260.91, Y:202.11, Z:-5.36 [[ 2.66151473e-01 -9.63925716e-01 3.25674998e-03 2.60909178e+02] [ 9.63835672e-01 2.66171142e-01 1.31803129e-02 2.02107563e+02] [-1.35716954e-02 -3.68987900e-04 9.99907832e-01 -5.35717521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44 meters 0.022060609644193516 Centerline is valid? [True, True] Translation: X:260.92, Y:202.17, Z:-5.36 [[ 2.66280419e-01 -9.63888962e-01 3.57872563e-03 2.60915396e+02] [ 9.63780137e-01 2.66304152e-01 1.44894982e-02 2.02165845e+02] [-1.49192969e-02 -4.09164982e-04 9.99888617e-01 -5.35667657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5 meters 0.018450082101696137 Centerline is valid? [True, True] Translation: X:260.94, Y:202.22, Z:-5.36 [[ 2.66745073e-01 -9.63759213e-01 3.90447714e-03 2.60935189e+02] [ 9.63629490e-01 2.66773255e-01 1.58188365e-02 2.02221135e+02] [-1.62871595e-02 -4.57127374e-04 9.99867251e-01 -5.35623653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56 meters 0.019227502884741104 Centerline is valid? [True, True] Translation: X:260.95, Y:202.28, Z:-5.36 [[ 2.67002176e-01 -9.63688273e-01 3.84066496e-03 2.60947266e+02] [ 9.63562496e-01 2.67029405e-01 1.55760670e-02 2.02277340e+02] [-1.60360436e-02 -4.58123078e-04 9.99871309e-01 -5.35831437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62 meters 0.019327425671595694 Centerline is valid? [True, True] Translation: X:260.96, Y:202.33, Z:-5.36 [[ 2.67799203e-01 -9.63468046e-01 3.59313220e-03 2.60961577e+02] [ 9.63357865e-01 2.67822941e-01 1.45772736e-02 2.02334291e+02] [-1.50070606e-02 -4.42310085e-04 9.99887290e-01 -5.36076710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68 meters 0.020082918947191452 Centerline is valid? [True, True] Translation: X:260.97, Y:202.39, Z:-5.36 [[ 2.70539581e-01 -9.62703031e-01 3.34805573e-03 2.60973484e+02] [ 9.62607109e-01 2.70559913e-01 1.35973356e-02 2.02392581e+02] [-1.39960459e-02 -4.55755228e-04 9.99901947e-01 -5.36283321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74 meters 0.021261763192792056 Centerline is valid? [True, True] Translation: X:260.98, Y:202.45, Z:-5.36 [[ 2.73511926e-01 -9.61862283e-01 3.48913360e-03 2.60983737e+02] [ 9.61758007e-01 2.73533685e-01 1.41725051e-02 2.02451043e+02] [-1.45863937e-02 -5.20646989e-04 9.99893477e-01 -5.36245698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.8 meters 0.022363350130224422 Centerline is valid? [True, True] Translation: X:261.00, Y:202.51, Z:-5.36 [[ 2.75026636e-01 -9.61428841e-01 3.86440858e-03 2.60995758e+02] [ 9.61300806e-01 2.75053122e-01 1.57015986e-02 2.02508911e+02] [-1.61588874e-02 -6.03498770e-04 9.99869255e-01 -5.36275660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86 meters 0.02123080701377023 Centerline is valid? [True, True] Translation: X:261.01, Y:202.56, Z:-5.36 [[ 2.74851100e-01 -9.61477627e-01 4.20071056e-03 2.61010161e+02] [ 9.61325999e-01 2.74882410e-01 1.70875521e-02 2.02564511e+02] [-1.75840005e-02 -6.58280199e-04 9.99845173e-01 -5.36277998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.91999999999996 meters 0.02072187960222794 Centerline is valid? [True, True] Translation: X:261.02, Y:202.62, Z:-5.36 [[ 2.73408898e-01 -9.61889076e-01 4.12070706e-03 2.61024164e+02] [ 9.61742870e-01 2.73439234e-01 1.67820265e-02 2.02621407e+02] [-1.72692109e-02 -6.25294734e-04 9.99850681e-01 -5.36387904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.97999999999996 meters 0.02035247667944595 Centerline is valid? [True, True] Translation: X:261.04, Y:202.68, Z:-5.37 [[ 2.72152532e-01 -9.62245462e-01 4.08304616e-03 2.61038797e+02] [ 9.62101652e-01 2.72182493e-01 1.66463490e-02 2.02678722e+02] [-1.71292075e-02 -6.02040570e-04 9.99853103e-01 -5.36530994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.03999999999996 meters 0.019911385856028817 Centerline is valid? [True, True] Translation: X:261.05, Y:202.74, Z:-5.37 [[ 2.66928245e-01 -9.63708073e-01 4.00770990e-03 2.61053957e+02] [ 9.63569433e-01 2.66957854e-01 1.63539718e-02 2.02736086e+02] [-1.68303443e-02 -5.03630232e-04 9.99858233e-01 -5.36810313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.09999999999997 meters 0.01864774187808614 Centerline is valid? [True, True] Translation: X:261.07, Y:202.79, Z:-5.37 [[ 2.62915030e-01 -9.64810540e-01 4.03838698e-03 2.61070204e+02] [ 9.64669848e-01 2.62945678e-01 1.64819669e-02 2.02792622e+02] [-1.69638518e-02 -4.37646670e-04 9.99856008e-01 -5.36990837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.15999999999997 meters 0.01743940131935191 Centerline is valid? [True, True] Translation: X:261.09, Y:202.85, Z:-5.37 [[ 2.57283821e-01 -9.66325224e-01 4.53843307e-03 2.61086254e+02] [ 9.66147649e-01 2.57323563e-01 1.85284527e-02 2.02849884e+02] [-1.90723570e-02 -3.82274675e-04 9.99818033e-01 -5.37053157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.21999999999997 meters 0.01685382810527524 Centerline is valid? [True, True] Translation: X:261.10, Y:202.91, Z:-5.37 [[ 2.52615169e-01 -9.67554595e-01 4.86633468e-03 2.61101471e+02] [ 9.67350486e-01 2.52661843e-01 1.98753666e-02 2.02906221e+02] [-2.04600394e-02 -3.13367888e-04 9.99790622e-01 -5.37172408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28 meters 0.016146637757343235 Centerline is valid? [True, True] Translation: X:261.12, Y:202.96, Z:-5.37 [[ 2.44412674e-01 -9.69659159e-01 4.85385998e-03 2.61117401e+02] [ 9.69456058e-01 2.44460823e-01 1.98458260e-02 2.02963276e+02] [-2.04302656e-02 -1.44967443e-04 9.99791270e-01 -5.37409011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34 meters 0.015881248082763637 Centerline is valid? [True, True] Translation: X:261.13, Y:203.02, Z:-5.38 [[ 2.39130284e-01 -9.70976213e-01 4.67985381e-03 2.61131641e+02] [ 9.70787283e-01 2.39176070e-01 1.91535574e-02 2.03019865e+02] [-1.97169577e-02 -3.70530525e-05 9.99805601e-01 -5.37578275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.4 meters 0.01614902452273664 Centerline is valid? [True, True] Translation: X:261.15, Y:203.08, Z:-5.38 [[ 2.30472786e-01 -9.73067224e-01 4.74056087e-03 2.61147918e+02] [ 9.72873360e-01 2.30521495e-01 1.94233253e-02 2.03076456e+02] [-1.99930024e-02 1.35417473e-04 9.99800111e-01 -5.37662442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46 meters 0.01689933482846276 Centerline is valid? [True, True] Translation: X:261.17, Y:203.13, Z:-5.38 [[ 2.23711234e-01 -9.74646113e-01 4.27063634e-03 2.61167654e+02] [ 9.74488743e-01 2.23751862e-01 1.75155694e-02 2.03131641e+02] [-1.80270445e-02 2.43257379e-04 9.99837470e-01 -5.38056010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52 meters 0.017297483970116507 Centerline is valid? [True, True] Translation: X:261.18, Y:203.19, Z:-5.38 [[ 2.21680874e-01 -9.75110806e-01 4.06284319e-03 2.61183960e+02] [ 9.74968181e-01 2.21717945e-01 1.66792931e-02 2.03187130e+02] [-1.71649641e-02 2.63662580e-04 9.99852636e-01 -5.38215085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58 meters 0.017203986327226438 Centerline is valid? [True, True] Translation: X:261.20, Y:203.24, Z:-5.38 [[ 2.20022123e-01 -9.75484794e-01 4.43648286e-03 2.61198521e+02] [ 9.75314615e-01 2.20066617e-01 1.82232404e-02 2.03243943e+02] [-1.87528157e-02 3.17450539e-04 9.99824100e-01 -5.38129953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64 meters 0.01749856355614936 Centerline is valid? [True, True] Translation: X:261.21, Y:203.30, Z:-5.38 [[ 2.19692416e-01 -9.75558361e-01 4.59640845e-03 2.61214023e+02] [ 9.75375353e-01 2.19740244e-01 1.88983052e-02 2.03299603e+02] [-1.94464156e-02 3.31409191e-04 9.99810846e-01 -5.38174444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7 meters 0.017438429866567913 Centerline is valid? [True, True] Translation: X:261.23, Y:203.36, Z:-5.39 [[ 2.18723788e-01 -9.75776521e-01 4.48159284e-03 2.61229039e+02] [ 9.75602406e-01 2.18769433e-01 1.84358343e-02 2.03356786e+02] [-1.89696897e-02 3.39897248e-04 9.99820001e-01 -5.38537735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76 meters 0.018199678417937827 Centerline is valid? [True, True] Translation: X:261.25, Y:203.41, Z:-5.39 [[ 2.15276063e-01 -9.76543457e-01 4.36968449e-03 2.61245630e+02] [ 9.76377729e-01 2.15320049e-01 1.79946572e-02 2.03413404e+02] [-1.85134454e-02 3.92643665e-04 9.99828534e-01 -5.38644798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82 meters 0.01954431755806007 Centerline is valid? [True, True] Translation: X:261.26, Y:203.47, Z:-5.39 [[ 2.10768063e-01 -9.77527172e-01 4.17753856e-03 2.61262442e+02] [ 9.77375579e-01 2.10808972e-01 1.72207714e-02 2.03470432e+02] [-1.77144346e-02 4.53435542e-04 9.99842984e-01 -5.38701687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88 meters 0.021766002176120895 Centerline is valid? [True, True] Translation: X:261.28, Y:203.53, Z:-5.39 [[ 2.06239060e-01 -9.78491971e-01 4.34893073e-03 2.61280860e+02] [ 9.78327613e-01 2.06284163e-01 1.79422697e-02 2.03525892e+02] [-1.84534824e-02 5.54282180e-04 9.99829566e-01 -5.38824030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94 meters 0.022594354371028403 Centerline is valid? [True, True] Translation: X:261.30, Y:203.58, Z:-5.39 [[ 2.05476632e-01 -9.78650140e-01 4.82259077e-03 2.61296668e+02] [ 9.78447886e-01 2.05532257e-01 1.99054399e-02 2.03580969e+02] [-2.04716595e-02 6.28550988e-04 9.99790236e-01 -5.38856851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0 meters 0.023345581210992603 Centerline is valid? [True, True] Translation: X:261.31, Y:203.64, Z:-5.39 [[ 2.05029803e-01 -9.78742174e-01 5.15146361e-03 2.61311292e+02] [ 9.78511121e-01 2.05093387e-01 2.12765061e-02 2.03637587e+02] [-2.18807450e-02 6.78446580e-04 9.99760358e-01 -5.38815218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06 meters 0.020619880208531116 Centerline is valid? [True, True] Translation: X:261.32, Y:203.70, Z:-5.39 [[ 2.05507478e-01 -9.78642049e-01 5.13974121e-03 2.61319682e+02] [ 9.78411531e-01 2.05570676e-01 2.12502708e-02 2.03696338e+02] [-2.18529886e-02 6.61692493e-04 9.99760976e-01 -5.39176104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12 meters 0.023748964425263676 Centerline is valid? [True, True] Translation: X:261.34, Y:203.75, Z:-5.39 [[ 2.06342223e-01 -9.78467928e-01 4.83739498e-03 2.61338458e+02] [ 9.78263331e-01 2.06398040e-01 2.00176089e-02 2.03751258e+02] [-2.05850172e-02 6.01768207e-04 9.99787925e-01 -5.39331331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18 meters 0.020427102831518384 Centerline is valid? [True, True] Translation: X:261.35, Y:203.81, Z:-5.40 [[ 2.06433753e-01 -9.78449330e-01 4.69202395e-03 2.61345913e+02] [ 9.78256626e-01 2.06486255e-01 1.94267952e-02 2.03810271e+02] [-1.99769732e-02 5.79657266e-04 9.99800272e-01 -5.39600102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24 meters 0.020935273894049537 Centerline is valid? [True, True] Translation: X:261.36, Y:203.87, Z:-5.40 [[ 2.04644682e-01 -9.78824412e-01 4.82946583e-03 2.61360092e+02] [ 9.78619894e-01 2.04700692e-01 2.00182547e-02 2.03867128e+02] [-2.05829514e-02 6.29581972e-04 9.99787950e-01 -5.39712625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.3 meters 0.021858052491312566 Centerline is valid? [True, True] Translation: X:261.38, Y:203.92, Z:-5.40 [[ 2.00540082e-01 -9.79671610e-01 5.21655365e-03 2.61375676e+02] [ 9.79432824e-01 2.00606445e-01 2.16425081e-02 2.03924426e+02] [-2.22490250e-02 7.69073521e-04 9.99752164e-01 -5.39702663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36 meters 0.022473596724792263 Centerline is valid? [True, True] Translation: X:261.39, Y:203.98, Z:-5.40 [[ 1.98325452e-01 -9.80121406e-01 5.38926009e-03 2.61390291e+02] [ 9.79866517e-01 1.98396863e-01 2.23672455e-02 2.03980949e+02] [-2.29918284e-02 8.44761445e-04 9.99735296e-01 -5.39722890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.41999999999996 meters 0.02237109475135356 Centerline is valid? [True, True] Translation: X:261.40, Y:204.04, Z:-5.40 [[ 1.99208843e-01 -9.79941991e-01 5.43424789e-03 2.61403327e+02] [ 9.79682426e-01 1.99281230e-01 2.25684428e-02 2.04038328e+02] [-2.31987084e-02 8.28003775e-04 9.99730531e-01 -5.39890897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.47999999999996 meters 0.020997173908306688 Centerline is valid? [True, True] Translation: X:261.41, Y:204.10, Z:-5.40 [[ 2.00027784e-01 -9.79774446e-01 5.56058514e-03 2.61414238e+02] [ 9.79501989e-01 2.00103370e-01 2.31191421e-02 2.04096026e+02] [-2.37642365e-02 8.22133439e-04 9.99717253e-01 -5.40007030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.53999999999996 meters 0.02183945686529405 Centerline is valid? [True, True] Translation: X:261.43, Y:204.15, Z:-5.40 [[ 2.00820298e-01 -9.79612444e-01 5.53790139e-03 2.61428845e+02] [ 9.79341675e-01 2.00895066e-01 2.30446567e-02 2.04151636e+02] [-2.36873695e-02 7.95662800e-04 9.99719098e-01 -5.40037850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.59999999999997 meters 0.02160999558586051 Centerline is valid? [True, True] Translation: X:261.44, Y:204.21, Z:-5.40 [[ 2.02098357e-01 -9.79349848e-01 5.48895066e-03 2.61441179e+02] [ 9.79083421e-01 2.02171472e-01 2.28550066e-02 2.04209639e+02] [-2.34927565e-02 7.55181302e-04 9.99723722e-01 -5.40103923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.65999999999997 meters 0.019868845948819918 Centerline is valid? [True, True] Translation: X:261.45, Y:204.27, Z:-5.40 [[ 2.05445441e-01 -9.78653216e-01 5.48204213e-03 2.61450755e+02] [ 9.78386803e-01 2.05517475e-01 2.28436225e-02 2.04267812e+02] [-2.34826401e-02 6.70439579e-04 9.99724020e-01 -5.40231572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.71999999999997 meters 0.0208470227399172 Centerline is valid? [True, True] Translation: X:261.47, Y:204.32, Z:-5.40 [[ 2.06583864e-01 -9.78413949e-01 5.40850678e-03 2.61466028e+02] [ 9.78154377e-01 2.06653682e-01 2.25448535e-02 2.04323709e+02] [-2.31758870e-02 6.32951617e-04 9.99731203e-01 -5.40342725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78 meters 0.020474612497296988 Centerline is valid? [True, True] Translation: X:261.48, Y:204.38, Z:-5.40 [[ 2.05026474e-01 -9.78743356e-01 5.05853141e-03 2.61479408e+02] [ 9.78516122e-01 2.05087918e-01 2.10984788e-02 2.04380426e+02] [-2.16874396e-02 6.24107832e-04 9.99764605e-01 -5.40408077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84 meters 0.021303663395846544 Centerline is valid? [True, True] Translation: X:261.50, Y:204.44, Z:-5.40 [[ 2.01674908e-01 -9.79441808e-01 4.57988185e-03 2.61495524e+02] [ 9.79255411e-01 2.01725923e-01 1.91178477e-02 2.04437457e+02] [-1.96487003e-02 6.29283902e-04 9.99806748e-01 -5.40343294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.9 meters 0.02123245375892485 Centerline is valid? [True, True] Translation: X:261.51, Y:204.49, Z:-5.40 [[ 2.00452844e-01 -9.79693395e-01 4.41683712e-03 2.61509016e+02] [ 9.79519950e-01 2.00500512e-01 1.84448647e-02 2.04494269e+02] [-1.89558903e-02 6.29054486e-04 9.99820123e-01 -5.40411802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96 meters 0.022152825216400236 Centerline is valid? [True, True] Translation: X:261.52, Y:204.55, Z:-5.40 [[ 1.98955044e-01 -9.79998900e-01 4.36414297e-03 2.61524414e+02] [ 9.79829261e-01 1.99001854e-01 1.82450463e-02 2.04551029e+02] [-1.87485978e-02 6.46170992e-04 9.99824021e-01 -5.40380853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02 meters 0.02266580477007423 Centerline is valid? [True, True] Translation: X:261.54, Y:204.61, Z:-5.40 [[ 1.97881097e-01 -9.80215200e-01 4.60803994e-03 2.61538452e+02] [ 9.80025683e-01 1.97933507e-01 1.92869720e-02 2.04608216e+02] [-1.98174687e-02 6.99470311e-04 9.99803370e-01 -5.40218130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08 meters 0.02394820382778365 Centerline is valid? [True, True] Translation: X:261.55, Y:204.66, Z:-5.40 [[ 1.96501870e-01 -9.80492654e-01 4.60121199e-03 2.61553024e+02] [ 9.80303417e-01 1.96554404e-01 1.92763393e-02 2.04664210e+02] [-1.98046975e-02 7.22747131e-04 9.99803607e-01 -5.40097291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14 meters 0.024712909590949534 Centerline is valid? [True, True] Translation: X:261.57, Y:204.72, Z:-5.40 [[ 1.94818777e-01 -9.80830368e-01 4.17531184e-03 2.61568064e+02] [ 9.80674473e-01 1.94862309e-01 1.75002668e-02 2.04720846e+02] [-1.79784040e-02 6.85241169e-04 9.99838141e-01 -5.40267863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2 meters 0.02654751206577156 Centerline is valid? [True, True] Translation: X:261.58, Y:204.78, Z:-5.41 [[ 1.93086247e-01 -9.81175422e-01 3.53457242e-03 2.61583764e+02] [ 9.81063556e-01 1.93117649e-01 1.48280765e-02 2.04776326e+02] [-1.52315326e-02 6.04542540e-04 9.99883811e-01 -5.40520143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26 meters 0.02703949430793033 Centerline is valid? [True, True] Translation: X:261.60, Y:204.83, Z:-5.41 [[ 1.92753832e-01 -9.81242616e-01 2.98148090e-03 2.61596640e+02] [ 9.81163003e-01 1.92776204e-01 1.25098793e-02 2.04832719e+02] [-1.28499853e-02 5.13991569e-04 9.99917303e-01 -5.40702888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32 meters 0.027504858412003435 Centerline is valid? [True, True] Translation: X:261.61, Y:204.89, Z:-5.41 [[ 1.92870742e-01 -9.81221360e-01 2.34941670e-03 2.61608202e+02] [ 9.81171841e-01 1.92884632e-01 9.86596792e-03 2.04888920e+02] [-1.01338648e-02 4.02324949e-04 9.99948570e-01 -5.40801607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38 meters 0.02488425700751397 Centerline is valid? [True, True] Translation: X:261.62, Y:204.95, Z:-5.41 [[ 1.91070229e-01 -9.81573872e-01 2.21389308e-03 2.61615777e+02] [ 9.81529825e-01 1.91082647e-01 9.30724122e-03 2.04947257e+02] [-9.55878135e-03 3.94665378e-04 9.99954236e-01 -5.40941322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44 meters 0.02659415261190761 Centerline is valid? [True, True] Translation: X:261.63, Y:205.00, Z:-5.41 [[ 1.89516289e-01 -9.81875273e-01 2.12723567e-03 2.61630196e+02] [ 9.81834512e-01 1.89527823e-01 8.95514683e-03 2.05003164e+02] [-9.19600759e-03 3.91447209e-04 9.99957639e-01 -5.41173629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5 meters 0.03332816313156518 Centerline is valid? [True, True] Translation: X:261.65, Y:205.06, Z:-5.41 [[ 1.87517897e-01 -9.82259043e-01 2.05186005e-03 2.61651971e+02] [ 9.82221088e-01 1.87528707e-01 8.64393578e-03 2.05057544e+02] [-8.87536675e-03 3.94487550e-04 9.99960535e-01 -5.41421961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56 meters 0.026624091783156056 Centerline is valid? [True, True] Translation: X:261.65, Y:205.12, Z:-5.41 [[ 1.85341182e-01 -9.82671197e-01 2.44241637e-03 2.61651097e+02] [ 9.82617436e-01 1.85356619e-01 1.02906550e-02 2.05118291e+02] [-1.05650484e-02 4.92678748e-04 9.99944067e-01 -5.41107201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62 meters 0.026284133406412908 Centerline is valid? [True, True] Translation: X:261.66, Y:205.18, Z:-5.41 [[ 1.87770965e-01 -9.82209342e-01 2.62168812e-03 2.61655749e+02] [ 9.82147195e-01 1.87788605e-01 1.10601469e-02 2.05177958e+02] [-1.13557028e-02 4.98109187e-04 9.99935398e-01 -5.41336167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68 meters 0.027480657773489882 Centerline is valid? [True, True] Translation: X:261.67, Y:205.23, Z:-5.42 [[ 1.87059236e-01 -9.82343734e-01 3.10330469e-03 2.61668518e+02] [ 9.82256439e-01 1.87084027e-01 1.31093247e-02 2.05234812e+02] [-1.34584417e-02 5.96020749e-04 9.99909253e-01 -5.41589656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74 meters 0.03314980574489656 Centerline is valid? [True, True] Translation: X:261.68, Y:205.29, Z:-5.42 [[ 1.84030695e-01 -9.82914463e-01 3.44410736e-03 2.61683079e+02] [ 9.82806939e-01 1.84061565e-01 1.45554255e-02 2.05291836e+02] [-1.49406660e-02 7.06247542e-04 9.99888133e-01 -5.41917139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.8 meters 0.03840001207513422 Centerline is valid? [True, True] Translation: X:261.70, Y:205.35, Z:-5.42 [[ 1.81361265e-01 -9.83408835e-01 3.89291502e-03 2.61697461e+02] [ 9.83271494e-01 1.81401081e-01 1.64565344e-02 2.05349347e+02] [-1.68896803e-02 8.43214474e-04 9.99857004e-01 -5.42196572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86 meters 0.04693148104680018 Centerline is valid? [True, True] Translation: X:261.71, Y:205.41, Z:-5.42 [[ 1.76601915e-01 -9.84269604e-01 5.01109262e-03 2.61711425e+02] [ 9.84042106e-01 1.76669000e-01 2.11942820e-02 2.05407064e+02] [-2.17461923e-02 1.18817535e-03 9.99762818e-01 -5.42257149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.91999999999996 meters 0.05488830829138427 Centerline is valid? [True, True] Translation: X:261.72, Y:205.46, Z:-5.42 [[ 1.74802167e-01 -9.84583590e-01 6.27350589e-03 2.61721946e+02] [ 9.84226369e-01 1.74908004e-01 2.65639606e-02 2.05464925e+02] [-2.72517261e-02 1.53111206e-03 9.99627430e-01 -5.42232063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.97999999999996 meters 0.058878843681005585 Centerline is valid? [True, True] Translation: X:261.73, Y:205.52, Z:-5.42 [[ 1.75220038e-01 -9.84496988e-01 7.97610002e-03 2.61726021e+02] [ 9.83917974e-01 1.75390943e-01 3.38147504e-02 2.05524494e+02] [-3.46894556e-02 1.92280631e-03 9.99396290e-01 -5.41933870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.03999999999996 meters 0.06425270277305323 Centerline is valid? [True, True] Translation: X:261.72, Y:205.59, Z:-5.41 [[ 1.84460244e-01 -9.82778230e-01 1.10167739e-02 2.61722038e+02] [ 9.81668615e-01 1.84775920e-01 4.67395942e-02 2.05585722e+02] [-4.79702902e-02 2.19322426e-03 9.98846355e-01 -5.41364756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.09999999999997 meters 0.0665197097915223 Centerline is valid? [True, True] Translation: X:261.72, Y:205.65, Z:-5.42 [[ 1.90299513e-01 -9.81652676e-01 1.20049507e-02 2.61724988e+02] [ 9.80330290e-01 1.90666589e-01 5.09781805e-02 2.05645913e+02] [-5.23318103e-02 2.06769385e-03 9.98627611e-01 -5.41677844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.15999999999997 meters 0.07527788354983388 Centerline is valid? [True, True] Translation: X:261.73, Y:205.70, Z:-5.43 [[ 1.94206882e-01 -9.80882860e-01 1.23491586e-02 2.61734848e+02] [ 9.79478758e-01 1.94589837e-01 5.24991200e-02 2.05704207e+02] [-5.38985077e-02 1.90004808e-03 9.98544611e-01 -5.42541111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.21999999999997 meters 0.08078011761945353 Centerline is valid? [True, True] Translation: X:261.75, Y:205.76, Z:-5.43 [[ 1.95831332e-01 -9.80556755e-01 1.25912416e-02 2.61745173e+02] [ 9.79092810e-01 1.96227141e-01 5.35927040e-02 2.05762321e+02] [-5.50214313e-02 1.83286346e-03 9.98483491e-01 -5.43104060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28 meters 0.0882573772626047 Centerline is valid? [True, True] Translation: X:261.76, Y:205.82, Z:-5.43 [[ 1.97365412e-01 -9.80241254e-01 1.31901054e-02 2.61757162e+02] [ 9.78631807e-01 1.97797296e-01 5.61784260e-02 2.05818653e+02] [-5.76773779e-02 1.82057855e-03 9.98333614e-01 -5.42951320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34 meters 0.09773475019088823 Centerline is valid? [True, True] Translation: X:261.76, Y:205.88, Z:-5.43 [[ 2.00033372e-01 -9.79690276e-01 1.39145215e-02 2.61764472e+02] [ 9.77894106e-01 2.00509189e-01 5.93226985e-02 2.05875895e+02] [-6.09078603e-02 1.74040911e-03 9.98141875e-01 -5.42922215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2847.34 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%| | 0/12380 [00:00