+ python -m lidar_slam --no-model /working/bf93c59f-27bf-49ef-9b80-e53a775838a6 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/bf93c59f-27bf-49ef-9b80-e53a775838a6 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.026296757 Adjusted end_distance from 9.223372036854776e+18 to 238.266296757 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.026296757 meters 0.09597356733530316 Centerline is valid? [0, True] SLAMing on 0.086296757 meters 0.12071920226484932 Centerline is valid? [True, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 0.99949082 0.02857695 -0.01419359 0.02173875] [-0.02867646 0.99956522 -0.00685769 0.00776503] [ 0.01399145 0.00726122 0.99987575 -0.00950614] [ 0. 0. 0. 1. ]] SLAMing on 0.146296757 meters 0.12733701201462685 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.12, Z:-0.03 [[ 0.99985264 0.01334038 -0.01080442 0.04444653] [-0.01323076 0.9998609 0.01015508 -0.1204531 ] [ 0.01093839 -0.01001063 0.99989006 -0.02715272] [ 0. 0. 0. 1. ]] SLAMing on 0.206296757 meters 0.14320705854884333 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.24, Z:-0.03 [[ 9.99966430e-01 8.18786009e-03 -3.13429059e-04 5.24368478e-02] [-8.18084457e-03 9.99802645e-01 1.81037398e-02 -2.38282180e-01] [ 4.61598091e-04 -1.81005679e-02 9.99836065e-01 -3.11284862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.266296757 meters 0.15012678292919127 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.23, Z:-0.04 [[ 0.99997116 0.0074115 -0.00166063 0.05886679] [-0.00739592 0.99993033 0.00919926 -0.22978193] [ 0.0017287 -0.00918672 0.99995631 -0.0437795 ] [ 0. 0. 0. 1. ]] SLAMing on 0.326296757 meters 0.1763923089004409 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.25, Z:-0.05 [[ 0.99999082 -0.00337853 -0.00263471 0.0633871 ] [ 0.00339129 0.99998246 0.0048552 -0.24696669] [ 0.00261826 -0.00486409 0.99998474 -0.05103746] [ 0. 0. 0. 1. ]] SLAMing on 0.386296757 meters 0.16852467554689587 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.25, Z:-0.05 [[ 0.99998928 -0.00381597 -0.00262117 0.06330278] [ 0.00382671 0.99998426 0.00410307 -0.24513461] [ 0.00260547 -0.00411305 0.99998815 -0.05095843] [ 0. 0. 0. 1. ]] SLAMing on 0.446296757 meters 0.17134672367405412 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.24, Z:-0.05 [[ 0.99998719 -0.00434033 -0.00260459 0.06344812] [ 0.0043487 0.99998537 0.00321832 -0.2429739 ] [ 0.00259058 -0.00322961 0.99999143 -0.05114165] [ 0. 0. 0. 1. ]] SLAMing on 0.506296757 meters 0.1747730944913003 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.24, Z:-0.05 [[ 0.99998238 -0.00526244 -0.00274533 0.06362816] [ 0.00526726 0.99998459 0.00175117 -0.23907886] [ 0.00273607 -0.0017656 0.9999947 -0.05079371] [ 0. 0. 0. 1. ]] SLAMing on 0.566296757 meters 0.16499317306360356 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.24, Z:-0.05 [[ 0.99998317 -0.00509763 -0.00276859 0.06351321] [ 0.00510341 0.99998481 0.00208176 -0.23995842] [ 0.00275793 -0.00209585 0.999994 -0.05054289] [ 0. 0. 0. 1. ]] SLAMing on 0.626296757 meters 0.16107643182330594 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.24, Z:-0.05 [[ 0.99998027 -0.00552504 -0.00299041 0.06407289] [ 0.00552943 0.99998364 0.00146144 -0.23830667] [ 0.00298229 -0.00147795 0.99999446 -0.0505746 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6862967569999999 meters 0.16404443840510563 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.24, Z:-0.05 [[ 0.99998705 -0.00318816 -0.00396611 0.06738524] [ 0.00320382 0.99998707 0.00394851 -0.23503112] [ 0.00395347 -0.00396117 0.99998434 -0.05233161] [ 0. 0. 0. 1. ]] SLAMing on 0.746296757 meters 0.15979310152157647 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.23, Z:-0.05 [[ 0.99998512 -0.0036865 -0.00402215 0.06788722] [ 0.00369909 0.99998827 0.00312575 -0.23299801] [ 0.00401058 -0.00314058 0.99998703 -0.05272206] [ 0. 0. 0. 1. ]] SLAMing on 0.806296757 meters 0.14788565469439527 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.23, Z:-0.05 [[ 0.99998457 -0.00375784 -0.00409131 0.06805662] [ 0.00376527 0.99999127 0.0018101 -0.22625934] [ 0.00408447 -0.00182547 0.99998999 -0.05246085] [ 0. 0. 0. 1. ]] SLAMing on 0.866296757 meters 0.15486107263197568 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:-0.05 [[ 9.99989294e-01 -9.39926817e-04 -4.53090131e-03 6.99897984e-02] [ 9.58143685e-04 9.99991460e-01 4.02009104e-03 -2.20156540e-01] [ 4.52708402e-03 -4.02438926e-03 9.99981655e-01 -5.33654704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9262967569999999 meters 0.1593069367302578 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.21, Z:-0.05 [[ 0.99998699 0.00196353 -0.00470827 0.07127311] [-0.00193493 0.99997969 0.00607273 -0.21477156] [ 0.0047201 -0.00606354 0.99997048 -0.0542347 ] [ 0. 0. 0. 1. ]] SLAMing on 0.986296757 meters 0.16196392900333478 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:-0.06 [[ 0.99998456 0.0020389 -0.00516985 0.07559156] [-0.00201108 0.9999835 0.0053808 -0.21230461] [ 0.00518073 -0.00537032 0.99997216 -0.0586017 ] [ 0. 0. 0. 1. ]] SLAMing on 1.046296757 meters 0.15088600731519464 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:-0.06 [[ 0.99998259 0.00250371 -0.00534247 0.07668695] [-0.00247999 0.99998706 0.00444222 -0.20825072] [ 0.00535352 -0.00442889 0.99997586 -0.05969797] [ 0. 0. 0. 1. ]] SLAMing on 1.106296757 meters 0.13519167188862022 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.21, Z:-0.06 [[ 0.99996027 0.00661976 -0.00596999 0.0809809 ] [-0.00657249 0.99994718 0.00790221 -0.20502021] [ 0.00602199 -0.00786266 0.99995096 -0.06344675] [ 0. 0. 0. 1. ]] SLAMing on 1.1662967569999998 meters 0.1325477297800381 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.20, Z:-0.07 [[ 0.99996617 0.00531531 -0.0062771 0.08403714] [-0.00527672 0.99996718 0.00614857 -0.20319343] [ 0.00630958 -0.00611524 0.9999614 -0.06672765] [ 0. 0. 0. 1. ]] SLAMing on 1.2262967569999998 meters 0.12653574988632174 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.20, Z:-0.07 [[ 0.99997557 0.00120742 -0.00688518 0.08910762] [-0.00119397 0.99999737 0.00195855 -0.2029322 ] [ 0.00688753 -0.00195029 0.99997438 -0.07182663] [ 0. 0. 0. 1. ]] SLAMing on 1.286296757 meters 0.11869944714248953 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.20, Z:-0.07 [[ 9.99974018e-01 2.13355937e-04 -7.20545260e-03 9.14772287e-02] [-2.06662241e-04 9.99999546e-01 9.29708186e-04 -2.02363646e-01] [ 7.20564769e-03 -9.28194935e-04 9.99973608e-01 -7.42232839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3462967569999997 meters 0.11706063918825985 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.20, Z:-0.08 [[ 9.99972661e-01 1.18352461e-04 -7.39348304e-03 9.25716535e-02] [-1.13157491e-04 9.99999746e-01 7.03056260e-04 -2.02147483e-01] [ 7.39356438e-03 -7.02200411e-04 9.99972421e-01 -7.53373823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4062967569999998 meters 0.11592953806611637 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:-0.08 [[ 9.99968311e-01 6.02338962e-04 -7.93815981e-03 9.64190055e-02] [-5.98673236e-04 9.99999713e-01 4.64153389e-04 -2.00107819e-01] [ 7.93843711e-03 -4.59386317e-04 9.99968385e-01 -7.92110838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4662967569999998 meters 0.11351304679375215 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:-0.08 [[ 0.99995935 -0.0037798 -0.0081859 0.09758537] [ 0.00374351 0.99998312 -0.00444465 -0.19810071] [ 0.00820256 0.00441382 0.99995662 -0.08021111] [ 0. 0. 0. 1. ]] SLAMing on 1.526296757 meters 0.11414117426594703 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:-0.08 [[ 0.99996182 -0.00194727 -0.0085182 0.1000794 ] [ 0.0019233 0.99999417 -0.00282117 -0.19498071] [ 0.00852364 0.00280468 0.99995974 -0.08253282] [ 0. 0. 0. 1. ]] SLAMing on 1.586296757 meters 0.1151673587622907 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:-0.08 [[ 9.99960235e-01 1.70697355e-03 -8.75302385e-03 1.00645137e-01] [-1.70398904e-03 9.99998488e-01 3.48415667e-04 -1.92211357e-01] [ 8.75360535e-03 -3.33486756e-04 9.99961631e-01 -8.26430519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6462967569999998 meters 0.11371964383276588 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.19, Z:-0.08 [[ 0.99994357 0.00601834 -0.00875471 0.09987881] [-0.00599001 0.99997675 0.00325944 -0.18748853] [ 0.00877412 -0.00320681 0.99995636 -0.08132549] [ 0. 0. 0. 1. ]] SLAMing on 1.7062967569999998 meters 0.11299995862895783 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:-0.08 [[ 0.99990291 0.0108454 -0.00874902 0.09922104] [-0.01078412 0.9999172 0.00702108 -0.18482577] [ 0.00882445 -0.00692605 0.99993708 -0.08010167] [ 0. 0. 0. 1. ]] SLAMing on 1.7662967569999999 meters 0.11282305788617178 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:-0.08 [[ 0.99990058 0.01100606 -0.00881418 0.09890462] [-0.0109505 0.99992003 0.00632629 -0.18241125] [ 0.0088831 -0.00622914 0.99994114 -0.07939596] [ 0. 0. 0. 1. ]] SLAMing on 1.8262967569999997 meters 0.10997664111679034 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.18, Z:-0.07 [[ 0.99989848 0.01148201 -0.00843751 0.09526759] [-0.01142358 0.99991066 0.00694076 -0.18199444] [ 0.00851645 -0.00684367 0.99994032 -0.07483493] [ 0. 0. 0. 1. ]] SLAMing on 1.8862967569999998 meters 0.10831961346108884 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.18, Z:-0.07 [[ 0.99994567 0.00640639 -0.00822336 0.09309427] [-0.00638387 0.99997581 0.00276265 -0.18369446] [ 0.00824086 -0.00271001 0.99996237 -0.07173158] [ 0. 0. 0. 1. ]] SLAMing on 1.9462967569999998 meters 0.10748866128909441 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.19, Z:-0.07 [[ 9.99961433e-01 2.32807161e-03 -8.46837060e-03 9.39316262e-02] [-2.32080426e-03 9.99996930e-01 8.67902449e-04 -1.90402057e-01] [ 8.47036514e-03 -8.48215546e-04 9.99963766e-01 -7.16392390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.006296757 meters 0.10882868475723834 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.20, Z:-0.07 [[ 9.99961260e-01 -1.02678740e-03 -8.74205959e-03 9.48936069e-02] [ 1.01993597e-03 9.99999169e-01 -7.88153984e-04 -1.97009744e-01] [ 8.74286159e-03 7.79207110e-04 9.99961477e-01 -7.18234497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.066296757 meters 0.1054650068696117 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:-0.07 [[ 0.99995752 -0.00377415 -0.00840867 0.09418417] [ 0.00376222 0.99999189 -0.00143411 -0.20555623] [ 0.00841401 0.00140241 0.99996362 -0.0708205 ] [ 0. 0. 0. 1. ]] SLAMing on 2.126296757 meters 0.10680069236093367 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:-0.07 [[ 0.99997947 -0.0017615 0.00616017 0.09460843] [ 0.00174219 0.99999355 0.00313943 -0.21102697] [-0.00616567 -0.00312863 0.9999761 -0.07440763] [ 0. 0. 0. 1. ]] SLAMing on 2.186296757 meters 0.10345105908141458 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:-0.07 [[ 0.99996471 -0.00306822 0.00782051 0.08833194] [ 0.00303667 0.99998721 0.00404349 -0.21810095] [-0.00783282 -0.00401959 0.99996124 -0.06805817] [ 0. 0. 0. 1. ]] SLAMing on 2.2462967569999996 meters 0.10352782287246329 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.23, Z:-0.07 [[ 0.99996246 -0.00180301 0.00847454 0.08606509] [ 0.00173843 0.99996945 0.00762088 -0.2267342 ] [-0.00848802 -0.00760586 0.99993505 -0.06515161] [ 0. 0. 0. 1. ]] SLAMing on 2.3062967569999997 meters 0.12681841200452104 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.24, Z:-0.06 [[ 0.99998901 0.00162682 0.00439672 0.09367098] [-0.00166295 0.99996478 0.00822588 -0.23736294] [-0.00438318 -0.0082331 0.9999565 -0.06193549] [ 0. 0. 0. 1. ]] SLAMing on 2.3662967569999998 meters 0.12777896312420212 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.24, Z:-0.06 [[ 0.99998788 -0.00189168 0.00454481 0.09320626] [ 0.00186584 0.99998211 0.00568247 -0.24129797] [-0.00455548 -0.00567392 0.99997353 -0.06114098] [ 0. 0. 0. 1. ]] SLAMing on 2.426296757 meters 0.12283083336090711 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.25, Z:-0.06 [[ 0.99997814 -0.00433015 0.00499751 0.09169333] [ 0.00430232 0.99997526 0.00556545 -0.25009046] [-0.00502149 -0.00554382 0.99997202 -0.05897604] [ 0. 0. 0. 1. ]] SLAMing on 2.486296757 meters 0.11960422326544409 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.26, Z:-0.06 [[ 0.99996377 -0.00660727 0.00536692 0.09035915] [ 0.00657368 0.99995884 0.0062539 -0.26226124] [-0.00540802 -0.0062184 0.99996604 -0.05672591] [ 0. 0. 0. 1. ]] SLAMing on 2.546296757 meters 0.11704717535437509 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.27, Z:-0.06 [[ 0.9999416 -0.00940337 0.00532671 0.09071437] [ 0.00937551 0.99994237 0.00523075 -0.26988445] [-0.00537559 -0.0051805 0.99997213 -0.05659397] [ 0. 0. 0. 1. ]] SLAMing on 2.606296757 meters 0.1108038250684862 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.28, Z:-0.05 [[ 0.99991362 -0.01167528 0.00603585 0.08849981] [ 0.0116455 0.99991996 0.00494514 -0.2781109 ] [-0.00609311 -0.00487442 0.99996956 -0.05393046] [ 0. 0. 0. 1. ]] SLAMing on 2.6662967569999996 meters 0.09411596038202091 Centerline is valid? [False, True] Translation: X:0.09, Y:-0.29, Z:-0.05 [[ 9.99993277e-01 -3.66133199e-03 2.03289643e-04 8.63947059e-02] [ 3.66148208e-03 9.99993021e-01 -7.42884568e-04 -2.87523823e-01] [-2.00568277e-04 7.43623915e-04 9.99999703e-01 -5.10362860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7262967569999996 meters 0.09028238956684297 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.30, Z:-0.05 [[ 9.99934046e-01 -2.56512329e-03 1.11948466e-02 1.47891146e-01] [ 2.56042906e-03 9.99996628e-01 4.33632521e-04 -2.95101035e-01] [-1.11959212e-02 -4.04940311e-04 9.99937242e-01 -5.15809498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7862967569999997 meters 0.08952824912770432 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.30, Z:-0.06 [[ 9.99875569e-01 3.25203696e-03 1.54360096e-02 2.08369860e-01] [-3.26167030e-03 9.99994501e-01 5.98948202e-04 -3.03078159e-01] [-1.54339769e-02 -6.49220849e-04 9.99880678e-01 -5.82375702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8462967569999997 meters 0.08912209605353351 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.31, Z:-0.07 [[ 9.99744508e-01 1.20080369e-02 1.91500775e-02 2.70436076e-01] [-1.20245928e-02 9.99927421e-01 7.49618429e-04 -3.08037905e-01] [-1.91396861e-02 -9.79698791e-04 9.99816339e-01 -6.81098708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.906296757 meters 0.08977568610473799 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.32, Z:-0.08 [[ 9.99668245e-01 1.79702799e-02 1.84517876e-02 3.30731942e-01] [-1.79865874e-02 9.99837970e-01 7.18203363e-04 -3.15148659e-01] [-1.84358915e-02 -1.04984979e-03 9.99829493e-01 -7.80454574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.966296757 meters 0.09101477835175559 Centerline is valid? [True, True] Translation: X:0.39, Y:-0.32, Z:-0.09 [[ 9.99597367e-01 1.99368259e-02 2.01897590e-02 3.92754742e-01] [-1.99571130e-02 9.99800514e-01 8.03817824e-04 -3.23105172e-01] [-2.01697058e-02 -1.20642348e-03 9.99795843e-01 -8.61717047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.026296757 meters 0.09019746526260528 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.33, Z:-0.09 [[ 9.99589124e-01 1.83274412e-02 2.20383307e-02 4.53197853e-01] [-1.83505703e-02 9.99831255e-01 8.47702458e-04 -3.31355337e-01] [-2.20190756e-02 -1.25177009e-03 9.99756767e-01 -9.48764220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.086296757 meters 0.08923381971731696 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.33, Z:-0.10 [[ 9.99636366e-01 1.55828515e-02 2.20070514e-02 5.13957932e-01] [-1.56053139e-02 9.99877869e-01 8.49314629e-04 -3.34392866e-01] [-2.19911289e-02 -1.19243273e-03 9.99757455e-01 -1.04878388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.146296757 meters 0.0879831443283094 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.34, Z:-0.11 [[ 0.99960018 0.00950463 0.02662988 0.57504819] [-0.00953527 0.99995401 0.00102383 -0.34003869] [-0.02661893 -0.00127735 0.99964484 -0.11051037] [ 0. 0. 0. 1. ]] SLAMing on 3.2062967569999996 meters 0.08499950227244023 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.35, Z:-0.12 [[ 0.99946371 0.00199138 0.0326853 0.63591656] [-0.00203351 0.99999714 0.00125586 -0.34526581] [-0.03268271 -0.00132165 0.9994649 -0.11676255] [ 0. 0. 0. 1. ]] SLAMing on 3.2662967569999997 meters 0.08341903078781972 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.34, Z:-0.12 [[ 0.99929242 -0.00474989 0.03731095 0.69623274] [ 0.0046997 0.99998793 0.0014328 -0.34174328] [-0.03731731 -0.00125643 0.99930268 -0.12151485] [ 0. 0. 0. 1. ]] SLAMing on 3.3262967569999997 meters 0.08031013002722384 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.33, Z:-0.12 [[ 0.99883526 -0.00580572 0.04790012 0.7567565 ] [ 0.00572414 0.99998192 0.0018401 -0.33388625] [-0.04790993 -0.00156377 0.99885044 -0.1240338 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3862967569999998 meters 0.07984825614445921 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.33, Z:-0.13 [[ 0.99877494 -0.0025319 0.04941862 0.81900997] [ 0.00244027 0.99999519 0.0019145 -0.32546405] [-0.04942323 -0.00179156 0.99877632 -0.13123362] [ 0. 0. 0. 1. ]] SLAMing on 3.446296757 meters 0.07990067976872531 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.31, Z:-0.14 [[ 9.98627224e-01 1.80910565e-04 5.23797168e-02 8.79845477e-01] [-2.86109009e-04 9.99997957e-01 2.00088997e-03 -3.13113553e-01] [-5.23792479e-02 -2.01312951e-03 9.98625236e-01 -1.40236148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.506296757 meters 0.07927174187048726 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.31, Z:-0.15 [[ 9.98535766e-01 -6.91114064e-04 5.40910873e-02 9.40749796e-01] [ 5.80346835e-04 9.99997703e-01 2.06347127e-03 -3.06809402e-01] [-5.40923892e-02 -2.02905828e-03 9.98533873e-01 -1.48960504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.566296757 meters 0.07819699193697147 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.30, Z:-0.16 [[ 0.99861511 -0.00566103 0.05230509 1.00160727] [ 0.00556383 0.99998251 0.00200364 -0.30243855] [-0.05231552 -0.00170985 0.99862914 -0.16079176] [ 0. 0. 0. 1. ]] SLAMing on 3.6262967569999995 meters 0.07719872771930933 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.31, Z:-0.17 [[ 0.99863227 -0.01344627 0.05052519 1.06269908] [ 0.0133666 0.99990883 0.00191422 -0.30560462] [-0.05054633 -0.00123625 0.99872095 -0.17259377] [ 0. 0. 0. 1. ]] SLAMing on 3.6862967569999996 meters 0.07723975442671284 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.30, Z:-0.19 [[ 9.98749633e-01 -2.04696387e-02 4.56088234e-02 1.12218821e+00] [ 2.04122278e-02 9.99790162e-01 1.72419060e-03 -3.03743947e-01] [-4.56345465e-02 -7.91057040e-04 9.98957888e-01 -1.87844426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7462967569999996 meters 0.07713280936471065 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.30, Z:-0.20 [[ 9.98695499e-01 -2.21039383e-02 4.60295052e-02 1.18375216e+00] [ 2.20466128e-02 9.99755407e-01 1.75276552e-03 -3.01954536e-01] [-4.60569897e-02 -7.35684365e-04 9.98938543e-01 -1.97224849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8062967569999997 meters 0.07701991766764144 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.30, Z:-0.20 [[ 9.98540856e-01 -2.11904774e-02 4.96701366e-02 1.24442559e+00] [ 2.11238731e-02 9.99775126e-01 1.86554655e-03 -2.98006536e-01] [-4.96984988e-02 -8.13598788e-04 9.98763935e-01 -2.03607229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8662967569999998 meters 0.07484717924711512 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.29, Z:-0.20 [[ 9.98369320e-01 -1.61735255e-02 5.47459335e-02 1.30628829e+00] [ 1.60850475e-02 9.99868513e-01 2.05642585e-03 -2.93229446e-01] [-5.47719948e-02 -1.17248154e-03 9.98498199e-01 -1.97903430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.926296757 meters 0.07636007962016603 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.28, Z:-0.21 [[ 0.99844322 -0.01097837 0.05468649 1.36568945] [ 0.01088233 0.99993868 0.00205372 -0.28271399] [-0.05470569 -0.00145541 0.99850146 -0.20876493] [ 0. 0. 0. 1. ]] SLAMing on 3.986296757 meters 0.07700190438285565 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.28, Z:-0.22 [[ 0.99836688 -0.00867207 0.05646562 1.42608543] [ 0.00856542 0.99996105 0.00213052 -0.27775766] [-0.0564819 -0.00164339 0.99840227 -0.21863937] [ 0. 0. 0. 1. ]] SLAMing on 4.0462967569999995 meters 0.07727301232275799 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.28, Z:-0.23 [[ 0.99839949 -0.00945062 0.05575965 1.48755094] [ 0.00934842 0.99995411 0.00209347 -0.2758324 ] [-0.05577688 -0.00156886 0.99844203 -0.22774007] [ 0. 0. 0. 1. ]] SLAMing on 4.106296757 meters 0.07588386804058983 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.28, Z:-0.23 [[ 9.98426239e-01 -1.19334062e-02 5.47963426e-02 1.54994870e+00] [ 1.18390469e-02 9.99927822e-01 2.04629994e-03 -2.77587376e-01] [-5.48168069e-02 -1.39434308e-03 9.98495455e-01 -2.30352502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.166296757 meters 0.07583320770473126 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.28, Z:-0.24 [[ 9.98218954e-01 -1.39852708e-02 5.79942340e-02 1.60862776e+00] [ 1.38846561e-02 9.99901319e-01 2.13751974e-03 -2.75916505e-01] [-5.80184048e-02 -1.32848272e-03 9.98314630e-01 -2.38312645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.226296757 meters 0.07645983760826915 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.27, Z:-0.25 [[ 9.98258138e-01 -1.04125595e-02 5.80712396e-02 1.67021536e+00] [ 1.03053724e-02 9.99944598e-01 2.14496436e-03 -2.69426870e-01] [-5.80903569e-02 -1.54278237e-03 9.98310137e-01 -2.46676955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.286296757 meters 0.07737794798859765 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.26, Z:-0.26 [[ 9.98340776e-01 -7.96700591e-03 5.70282621e-02 1.73009688e+00] [ 7.86001336e-03 9.99966904e-01 2.10019374e-03 -2.63298589e-01] [-5.70431069e-02 -1.64846615e-03 9.98370355e-01 -2.57437930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.346296757 meters 0.07924695401416251 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.25, Z:-0.27 [[ 9.98668563e-01 -4.81051378e-03 5.13610714e-02 1.78908224e+00] [ 4.71965091e-03 9.99987076e-01 1.89023747e-03 -2.52386270e-01] [-5.13695006e-02 -1.64531442e-03 9.98678360e-01 -2.70563079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.406296757 meters 0.08021655058670538 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.25, Z:-0.28 [[ 9.98898129e-01 -3.79587849e-03 4.67773459e-02 1.84793059e+00] [ 3.71921940e-03 9.99991595e-01 1.72573469e-03 -2.50790455e-01] [-4.67835034e-02 -1.54985794e-03 9.98903850e-01 -2.80943106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.466296756999999 meters 0.08075664089749482 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.25, Z:-0.29 [[ 9.98967919e-01 -3.85976856e-03 4.52570371e-02 1.90840616e+00] [ 3.78782147e-03 9.99991423e-01 1.67539319e-03 -2.47495746e-01] [-4.52631155e-02 -1.50223848e-03 9.98973970e-01 -2.90257058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.526296757 meters 0.08073440284343837 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.24, Z:-0.30 [[ 9.98995233e-01 -7.57974895e-03 4.41709338e-02 1.96956401e+00] [ 7.51517336e-03 9.99970436e-01 1.62782382e-03 -2.42533454e-01] [-4.41819664e-02 -1.29423601e-03 9.99022662e-01 -3.00269223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5862967569999995 meters 0.08046954543935178 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.24, Z:-0.31 [[ 9.98980090e-01 -9.56359305e-03 4.41284233e-02 2.03102048e+00] [ 9.50148716e-03 9.99953553e-01 1.61692509e-03 -2.41212025e-01] [-4.41418372e-02 -1.19599033e-03 9.99024558e-01 -3.08547652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.646296757 meters 0.0799778125732458 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.25, Z:-0.32 [[ 9.98904587e-01 -1.83384730e-02 4.30502711e-02 2.09171159e+00] [ 1.82884214e-02 9.99831542e-01 1.55622122e-03 -2.53740976e-01] [-4.30715576e-02 -7.67195017e-04 9.99071695e-01 -3.18720784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.706296757 meters 0.07968725676664164 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.26, Z:-0.33 [[ 9.98798505e-01 -2.44235134e-02 4.24857376e-02 2.15231454e+00] [ 2.43798352e-02 9.99701572e-01 1.54597437e-03 -2.61426293e-01] [-4.25108168e-02 -5.08321612e-04 9.99095877e-01 -3.28347552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.766296757 meters 0.07915594500594246 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.26, Z:-0.34 [[ 9.98556662e-01 -2.97935782e-02 4.46870785e-02 2.21183660e+00] [ 2.97516620e-02 9.99556036e-01 1.60293981e-03 -2.64273563e-01] [-4.47149963e-02 -2.71111374e-04 9.98999748e-01 -3.35603175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.826296757 meters 0.07887767960040404 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.26, Z:-0.34 [[ 9.98463214e-01 -3.07419062e-02 4.61101428e-02 2.27308441e+00] [ 3.06980544e-02 9.99527327e-01 1.65901031e-03 -2.63661570e-01] [-4.61393489e-02 -2.40969088e-04 9.98934984e-01 -3.43026548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.886296756999999 meters 0.07897717263798124 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.26, Z:-0.35 [[ 9.98620813e-01 -2.97365929e-02 4.32690137e-02 2.33357444e+00] [ 2.96972943e-02 9.99557735e-01 1.55088587e-03 -2.56019435e-01] [-4.32959954e-02 -2.63774278e-04 9.99062254e-01 -3.49027481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.946296757 meters 0.08009655840885306 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.25, Z:-0.36 [[ 9.98865111e-01 -2.62166515e-02 3.97640273e-02 2.39237729e+00] [ 2.61805266e-02 9.99656210e-01 1.42902678e-03 -2.51430253e-01] [-3.97878211e-02 -3.86361814e-04 9.99208076e-01 -3.58508396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.006296756999999 meters 0.07935992973243775 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.25, Z:-0.36 [[ 9.98709365e-01 -2.60076694e-02 4.36257409e-02 2.45282069e+00] [ 2.59643318e-02 9.99661653e-01 1.55982434e-03 -2.50469324e-01] [-4.36515476e-02 -4.25097965e-04 9.99046726e-01 -3.63035725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.066296757 meters 0.07857000680804123 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.25, Z:-0.37 [[ 9.98690962e-01 -2.93577211e-02 4.18865823e-02 2.51405136e+00] [ 2.93206291e-02 9.99568933e-01 1.49973381e-03 -2.53274678e-01] [-4.19125551e-02 -2.69629665e-04 9.99121246e-01 -3.67693949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1262967569999995 meters 0.0778426790944875 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.26, Z:-0.37 [[ 9.98668841e-01 -3.13861988e-02 4.09322804e-02 2.57676338e+00] [ 3.13520126e-02 9.99507314e-01 1.47700420e-03 -2.58951828e-01] [-4.09584712e-02 -1.91728704e-04 9.99160831e-01 -3.71116399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.186296757 meters 0.0733503611005045 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.27, Z:-0.35 [[ 9.98621385e-01 -3.19330906e-02 4.16606267e-02 2.64200467e+00] [ 3.18983986e-02 9.99489995e-01 1.49737523e-03 -2.66207683e-01] [-4.16871954e-02 -1.66403651e-04 9.99130697e-01 -3.52163776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.246296757 meters 0.07210720230632345 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.28, Z:-0.35 [[ 9.98622566e-01 -3.01006027e-02 4.29758531e-02 2.70527873e+00] [ 3.00624200e-02 9.99546845e-01 1.53461598e-03 -2.78700510e-01] [-4.30025713e-02 -2.40543999e-04 9.99074933e-01 -3.49578311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.306296756999999 meters 0.0738178722323877 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.28, Z:-0.37 [[ 9.98801358e-01 -2.44643798e-02 4.23950690e-02 2.76506324e+00] [ 2.44226496e-02 9.99700594e-01 1.50205062e-03 -2.79886112e-01] [-4.24191224e-02 -4.64850284e-04 9.99099796e-01 -3.68632429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.366296757 meters 0.07368149512108002 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.29, Z:-0.38 [[ 9.98681045e-01 -2.22902501e-02 4.62527231e-02 2.82490161e+00] [ 2.22396116e-02 9.99751374e-01 1.60919301e-03 -2.87227206e-01] [-4.62770928e-02 -5.78427959e-04 9.98928474e-01 -3.75380926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.426296756999999 meters 0.0736581831341805 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.30, Z:-0.38 [[ 9.98467321e-01 -2.58816761e-02 4.89198012e-02 2.88576842e+00] [ 2.58292096e-02 9.99664917e-01 1.70446176e-03 -2.95141244e-01] [-4.89475233e-02 -4.38289569e-04 9.98801255e-01 -3.82954017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.486296757 meters 0.07150412483103875 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.30, Z:-0.37 [[ 9.98496848e-01 -2.56730984e-02 4.84245407e-02 2.94933410e+00] [ 2.56207145e-02 9.99670286e-01 1.70225438e-03 -2.98424986e-01] [-4.84522766e-02 -4.59024302e-04 9.98825393e-01 -3.72018317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5462967569999995 meters 0.07118130913740076 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.29, Z:-0.38 [[ 9.98249821e-01 -2.47394970e-02 5.37145370e-02 3.00953452e+00] [ 2.46754231e-02 9.99693793e-01 1.85582603e-03 -2.94217464e-01] [-5.37440014e-02 -5.27149076e-04 9.98554608e-01 -3.78662899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.606296757 meters 0.07143184487545563 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.29, Z:-0.39 [[ 9.98303605e-01 -2.60482771e-02 5.20710952e-02 3.07099950e+00] [ 2.59896114e-02 9.99660586e-01 1.80355707e-03 -2.89853836e-01] [-5.21004011e-02 -4.47189997e-04 9.98641752e-01 -3.86825271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.666296757 meters 0.07216837998688008 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.29, Z:-0.39 [[ 9.98433646e-01 -2.77874696e-02 4.85603888e-02 3.13130672e+00] [ 2.77388274e-02 9.99613801e-01 1.67542835e-03 -2.91611504e-01] [-4.85881907e-02 -3.25795792e-04 9.98818843e-01 -3.94891410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.726296757 meters 0.0732447486600761 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.29, Z:-0.41 [[ 9.98637823e-01 -2.29855037e-02 4.68419206e-02 3.19008447e+00] [ 2.29350584e-02 9.99735654e-01 1.61416751e-03 -2.87290089e-01] [-4.68666406e-02 -5.37646544e-04 9.98901011e-01 -4.09058252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.786296757 meters 0.07323482283088827 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.28, Z:-0.41 [[ 9.98957528e-01 -1.27309034e-02 4.38381341e-02 3.25081745e+00] [ 1.26767696e-02 9.99918502e-01 1.51264320e-03 -2.76405006e-01] [-4.38538187e-02 -9.55340382e-04 9.99037502e-01 -4.12100995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.846296756999999 meters 0.07424302252647702 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.27, Z:-0.42 [[ 9.99054891e-01 -6.12454859e-03 4.30327125e-02 3.31039709e+00] [ 6.06634963e-03 9.99980500e-01 1.48289270e-03 -2.67404123e-01] [-4.30409554e-02 -1.22043973e-03 9.99072563e-01 -4.20771133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.906296757 meters 0.07413886570127366 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.26, Z:-0.43 [[ 9.98910501e-01 -3.13530535e-03 4.65615711e-02 3.37118486e+00] [ 3.06396014e-03 9.99994020e-01 1.60356794e-03 -2.64875981e-01] [-4.65663204e-02 -1.45915805e-03 9.98914135e-01 -4.25798478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.966296756999999 meters 0.07341548232972415 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.26, Z:-0.43 [[ 9.98714232e-01 1.60118645e-03 5.06687242e-02 3.43269180e+00] [-1.69177983e-03 9.99997046e-01 1.74511739e-03 -2.62762113e-01] [-5.06657803e-02 -1.82859390e-03 9.98713991e-01 -4.25701574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.026296757 meters 0.07350546859732672 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.26, Z:-0.43 [[ 9.98474778e-01 4.40663372e-03 5.50336259e-02 3.49320032e+00] [-4.51760395e-03 9.99988005e-01 1.89216560e-03 -2.57269186e-01] [-5.50246277e-02 -2.13789975e-03 9.98482709e-01 -4.30620318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0862967569999995 meters 0.07290338748576229 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.25, Z:-0.43 [[ 9.98308092e-01 8.70688547e-03 5.74903843e-02 3.55511565e+00] [-8.83573512e-03 9.99958989e-01 1.98741881e-03 -2.50762851e-01] [-5.74707223e-02 -2.49202608e-03 9.98344082e-01 -4.30171441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.146296757 meters 0.07272279896269616 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.25, Z:-0.44 [[ 9.98641014e-01 7.07165240e-03 5.16344589e-02 3.61566980e+00] [-7.17217683e-03 9.99972728e-01 1.76181565e-03 -2.54845220e-01] [-5.16205918e-02 -2.12975284e-03 9.98664498e-01 -4.35811814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.206296757 meters 0.07142356155531311 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.26, Z:-0.44 [[ 9.98617887e-01 3.90502510e-03 5.24124572e-02 3.67656572e+00] [-4.00421585e-03 9.99990385e-01 1.78762880e-03 -2.60976675e-01] [-5.24049726e-02 -1.99502888e-03 9.98623923e-01 -4.38574031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.266296757 meters 0.06997454647708247 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.26, Z:-0.44 [[ 9.98533225e-01 3.79039595e-03 5.40095450e-02 3.73827933e+00] [-3.89568609e-03 9.99990711e-01 1.84432673e-03 -2.58659949e-01] [-5.40020526e-02 -2.05202575e-03 9.98538716e-01 -4.37584309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.326296757 meters 0.07153419800647945 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.25, Z:-0.45 [[ 9.98741800e-01 3.45536294e-03 5.00287646e-02 3.79648460e+00] [-3.54504612e-03 9.99992264e-01 1.70401030e-03 -2.54366304e-01] [-5.00224897e-02 -1.87922059e-03 9.98746324e-01 -4.50116997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.386296756999999 meters 0.07044256770278803 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.26, Z:-0.45 [[ 9.99113731e-01 -9.26469106e-04 4.20820028e-02 3.85752349e+00] [ 8.66855619e-04 9.99998595e-01 1.43482840e-03 -2.60351640e-01] [-4.20832730e-02 -1.39707773e-03 9.99113130e-01 -4.54481803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.446296757 meters 0.070435012578217 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.26, Z:-0.46 [[ 9.99102431e-01 -4.56905469e-03 4.21124180e-02 3.91721537e+00] [ 4.51258422e-03 9.99988787e-01 1.43590880e-03 -2.56199673e-01] [-4.21185065e-02 -1.24458414e-03 9.99111847e-01 -4.62843838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.506296756999999 meters 0.07053017717888577 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.26, Z:-0.47 [[ 9.99108203e-01 -5.00439078e-03 4.19255946e-02 3.98008853e+00] [ 4.94803735e-03 9.99986710e-01 1.44779273e-03 -2.55021190e-01] [-4.19322828e-02 -1.23905218e-03 9.99119687e-01 -4.70988415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.566296757 meters 0.06970341984736894 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.26, Z:-0.47 [[ 9.99138288e-01 -6.90979574e-03 4.09259839e-02 4.04264864e+00] [ 6.85823533e-03 9.99975502e-01 1.40011197e-03 -2.56202411e-01] [-4.09346558e-02 -1.11822544e-03 9.99161200e-01 -4.74706343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6262967569999995 meters 0.06973488801096603 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.25, Z:-0.48 [[ 9.99190433e-01 -7.01511920e-03 3.96139776e-02 4.10439317e+00] [ 6.96777546e-03 9.99974836e-01 1.33306724e-03 -2.53712457e-01] [-3.96223324e-02 -1.05596673e-03 9.99214169e-01 -4.81616484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.686296757 meters 0.06983266143577826 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.25, Z:-0.49 [[ 9.99367241e-01 -9.66751127e-03 3.42294825e-02 4.16427734e+00] [ 9.63397846e-03 9.99952937e-01 1.14444684e-03 -2.53598930e-01] [-3.42389355e-02 -8.13956587e-04 9.99413344e-01 -4.88427942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.746296757 meters 0.07072356868495441 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.26, Z:-0.50 [[ 9.99448647e-01 -1.31908192e-02 3.04697282e-02 4.22345416e+00] [ 1.31658244e-02 9.99912806e-01 1.02080265e-03 -2.55126291e-01] [-3.04805366e-02 -6.19080734e-04 9.99535169e-01 -5.01020568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.806296756999999 meters 0.07167177320131753 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.25, Z:-0.51 [[ 9.99486687e-01 -1.28034342e-02 2.93672430e-02 4.28304805e+00] [ 1.27800213e-02 9.99917847e-01 9.84812989e-04 -2.50735163e-01] [-2.93774394e-02 -6.08993481e-04 9.99568204e-01 -5.11620869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.866296757 meters 0.07184159915301964 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.26, Z:-0.52 [[ 9.99479247e-01 -1.27729913e-02 2.96325185e-02 4.34544359e+00] [ 1.27490433e-02 9.99918231e-01 9.96968298e-04 -2.56823701e-01] [-2.96428297e-02 -6.18662861e-04 9.99560363e-01 -5.19854701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.926296756999999 meters 0.07009192929517263 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.26, Z:-0.52 [[ 9.99306241e-01 -1.33345046e-02 3.47739426e-02 4.40689921e+00] [ 1.33022201e-02 9.99910849e-01 1.15961261e-03 -2.61720688e-01] [-3.47863053e-02 -6.96237484e-04 9.99394531e-01 -5.18507450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.986296757 meters 0.0697787704719275 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.26, Z:-0.52 [[ 9.99148905e-01 -1.16781213e-02 3.95611888e-02 4.46716777e+00] [ 1.16351120e-02 9.99931442e-01 1.31723313e-03 -2.60325109e-01] [-3.95738594e-02 -8.55813175e-04 9.99216282e-01 -5.24744336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0462967569999995 meters 0.0706462189418148 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.26, Z:-0.53 [[ 9.99216418e-01 -1.08345462e-02 3.80678572e-02 4.52786416e+00] [ 1.07940083e-02 9.99940936e-01 1.27025565e-03 -2.59769408e-01] [-3.80793714e-02 -8.58355535e-04 9.99274349e-01 -5.34583738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.106296757 meters 0.07092091092018743 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.26, Z:-0.54 [[ 9.99277322e-01 -1.09096420e-02 3.64117264e-02 4.58829324e+00] [ 1.08726966e-02 9.99940155e-01 1.21252182e-03 -2.61421094e-01] [-3.64227755e-02 -8.15751907e-04 9.99336138e-01 -5.42702338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.166296757 meters 0.07032486136212443 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.26, Z:-0.55 [[ 9.99059350e-01 -8.03082886e-03 4.26136253e-02 4.64802890e+00] [ 7.97766605e-03 9.99967173e-01 1.41746623e-03 -2.56402280e-01] [-4.26236099e-02 -1.07617562e-03 9.99090621e-01 -5.47422347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.226296756999999 meters 0.06953764915480243 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.26, Z:-0.55 [[ 9.98869024e-01 -1.98278196e-03 4.75051718e-02 4.70916829e+00] [ 1.90987732e-03 9.99996928e-01 1.58000847e-03 -2.57297220e-01] [-4.75081587e-02 -1.48749247e-03 9.98869742e-01 -5.48272777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.286296757 meters 0.06990028558382208 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.26, Z:-0.56 [[ 9.98630244e-01 4.74629658e-03 5.21067096e-02 4.77112243e+00] [-4.84385269e-03 9.99986744e-01 1.74611140e-03 -2.56051536e-01] [-5.20977314e-02 -1.99611688e-03 9.98639996e-01 -5.55753684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.346296756999999 meters 0.07088917347270467 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.25, Z:-0.57 [[ 9.98623379e-01 8.29102606e-03 5.17938748e-02 4.83157225e+00] [-8.39083446e-03 9.99963334e-01 1.70988157e-03 -2.53272957e-01] [-5.17777991e-02 -2.14212154e-03 9.98656333e-01 -5.65770548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.406296757 meters 0.07138111604311898 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.26, Z:-0.57 [[ 9.98653409e-01 1.35280731e-02 5.00835304e-02 4.89257822e+00] [-1.36278166e-02 9.99905775e-01 1.65058381e-03 -2.59281817e-01] [-5.00564821e-02 -2.33089031e-03 9.98743669e-01 -5.72744007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.466296756999999 meters 0.07098379671761755 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.26, Z:-0.58 [[ 9.98553183e-01 1.58262571e-02 5.13913395e-02 4.95484197e+00] [-1.59350451e-02 9.99871571e-01 1.70778642e-03 -2.60103907e-01] [-5.13577115e-02 -2.52423888e-03 9.98677132e-01 -5.78036554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.526296757 meters 0.07238322125047604 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.25, Z:-0.59 [[ 9.98372624e-01 1.67257013e-02 5.45193008e-02 5.01453165e+00] [-1.68479327e-02 9.99856474e-01 1.78311387e-03 -2.54415723e-01] [-5.44816521e-02 -2.69874959e-03 9.98511125e-01 -5.89402494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5862967569999995 meters 0.0705764352165516 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.26, Z:-0.59 [[ 9.98158384e-01 1.16628635e-02 5.95299708e-02 5.07584900e+00] [-1.17994228e-02 9.99928497e-01 1.94294099e-03 -2.59933433e-01] [-5.95030539e-02 -2.64178213e-03 9.98224628e-01 -5.92895281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.646296757 meters 0.0699908041669325 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.26, Z:-0.60 [[ 9.98120632e-01 6.59710309e-03 6.09235720e-02 5.13648748e+00] [-6.73068994e-03 9.99975373e-01 1.98773442e-03 -2.60333285e-01] [-6.09089583e-02 -2.39405640e-03 9.98140455e-01 -6.00108109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.706296757 meters 0.06932934625840241 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.26, Z:-0.61 [[ 9.98030944e-01 2.07784680e-03 6.26890484e-02 5.19684218e+00] [-2.21040729e-03 9.99995465e-01 2.04529339e-03 -2.56324733e-01] [-6.26845143e-02 -2.17983443e-03 9.98031012e-01 -6.06740030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.766296756999999 meters 0.06935816492646275 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.25, Z:-0.61 [[ 9.98032070e-01 1.09846416e-03 6.26959448e-02 5.25844177e+00] [-1.22987331e-03 9.99997127e-01 2.05742177e-03 -2.48057768e-01] [-6.26935047e-02 -2.13048097e-03 9.98030553e-01 -6.14977770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.826296757 meters 0.0696167863905753 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.24, Z:-0.62 [[ 9.98010639e-01 5.72849189e-04 6.30431334e-02 5.32026668e+00] [-7.03148158e-04 9.99997662e-01 2.04465555e-03 -2.43134264e-01] [-6.30418148e-02 -2.08491665e-03 9.98008709e-01 -6.24610538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.886296756999999 meters 0.07120772007705527 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.23, Z:-0.64 [[ 9.98248025e-01 2.93690096e-03 5.90953070e-02 5.37871478e+00] [-3.05489182e-03 9.99993517e-01 1.90637492e-03 -2.31708064e-01] [-5.90893250e-02 -2.08356477e-03 9.98250525e-01 -6.37824991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.946296757 meters 0.07159789896042654 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.23, Z:-0.65 [[ 9.98179526e-01 4.20467399e-03 6.01660517e-02 5.44051085e+00] [-4.33015651e-03 9.99988713e-01 1.95537247e-03 -2.31579048e-01] [-6.01571509e-02 -2.21234119e-03 9.98186467e-01 -6.46332322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.006296757 meters 0.0710102927635659 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.23, Z:-0.65 [[ 9.98083726e-01 7.06662875e-03 6.14730777e-02 5.50257938e+00] [-7.20211300e-03 9.99972099e-01 1.98265977e-03 -2.32119442e-01] [-6.14573518e-02 -2.42159651e-03 9.98106773e-01 -6.50480150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.066296757 meters 0.07165970343433042 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.23, Z:-0.66 [[ 9.98041103e-01 8.60669003e-03 6.19667761e-02 5.56279486e+00] [-8.74627053e-03 9.99959787e-01 1.98160301e-03 -2.26995954e-01] [-6.19472292e-02 -2.51969944e-03 9.98076246e-01 -6.59196905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.126296757 meters 0.07128688854952178 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.23, Z:-0.66 [[ 9.97920125e-01 6.62626547e-03 6.41211098e-02 5.62352796e+00] [-6.76997231e-03 9.99975035e-01 2.02416288e-03 -2.32659616e-01] [-6.41060963e-02 -2.45405101e-03 9.97940071e-01 -6.64979613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.186296757000001 meters 0.07094916182900214 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.23, Z:-0.67 [[ 9.97564000e-01 5.84650996e-03 6.95117505e-02 5.68262257e+00] [-6.01337560e-03 9.99979518e-01 2.19152599e-03 -2.31248737e-01] [-6.94975139e-02 -2.60418770e-03 9.97578726e-01 -6.71966267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.246296757 meters 0.070448758272237 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.23, Z:-0.68 [[ 9.97386864e-01 4.18151294e-03 7.21246053e-02 5.74287372e+00] [-4.35696794e-03 9.99987919e-01 2.27550858e-03 -2.31892810e-01] [-7.21142189e-02 -2.58380696e-03 9.97393034e-01 -6.77042976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.306296757 meters 0.06998160873994268 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.23, Z:-0.68 [[ 9.97322318e-01 3.34936195e-03 7.30546105e-02 5.80499896e+00] [-3.52789616e-03 9.99991097e-01 2.31494543e-03 -2.33112777e-01] [-7.30462065e-02 -2.56647582e-03 9.97325255e-01 -6.82751016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.366296757 meters 0.06927414334883479 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.24, Z:-0.69 [[ 9.97458425e-01 -1.72692506e-03 7.12299649e-02 5.86668306e+00] [ 1.57191976e-03 9.99996273e-01 2.23212261e-03 -2.35121278e-01] [-7.12335541e-02 -2.11448171e-03 9.97457423e-01 -6.89467056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.426296757000001 meters 0.06892134200452664 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.24, Z:-0.70 [[ 9.97556710e-01 -6.84468136e-03 6.95252583e-02 5.92857483e+00] [ 6.70907161e-03 9.99975109e-01 2.18383346e-03 -2.37448280e-01] [-6.95384754e-02 -1.71204778e-03 9.97577801e-01 -6.97003039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.486296757 meters 0.0683976763559381 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.24, Z:-0.70 [[ 9.97450206e-01 -1.29432681e-02 7.01823196e-02 5.99025584e+00] [ 1.28219886e-02 9.99915422e-01 2.17830116e-03 -2.39344732e-01] [-7.02045780e-02 -1.27287004e-03 9.97531803e-01 -7.02860758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.546296757 meters 0.06814476646231622 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.24, Z:-0.71 [[ 9.97213729e-01 -1.97443676e-02 7.19370505e-02 6.05023834e+00] [ 1.96350574e-02 9.99804735e-01 2.22643858e-03 -2.36372782e-01] [-7.19669634e-02 -8.07746996e-04 9.97406689e-01 -7.08744159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.606296757 meters 0.06857307475188446 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.23, Z:-0.72 [[ 9.97296453e-01 -2.17544717e-02 7.01892264e-02 6.11028377e+00] [ 2.16546640e-02 9.99763128e-01 2.18265722e-03 -2.34248025e-01] [-7.02200830e-02 -6.56832186e-04 9.97531307e-01 -7.19944056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.666296757000001 meters 0.06853807994671503 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.23, Z:-0.73 [[ 9.97370745e-01 -1.82472354e-02 7.01329864e-02 6.17154021e+00] [ 1.81400538e-02 9.99833112e-01 2.16490368e-03 -2.29667987e-01] [-7.01607855e-02 -8.86995448e-04 9.97535301e-01 -7.27283862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.726296757 meters 0.06808759283760496 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.22, Z:-0.73 [[ 9.97527701e-01 -1.41927410e-02 6.88262419e-02 6.23359220e+00] [ 1.40815381e-02 9.99898644e-01 2.10062472e-03 -2.21526841e-01] [-6.88490796e-02 -1.12625200e-03 9.97626451e-01 -7.31266138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.786296757 meters 0.0679337623607775 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.21, Z:-0.74 [[ 9.97286240e-01 -1.14024612e-02 7.27333473e-02 6.29457049e+00] [ 1.12713666e-02 9.99934028e-01 2.21260431e-03 -2.14765977e-01] [-7.27537781e-02 -1.38679561e-03 9.97348968e-01 -7.37686882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.846296757000001 meters 0.06758265314262173 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.21, Z:-0.74 [[ 9.97067974e-01 -1.23277863e-02 7.55213939e-02 6.35592943e+00] [ 1.21892402e-02 9.99923074e-01 2.29520287e-03 -2.13344938e-01] [-7.55438791e-02 -1.36792486e-03 9.97141540e-01 -7.43511555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.906296757 meters 0.06800241227062545 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.21, Z:-0.75 [[ 9.97264462e-01 -9.99787065e-03 7.32368447e-02 6.41532210e+00] [ 9.86170908e-03 9.99948907e-01 2.22057379e-03 -2.08340430e-01] [-7.32553038e-02 -1.49225887e-03 9.97312104e-01 -7.53014164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.966296757 meters 0.06822173792464331 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.20, Z:-0.76 [[ 9.97409651e-01 -4.96232533e-03 7.17590636e-02 6.47552020e+00] [ 4.81869319e-03 9.99986026e-01 2.17456708e-03 -1.99641189e-01] [-7.17688517e-02 -1.82314928e-03 9.97419625e-01 -7.59750959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.026296757 meters 0.06816485560126731 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.20, Z:-0.77 [[ 9.97311044e-01 -1.16491643e-03 7.32756731e-02 6.53766533e+00] [ 1.00430256e-03 9.99997012e-01 2.22871946e-03 -1.96092121e-01] [-7.32780504e-02 -2.14913558e-03 9.97309234e-01 -7.65600858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.086296757000001 meters 0.06812046814106361 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.19, Z:-0.77 [[ 9.97338936e-01 1.25653551e-03 7.28935334e-02 6.59963049e+00] [-1.42006850e-03 9.99996590e-01 2.19166743e-03 -1.89352331e-01] [-7.28905309e-02 -2.28934908e-03 9.97337320e-01 -7.72536348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.146296757 meters 0.06884452135288462 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.18, Z:-0.78 [[ 9.97500699e-01 2.69855695e-03 7.06050554e-02 6.65867621e+00] [-2.85499277e-03 9.99993688e-01 2.11482539e-03 -1.79470378e-01] [-7.05989028e-02 -2.31111673e-03 9.97502107e-01 -7.83077512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.206296757 meters 0.06937137867182258 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.17, Z:-0.79 [[ 9.97748265e-01 2.07955095e-03 6.70378661e-02 6.71880275e+00] [-2.21920478e-03 9.99995520e-01 2.00880627e-03 -1.73031437e-01] [-6.70333883e-02 -2.15305372e-03 9.97748410e-01 -7.94013719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.266296757000001 meters 0.069871151664129 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.17, Z:-0.81 [[ 9.98036156e-01 -7.24209290e-04 6.26363114e-02 6.77753021e+00] [ 6.07680044e-04 9.99998049e-01 1.87944052e-03 -1.66164353e-01] [-6.26375503e-02 -1.83768676e-03 9.98034649e-01 -8.05077000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.326296757 meters 0.06940660936477945 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.17, Z:-0.81 [[ 9.98021267e-01 -1.56417399e-03 6.28578120e-02 6.84000039e+00] [ 1.44830099e-03 9.99997167e-01 1.88893575e-03 -1.69926066e-01] [-6.28605886e-02 -1.79416102e-03 9.98020705e-01 -8.10103688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.386296757 meters 0.06875736553346894 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.17, Z:-0.81 [[ 9.97865989e-01 -1.71255295e-03 6.52727778e-02 6.90166752e+00] [ 1.58956659e-03 9.99996862e-01 1.93607723e-03 -1.70066815e-01] [-6.52758886e-02 -1.82819020e-03 9.97865580e-01 -8.13838843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.446296757 meters 0.06892042915904517 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.17, Z:-0.82 [[ 9.98107817e-01 -1.45971853e-03 6.14707586e-02 6.96204292e+00] [ 1.35057955e-03 9.99997437e-01 1.81697422e-03 -1.66591047e-01] [-6.14732533e-02 -1.73051502e-03 9.98107231e-01 -8.21328555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.506296757000001 meters 0.06935869528366272 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.16, Z:-0.83 [[ 9.98304769e-01 -1.47954171e-03 5.81841805e-02 7.02152340e+00] [ 1.38203950e-03 9.99997573e-01 1.71595611e-03 -1.60794146e-01] [-5.81865781e-02 -1.63263434e-03 9.98304391e-01 -8.29617831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.566296757 meters 0.06960026274307433 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.16, Z:-0.84 [[ 9.98531715e-01 -5.30925074e-03 5.39094266e-02 7.08186761e+00] [ 5.23108749e-03 9.99985052e-01 1.59090206e-03 -1.63721033e-01] [-5.39170672e-02 -1.30656123e-03 9.98544562e-01 -8.37877309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.626296757 meters 0.06937413914388095 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.16, Z:-0.85 [[ 9.98420223e-01 -1.13029200e-02 5.50390969e-02 7.14045847e+00] [ 1.12306998e-02 9.99935619e-01 1.62129181e-03 -1.57926364e-01] [-5.50538788e-02 -1.00060295e-03 9.98482884e-01 -8.47180802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.686296757000001 meters 0.06881602052397241 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.16, Z:-0.85 [[ 9.98359060e-01 -1.73411455e-02 5.45753826e-02 7.20286241e+00] [ 1.72782866e-02 9.99849401e-01 1.62344310e-03 -1.61107471e-01] [-5.45953160e-02 -6.77810023e-04 9.98508333e-01 -8.51665436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.746296757 meters 0.0682534178147003 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.16, Z:-0.86 [[ 9.98167438e-01 -2.20193551e-02 5.63641112e-02 7.26377265e+00] [ 2.19612569e-02 9.99757461e-01 1.65003904e-03 -1.64818540e-01] [-5.63867735e-02 -4.09188514e-04 9.98408916e-01 -8.57465351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.806296757 meters 0.06762049375344212 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.16, Z:-0.86 [[ 9.98180844e-01 -2.08228304e-02 5.65810314e-02 7.32598584e+00] [ 2.07615915e-02 9.99783060e-01 1.66999868e-03 -1.55220641e-01] [-5.66035308e-02 -4.92248432e-04 9.98396614e-01 -8.62353942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.866296757 meters 0.06821449073595263 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.15, Z:-0.87 [[ 9.98345765e-01 -1.45558104e-02 5.56224906e-02 7.38615162e+00] [ 1.44885409e-02 9.99893735e-01 1.61248163e-03 -1.45462292e-01] [-5.56400509e-02 -8.03925477e-04 9.98450569e-01 -8.70564055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.926296757000001 meters 0.0695593228317086 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.14, Z:-0.88 [[ 9.98474469e-01 -4.34944847e-03 5.50437675e-02 7.44443152e+00] [ 4.26821849e-03 9.99989622e-01 1.59320745e-03 -1.35705327e-01] [-5.50501258e-02 -1.35583813e-03 9.98482672e-01 -8.80694665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.986296757 meters 0.07080485763941333 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.12, Z:-0.89 [[ 9.98556664e-01 4.41509117e-03 5.35265901e-02 7.50493375e+00] [-4.50461612e-03 9.99988650e-01 1.55200226e-03 -1.17514580e-01] [-5.35191303e-02 -1.79087894e-03 9.98565218e-01 -8.87678793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.046296757 meters 0.07260506971452232 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.10, Z:-0.90 [[ 9.98883406e-01 5.53759226e-03 4.69177602e-02 7.56366999e+00] [-5.60748285e-03 9.99983356e-01 1.35815258e-03 -1.04136416e-01] [-4.69094583e-02 -1.61972661e-03 9.98897832e-01 -9.01766410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.106296757 meters 0.07244011715899328 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.11, Z:-0.91 [[ 9.98977165e-01 -3.06257029e-04 4.52164870e-02 7.62530295e+00] [ 2.46652338e-04 9.99999093e-01 1.32378038e-03 -1.05429415e-01] [-4.52168514e-02 -1.31127362e-03 9.98976335e-01 -9.12474021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.166296757 meters 0.0702009837138246 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.11, Z:-0.91 [[ 9.98738705e-01 -1.10084261e-02 4.89879008e-02 7.68660101e+00] [ 1.09526488e-02 9.99939028e-01 1.40689238e-03 -1.06820311e-01] [-4.90004016e-02 -8.68570606e-04 9.98798381e-01 -9.14169601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.226296757 meters 0.07118952821361312 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.10, Z:-0.93 [[ 9.98819655e-01 -1.80789484e-02 4.50826787e-02 7.74564816e+00] [ 1.80389474e-02 9.99836448e-01 1.29398526e-03 -1.02012973e-01] [-4.50986992e-02 -4.79213841e-04 9.98982421e-01 -9.25384258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.286296757 meters 0.07068757771045668 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.11, Z:-0.93 [[ 9.98351753e-01 -2.70662909e-02 5.06082254e-02 7.80596050e+00] [ 2.70274159e-02 9.99633637e-01 1.45246644e-03 -1.08903853e-01] [-5.06289973e-02 -8.22628622e-05 9.98717527e-01 -9.30828103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.346296757000001 meters 0.07092130667102754 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.11, Z:-0.94 [[ 9.98206028e-01 -3.17201747e-02 5.07794791e-02 7.86811598e+00] [ 3.16866598e-02 9.99496778e-01 1.46511033e-03 -1.13287403e-01] [-5.08003993e-02 1.46550118e-04 9.98708815e-01 -9.40102609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.406296757 meters 0.06980647458742525 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.11, Z:-0.94 [[ 9.98195917e-01 -3.38602534e-02 4.95821947e-02 7.93009214e+00] [ 3.38312334e-02 9.99426545e-01 1.42464446e-03 -1.06932303e-01] [-4.96020003e-02 2.55352517e-04 9.98769031e-01 -9.39560507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.466296757 meters 0.07235857333090953 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.11, Z:-0.96 [[ 9.98060027e-01 -4.00789959e-02 4.76430155e-02 7.98884916e+00] [ 4.00596711e-02 9.99196363e-01 1.36075413e-03 -1.13926305e-01] [-4.76592654e-02 5.50449227e-04 9.98863500e-01 -9.56376411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.526296757 meters 0.07363674333059617 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.13, Z:-0.96 [[ 9.97796283e-01 -4.78970094e-02 4.59179132e-02 8.04959704e+00] [ 4.78876359e-02 9.98851877e-01 1.30477665e-03 -1.27875878e-01] [-4.59276886e-02 8.96999013e-04 9.98944364e-01 -9.64568274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.586296757 meters 0.07205931883352455 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.13, Z:-0.96 [[ 9.97777739e-01 -4.87369924e-02 4.54344539e-02 8.11213469e+00] [ 4.87280617e-02 9.98811230e-01 1.30473881e-03 -1.33638774e-01] [-4.54440319e-02 9.12093533e-04 9.98966470e-01 -9.62709101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.646296757 meters 0.0696196590984714 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.12, Z:-0.97 [[ 9.98121067e-01 -3.39837147e-02 5.09847359e-02 8.17231609e+00] [ 3.39545904e-02 9.99422343e-01 1.43752368e-03 -1.23468801e-01] [-5.10041366e-02 2.96343152e-04 9.98698398e-01 -9.65986736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.706296757 meters 0.06839987486165251 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.11, Z:-0.96 [[ 9.98424828e-01 -1.51752775e-02 5.40145633e-02 8.23421957e+00] [ 1.51149048e-02 9.99884599e-01 1.52606946e-03 -1.06651411e-01] [-5.40314885e-02 -7.07240657e-04 9.98538982e-01 -9.64540311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.766296757000001 meters 0.06741293276905205 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.11, Z:-0.96 [[ 9.98455482e-01 -4.22862629e-04 5.55560151e-02 8.29614066e+00] [ 3.36385460e-04 9.99998717e-01 1.56591829e-03 -1.05697103e-01] [-5.55566060e-02 -1.54481147e-03 9.98454344e-01 -9.60913633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.826296757 meters 0.06884730622027273 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.10, Z:-0.97 [[ 9.98329116e-01 9.72089654e-03 5.69603347e-02 8.35610276e+00] [-9.82807097e-03 9.99950421e-01 1.60172562e-03 -9.72005925e-02] [-5.69419404e-02 -2.15885953e-03 9.98375157e-01 -9.69624929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.886296757 meters 0.07020820868088641 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.09, Z:-0.98 [[ 9.98290527e-01 1.68918893e-02 5.59525492e-02 8.41643143e+00] [-1.70065956e-02 9.99854138e-01 1.57451039e-03 -9.00447445e-02] [-5.59177914e-02 -2.52338119e-03 9.98432188e-01 -9.77582313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.946296757 meters 0.0702301652889728 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.09, Z:-0.98 [[ 9.98447201e-01 1.79129920e-02 5.27476269e-02 8.47665995e+00] [-1.80161899e-02 9.99836598e-01 1.48157244e-03 -8.86925205e-02] [-5.27124684e-02 -2.42958312e-03 9.98606776e-01 -9.84184092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.006296757000001 meters 0.0707552474924484 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.08, Z:-0.99 [[ 9.98425677e-01 1.91305997e-02 5.27274841e-02 8.53854592e+00] [-1.92361425e-02 9.99813851e-01 1.49485671e-03 -8.30070686e-02] [-5.26890714e-02 -2.50677672e-03 9.98607820e-01 -9.92443561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.066296757 meters 0.07114252765864479 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.07, Z:-1.00 [[ 9.98154455e-01 2.00512640e-02 5.73204249e-02 8.59748769e+00] [-2.01757535e-02 9.99795178e-01 1.59386745e-03 -7.45359864e-02] [-5.72767253e-02 -2.74740866e-03 9.98354561e-01 -9.98533904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.126296757 meters 0.07084409039936818 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.07, Z:-1.00 [[ 9.98053412e-01 1.70887410e-02 5.99780067e-02 8.65813160e+00] [-1.72198665e-02 9.99850332e-01 1.66999768e-03 -7.17144396e-02] [-5.99404918e-02 -2.69956015e-03 9.98198302e-01 -1.00443382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.186296757000001 meters 0.07121222760128179 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.07, Z:-1.01 [[ 9.98266559e-01 1.39490379e-02 5.71777989e-02 8.71881820e+00] [-1.40637376e-02 9.99899814e-01 1.60409294e-03 -6.95158413e-02] [-5.71496950e-02 -2.40544590e-03 9.98362723e-01 -1.01375005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.246296757 meters 0.06905841383794778 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.07, Z:-1.01 [[ 9.98379462e-01 1.39307538e-02 5.51759368e-02 8.78119108e+00] [-1.40364390e-02 9.99900316e-01 1.52833416e-03 -6.99963542e-02] [-5.51491458e-02 -2.30033111e-03 9.98475478e-01 -1.01418088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.306296757 meters 0.06865900911432708 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.07, Z:-1.02 [[ 9.98491538e-01 5.74748260e-03 5.46041625e-02 8.84138723e+00] [-5.83836804e-03 9.99981824e-01 1.50506742e-03 -6.84260037e-02] [-5.45945197e-02 -1.82159628e-03 9.98506945e-01 -1.02222709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.366296757 meters 0.06682991465384944 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.07, Z:-1.02 [[ 9.98570858e-01 -4.48384123e-04 5.34419297e-02 8.90349737e+00] [ 3.70119636e-04 9.99998845e-01 1.47436521e-03 -7.45315377e-02] [-5.34425291e-02 -1.45247823e-03 9.98569871e-01 -1.02278484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.426296757000001 meters 0.06647257073073448 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.08, Z:-1.03 [[ 9.98399066e-01 -1.74241051e-03 5.65355605e-02 8.96442257e+00] [ 1.65707523e-03 9.99997416e-01 1.55625325e-03 -7.65133801e-02] [-5.65381261e-02 -1.46007812e-03 9.98399373e-01 -1.02875426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.486296757 meters 0.06686041420088276 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.07, Z:-1.04 [[ 9.98275463e-01 3.25612041e-03 5.86131167e-02 9.02564548e+00] [-3.35716298e-03 9.99993044e-01 1.62550080e-03 -7.12149477e-02] [-5.86074162e-02 -1.81947135e-03 9.98279450e-01 -1.03568979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.546296757 meters 0.06783257506525972 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.07, Z:-1.04 [[ 9.98448816e-01 9.68944980e-03 5.48276978e-02 9.08638589e+00] [-9.78612619e-03 9.99950997e-01 1.49506767e-03 -7.20481662e-02] [-5.48105247e-02 -2.02929932e-03 9.98494711e-01 -1.04342565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.606296757 meters 0.06861466659977143 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.07, Z:-1.05 [[ 9.98208444e-01 1.72903263e-02 5.72795447e-02 9.14667609e+00] [-1.74081848e-02 9.99847250e-01 1.55922728e-03 -6.56766905e-02] [-5.72438357e-02 -2.55356673e-03 9.98356961e-01 -1.05172142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.666296757 meters 0.06978675904283711 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.06, Z:-1.06 [[ 9.98006395e-01 2.10895608e-02 5.94850082e-02 9.20672244e+00] [-2.12236978e-02 9.99773433e-01 1.62399809e-03 -6.08380827e-02] [-5.94372815e-02 -2.88325231e-03 9.98227878e-01 -1.06012855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.726296757 meters 0.07066813575850418 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.06, Z:-1.07 [[ 9.97949351e-01 2.75207417e-02 5.77901537e-02 9.26758995e+00] [-2.76573651e-02 9.99616236e-01 1.56547953e-03 -5.93360906e-02] [-5.77248927e-02 -3.16059266e-03 9.98327525e-01 -1.06629149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.786296757 meters 0.07509632009586392 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.04, Z:-1.08 [[ 9.97604994e-01 3.85430636e-02 5.74343781e-02 9.32626837e+00] [-3.86960433e-02 9.99249820e-01 1.55336669e-03 -4.34193751e-02] [-5.73314205e-02 -3.77212955e-03 9.98348075e-01 -1.07780741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.846296757000001 meters 0.07511579840704044 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.04, Z:-1.08 [[ 9.97278999e-01 4.66857446e-02 5.70529549e-02 9.38662989e+00] [-4.68498458e-02 9.98900754e-01 1.54140741e-03 -3.58462186e-02] [-5.69182779e-02 -4.21013538e-03 9.98369964e-01 -1.08180943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.906296757 meters 0.07667290127514491 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.03, Z:-1.09 [[ 9.97514097e-01 4.32833160e-02 5.56073876e-02 9.44493743e+00] [-4.34338316e-02 9.99055179e-01 1.50048943e-03 -3.28827719e-02] [-5.54899024e-02 -3.91200126e-03 9.98451585e-01 -1.09336317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.966296757 meters 0.07375738879061851 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.04, Z:-1.10 [[ 9.97747762e-01 3.52827336e-02 5.70485156e-02 9.50517130e+00] [-3.54282962e-02 9.99371031e-01 1.54186916e-03 -4.02038875e-02] [-5.69582325e-02 -3.55952821e-03 9.98370217e-01 -1.09805662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.026296757 meters 0.07213641074312428 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.04, Z:-1.11 [[ 9.97955964e-01 2.53741161e-02 5.86519297e-02 9.56580523e+00] [-2.55109319e-02 9.99673287e-01 1.58495290e-03 -4.43342913e-02] [-5.85925505e-02 -3.07797858e-03 9.98277236e-01 -1.10626289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.086296757 meters 0.07096197635664757 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.05, Z:-1.11 [[ 9.97827246e-01 2.18107232e-02 6.21697702e-02 9.62608635e+00] [-2.19575350e-02 9.99757494e-01 1.67915547e-03 -4.86772105e-02] [-6.21180701e-02 -3.04060198e-03 9.98064176e-01 -1.11122412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.146296757 meters 0.06974143159457315 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.06, Z:-1.12 [[ 9.97663125e-01 1.34547337e-02 6.69870085e-02 9.68531931e+00] [-1.36063887e-02 9.99905794e-01 1.80820133e-03 -5.82870772e-02] [-6.69563690e-02 -2.71542706e-03 9.97752209e-01 -1.11778878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.206296757 meters 0.06835521854196272 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.06, Z:-1.12 [[ 9.97632131e-01 6.43673249e-03 6.84740832e-02 9.74554656e+00] [-6.57872325e-03 9.99976652e-01 1.84834156e-03 -6.35299693e-02] [-6.84605871e-02 -2.29443697e-03 9.97651183e-01 -1.12380996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.266296757000001 meters 0.0672963997249566 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.07, Z:-1.13 [[ 9.97707692e-01 3.57553298e-03 6.75764470e-02 9.80839610e+00] [-3.70754187e-03 9.99991456e-01 1.82816078e-03 -6.98480971e-02] [-6.75693330e-02 -2.07451258e-03 9.97712424e-01 -1.12798744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.326296757 meters 0.07031173939547043 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.07, Z:-1.14 [[ 9.97967997e-01 8.46800150e-03 6.31519586e-02 9.86702823e+00] [-8.59256039e-03 9.99961636e-01 1.70103424e-03 -6.53799492e-02] [-6.31351315e-02 -2.24021475e-03 9.98002473e-01 -1.14362484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.386296757 meters 0.06955213372964023 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.07, Z:-1.15 [[ 9.97889346e-01 1.18893037e-02 6.38396230e-02 9.92958761e+00] [-1.20235326e-02 9.99926237e-01 1.71881291e-03 -6.53610050e-02] [-6.38144786e-02 -2.48276287e-03 9.97958691e-01 -1.14541060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.446296757 meters 0.07146938822932314 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.06, Z:-1.15 [[ 9.97543379e-01 1.90381369e-02 6.74148155e-02 9.98970215e+00] [-1.92036377e-02 9.99813959e-01 1.80771290e-03 -6.44421168e-02] [-6.73678581e-02 -3.09788172e-03 9.97723396e-01 -1.15297418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.506296757000001 meters 0.07349352553152205 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.06, Z:-1.16 [[ 9.97384088e-01 2.57301288e-02 6.75495555e-02 1.00497719e+01] [-2.59115312e-02 9.99662600e-01 1.81054313e-03 -5.74965162e-02] [-6.74801787e-02 -3.55611932e-03 9.97714277e-01 -1.16201898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.566296757 meters 0.0791883594698955 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.04, Z:-1.17 [[ 9.96378958e-01 4.12706710e-02 7.43350755e-02 1.01089752e+01] [-4.15332662e-02 9.99135141e-01 1.98956960e-03 -4.16972391e-02] [-7.41886753e-02 -5.06974376e-03 9.97231336e-01 -1.16898653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.626296757 meters 0.07806171788648522 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.04, Z:-1.17 [[ 9.95843920e-01 5.12379613e-02 7.52964641e-02 1.01698833e+01] [-5.15357287e-02 9.98669117e-01 2.01566629e-03 -3.88702539e-02] [-7.50929747e-02 -5.88774717e-03 9.97159155e-01 -1.17037919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.686296757000001 meters 0.08357295184498664 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.03, Z:-1.18 [[ 9.95980832e-01 5.58019984e-02 7.00593958e-02 1.02284892e+01] [-5.60707881e-02 9.98425036e-01 1.87437948e-03 -2.67854033e-02] [-6.98444606e-02 -5.79513157e-03 9.97541061e-01 -1.18407649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.746296757 meters 0.08201576248421773 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.03, Z:-1.19 [[ 9.96190310e-01 5.32516822e-02 6.90588430e-02 1.02892403e+01] [-5.35066131e-02 9.98565789e-01 1.84569323e-03 -2.84770053e-02] [-6.88615118e-02 -5.53376651e-03 9.97610881e-01 -1.19162156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.806296757 meters 0.0760503371614569 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.04, Z:-1.19 [[ 9.96279791e-01 4.78240982e-02 7.16898412e-02 1.03509457e+01] [-4.80848303e-02 9.98841421e-01 1.91456064e-03 -3.62863149e-02] [-7.15152207e-02 -5.35463192e-03 9.97425136e-01 -1.19246139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.866296757 meters 0.07262915326243212 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.05, Z:-1.20 [[ 9.96279267e-01 3.86592509e-02 7.70265150e-02 1.04118229e+01] [-3.89330613e-02 9.99239706e-01 2.05569791e-03 -4.58248695e-02] [-7.68884805e-02 -5.04692723e-03 9.97026925e-01 -1.19671359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.926296757000001 meters 0.07167379026371096 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.05, Z:-1.20 [[ 9.96483336e-01 3.03792405e-02 7.80900918e-02 1.04713030e+01] [-3.06353688e-02 9.99528455e-01 2.08373715e-03 -4.80267678e-02] [-7.79899664e-02 -4.46872811e-03 9.96944129e-01 -1.20451246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.986296757 meters 0.07143328061167663 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.05, Z:-1.21 [[ 9.96831185e-01 2.54578959e-02 7.53623531e-02 1.05307988e+01] [-2.56823248e-02 9.99668134e-01 2.01022054e-03 -4.91816968e-02] [-7.52861669e-02 -3.93933095e-03 9.97154188e-01 -1.21345355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.046296757 meters 0.07110162561947411 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.05, Z:-1.22 [[ 9.97131437e-01 2.08499276e-02 7.27611041e-02 1.05922361e+01] [-2.10470875e-02 9.99776596e-01 1.94393574e-03 -5.18380729e-02] [-7.27043180e-02 -3.46976876e-03 9.97347504e-01 -1.22268719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.106296757 meters 0.07097711390613276 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.05, Z:-1.23 [[ 9.97141492e-01 1.68862763e-02 7.36457615e-02 1.06513027e+01] [-1.70768629e-02 9.99852261e-01 1.95893057e-03 -5.22566076e-02] [-7.36018021e-02 -3.21096952e-03 9.97282540e-01 -1.23167109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.166296757 meters 0.06938451118335 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.06, Z:-1.23 [[ 9.96944713e-01 1.58531202e-02 7.64847591e-02 1.07131603e+01] [-1.60559253e-02 9.99869020e-01 2.03734786e-03 -5.73004343e-02] [-7.64424428e-02 -3.25915676e-03 9.97068669e-01 -1.23438956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.226296757 meters 0.07025690727663485 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.06, Z:-1.24 [[ 9.97113616e-01 1.92374020e-02 7.34463072e-02 1.07729874e+01] [-1.94329206e-02 9.99809265e-01 1.94832110e-03 -5.50391846e-02] [-7.33948178e-02 -3.36997375e-03 9.97297270e-01 -1.24293302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.286296757 meters 0.07215077326069373 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.05, Z:-1.25 [[ 9.97210837e-01 2.85063131e-02 6.89778026e-02 1.08328203e+01] [-2.87007388e-02 9.99586375e-01 1.82907458e-03 -4.63529415e-02] [-6.88971315e-02 -3.80368688e-03 9.97616518e-01 -1.25020636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.346296757000001 meters 0.07476094421952546 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.03, Z:-1.26 [[ 9.96562954e-01 3.91646171e-02 7.29959718e-02 1.08928771e+01] [-3.94108852e-02 9.99221214e-01 1.93588754e-03 -2.93463159e-02] [-7.28633053e-02 -4.80606967e-03 9.97330357e-01 -1.25541046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.406296757 meters 0.07727948449377209 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.02, Z:-1.26 [[ 9.96285898e-01 4.43250996e-02 7.38220454e-02 1.09515968e+01] [-4.45911346e-02 9.99003401e-01 1.95867371e-03 -1.65400911e-02] [-7.36616559e-02 -5.24320776e-03 9.97269507e-01 -1.26379850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.466296757 meters 0.07663064839078035 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.01, Z:-1.27 [[ 9.95957515e-01 4.74881724e-02 7.62463224e-02 1.10129768e+01] [-4.77807005e-02 9.98855816e-01 2.01597380e-03 -1.38684502e-02] [-7.60633476e-02 -5.65092696e-03 9.97086974e-01 -1.26749175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.526296757 meters 0.07676596592540297 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.01, Z:-1.27 [[ 9.95803891e-01 4.72526862e-02 7.83696043e-02 1.10736249e+01] [-4.75608526e-02 9.98866199e-01 2.06930935e-03 -6.02150883e-03] [-7.81829683e-02 -5.78795150e-03 9.96922225e-01 -1.27483792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.586296757 meters 0.07781458583021142 Centerline is valid? [True, True] Translation: X:11.13, Y:0.00, Z:-1.28 [[ 9.95913626e-01 4.57633279e-02 7.78573471e-02 1.11336066e+01] [-4.60627347e-02 9.98936439e-01 2.05310500e-03 6.52446726e-04] [-7.76805842e-02 -5.63103757e-03 9.96962396e-01 -1.28385631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.646296757 meters 0.0717737734741323 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.01, Z:-1.29 [[ 9.96334990e-01 4.23390051e-02 7.43235880e-02 1.11959204e+01] [-4.26021783e-02 9.99090196e-01 1.95841007e-03 -9.30073337e-03] [-7.41730510e-02 -5.11757923e-03 9.97232254e-01 -1.28631100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.706296757 meters 0.0709469690788249 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.01, Z:-1.29 [[ 9.96531483e-01 3.78883958e-02 7.40909781e-02 1.12565001e+01] [-3.81372419e-02 9.99270615e-01 1.94627881e-03 -1.28289328e-02] [-7.39631959e-02 -4.76515366e-03 9.97249587e-01 -1.29269896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.766296757000001 meters 0.070183609980319 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.01, Z:-1.30 [[ 9.96599051e-01 3.17394237e-02 7.60456488e-02 1.13156794e+01] [-3.19837445e-02 9.99486395e-01 1.99679141e-03 -1.19011659e-02] [-7.59432144e-02 -4.42222503e-03 9.97102338e-01 -1.29962660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.826296757 meters 0.07033574051730482 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.01, Z:-1.31 [[ 9.96435279e-01 3.17960597e-02 7.81392696e-02 1.13777000e+01] [-3.20545048e-02 9.99484009e-01 2.05512733e-03 -5.93176980e-03] [-7.80336055e-02 -4.55251697e-03 9.96940335e-01 -1.30686878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.886296757 meters 0.06996301467007751 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.01, Z:-1.31 [[ 9.96301781e-01 2.93335351e-02 8.07607928e-02 1.14383720e+01] [-2.96008576e-02 9.99559562e-01 2.11453629e-03 -7.79656619e-03] [-8.06631959e-02 -4.49730499e-03 9.96731269e-01 -1.31251803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.946296757 meters 0.0693696177713769 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.01, Z:-1.32 [[ 9.96573404e-01 2.29111907e-02 7.94765845e-02 1.14975814e+01] [-2.31494763e-02 9.99729855e-01 2.07798295e-03 -1.08223035e-02] [-7.94075053e-02 -3.91070385e-03 9.96834567e-01 -1.32281149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.006296757 meters 0.06999373401654824 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.01, Z:-1.33 [[ 9.96945959e-01 2.24292960e-02 7.48042899e-02 1.15581740e+01] [-2.26391511e-02 9.99741783e-01 1.95852182e-03 -1.02757400e-02] [-7.47410459e-02 -3.64604604e-03 9.97196311e-01 -1.33315750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.066296757 meters 0.06963601748706595 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.01, Z:-1.34 [[ 9.97631333e-01 2.46218869e-02 6.42299521e-02 1.16182991e+01] [-2.47808305e-02 9.99691498e-01 1.67899799e-03 -9.79802537e-03] [-6.41687969e-02 -3.26669256e-03 9.97933712e-01 -1.34080727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.126296757 meters 0.06937000801806298 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.01, Z:-1.35 [[ 9.97599171e-01 2.58187115e-02 6.42595425e-02 1.16805091e+01] [-2.59809754e-02 9.99661008e-01 1.69064926e-03 -9.46545550e-03] [-6.41941086e-02 -3.35611589e-03 9.97931788e-01 -1.34693538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.186296757000001 meters 0.06784063836258193 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.01, Z:-1.35 [[ 9.97293720e-01 2.76740824e-02 6.81130051e-02 1.17425937e+01] [-2.78589037e-02 9.99610307e-01 1.76488477e-03 -1.06145364e-02] [-6.80376204e-02 -3.65766215e-03 9.97676051e-01 -1.34728880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.246296757 meters 0.07177876317917344 Centerline is valid? [True, True] Translation: X:11.80, Y:0.00, Z:-1.35 [[ 9.96425584e-01 3.43428593e-02 7.71791714e-02 1.18034957e+01] [-3.46003641e-02 9.99399224e-01 2.00132985e-03 1.49904243e-03] [-7.70640727e-02 -4.66460370e-03 9.97015231e-01 -1.35429418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.306296757 meters 0.07088449397889539 Centerline is valid? [True, True] Translation: X:11.87, Y:0.00, Z:-1.35 [[ 9.95826170e-01 4.16763811e-02 8.11992464e-02 1.18650191e+01] [-4.19835459e-02 9.99116140e-01 2.07845086e-03 3.60189514e-03] [-8.10408554e-02 -5.47880804e-03 9.96695722e-01 -1.35430958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.366296757 meters 0.07343785023653325 Centerline is valid? [True, True] Translation: X:11.92, Y:0.01, Z:-1.37 [[ 9.96239754e-01 4.58078783e-02 7.35390465e-02 1.19246347e+01] [-4.60707097e-02 9.98936410e-01 1.88083691e-03 9.88674910e-03] [-7.33746739e-02 -5.26176056e-03 9.97290565e-01 -1.36736450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.426296757 meters 0.07469465701989529 Centerline is valid? [True, True] Translation: X:11.98, Y:0.01, Z:-1.38 [[ 9.96649545e-01 4.70816827e-02 6.68804906e-02 1.19839377e+01] [-4.73017539e-02 9.98879182e-01 1.70989758e-03 1.11358545e-02] [-6.67250249e-02 -4.86773315e-03 9.97759528e-01 -1.37768416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.486296757 meters 0.07535662926542916 Centerline is valid? [True, True] Translation: X:12.04, Y:0.02, Z:-1.38 [[ 9.96121809e-01 4.89539527e-02 7.31084990e-02 1.20449760e+01] [-4.92220690e-02 9.98786110e-01 1.86911745e-03 1.81641457e-02] [-7.29282527e-02 -5.46042024e-03 9.97322242e-01 -1.38073355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.546296757 meters 0.07365933531361886 Centerline is valid? [True, True] Translation: X:12.11, Y:0.01, Z:-1.38 [[ 9.96045446e-01 4.81127318e-02 7.46902578e-02 1.21068554e+01] [-4.83901233e-02 9.98826690e-01 1.90762970e-03 1.41122294e-02] [-7.45108417e-02 -5.51435666e-03 9.97204957e-01 -1.38407270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.606296757 meters 0.07531936178437636 Centerline is valid? [True, True] Translation: X:12.17, Y:0.02, Z:-1.39 [[ 9.96123614e-01 5.01800170e-02 7.22475700e-02 1.21671069e+01] [-5.04445153e-02 9.98725170e-01 1.83987963e-03 2.11684687e-02] [-7.20631415e-02 -5.47724119e-03 9.97385033e-01 -1.39385838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.666296757 meters 0.07665491533871475 Centerline is valid? [True, True] Translation: X:12.23, Y:0.03, Z:-1.40 [[ 9.96193584e-01 5.11652368e-02 7.05723832e-02 1.22276293e+01] [-5.14200706e-02 9.98675495e-01 1.79781695e-03 2.85343428e-02] [-7.03869240e-02 -5.41981064e-03 9.97505041e-01 -1.40331556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.726296757 meters 0.07399706684273362 Centerline is valid? [True, True] Translation: X:12.29, Y:0.03, Z:-1.41 [[ 9.95961609e-01 5.31868288e-02 7.23300375e-02 1.22897226e+01] [-5.34603057e-02 9.98568264e-01 1.84892458e-03 2.51576413e-02] [-7.21281415e-02 -5.70824381e-03 9.97379039e-01 -1.40653844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.786296757 meters 0.07163470029699812 Centerline is valid? [True, True] Translation: X:12.35, Y:0.03, Z:-1.41 [[ 9.95551012e-01 5.59901603e-02 7.57844641e-02 1.23526348e+01] [-5.62970554e-02 9.98412222e-01 1.91767743e-03 3.01288874e-02] [-7.55567641e-02 -6.17558788e-03 9.97122378e-01 -1.40631508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.846296757000001 meters 0.07739170225962601 Centerline is valid? [True, True] Translation: X:12.41, Y:0.05, Z:-1.42 [[ 9.95453438e-01 5.80178249e-02 7.55406117e-02 1.24110612e+01] [-5.83263626e-02 9.98295793e-01 1.88279817e-03 5.25220793e-02] [-7.53026390e-02 -6.28024703e-03 9.97140948e-01 -1.41755154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.906296757 meters 0.07390469971836319 Centerline is valid? [True, True] Translation: X:12.47, Y:0.05, Z:-1.43 [[ 9.96004974e-01 5.69608016e-02 6.87717910e-02 1.24718733e+01] [-5.72139749e-02 9.98360465e-01 1.71569265e-03 5.19936241e-02] [-6.85613100e-02 -5.64354594e-03 9.97630942e-01 -1.42565309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.966296757 meters 0.07359361594000027 Centerline is valid? [True, True] Translation: X:12.53, Y:0.06, Z:-1.44 [[ 9.96577180e-01 5.11370277e-02 6.49532767e-02 1.25308323e+01] [-5.13502219e-02 9.98679400e-01 1.61598158e-03 6.08046707e-02] [-6.47848629e-02 -4.94581555e-03 9.97886998e-01 -1.43558813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.026296757 meters 0.07359654499711035 Centerline is valid? [True, True] Translation: X:12.59, Y:0.08, Z:-1.44 [[ 9.96835099e-01 4.79620011e-02 6.33989823e-02 1.25906649e+01] [-4.81588561e-02 9.98838440e-01 1.57964283e-03 7.67634836e-02] [-6.32495778e-02 -4.62786588e-03 9.97987011e-01 -1.44314680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.086296757 meters 0.07365474064667553 Centerline is valid? [True, True] Translation: X:12.65, Y:0.08, Z:-1.45 [[ 9.96889054e-01 4.48431864e-02 6.48174564e-02 1.26500600e+01] [-4.50422946e-02 9.98983779e-01 1.61306225e-03 8.19971408e-02] [-6.46792526e-02 -4.52757106e-03 9.97895834e-01 -1.45056741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.146296757 meters 0.06583405685089244 Centerline is valid? [True, True] Translation: X:12.71, Y:0.07, Z:-1.45 [[ 9.96848161e-01 3.57791790e-02 7.08067443e-02 1.27121694e+01] [-3.59941719e-02 9.99350446e-01 1.76233957e-03 6.61471189e-02] [-7.06976964e-02 -4.30541508e-03 9.97488496e-01 -1.44609135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.206296757 meters 0.06434241221452199 Centerline is valid? [True, True] Translation: X:12.77, Y:0.07, Z:-1.45 [[ 9.96695513e-01 2.74271739e-02 7.64578600e-02 1.27723673e+01] [-2.76534532e-02 9.99615760e-01 1.90218962e-03 6.64191108e-02] [-7.63763101e-02 -4.01022771e-03 9.97070999e-01 -1.45009127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.266296757000001 meters 0.06474416034918654 Centerline is valid? [True, True] Translation: X:12.83, Y:0.07, Z:-1.46 [[ 9.97044048e-01 2.47465870e-02 7.27376917e-02 1.28332837e+01] [-2.49446668e-02 9.99687184e-01 1.81591785e-03 6.78892545e-02] [-7.26700004e-02 -3.62496757e-03 9.97349453e-01 -1.46018514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.326296757 meters 0.06494136251110741 Centerline is valid? [True, True] Translation: X:12.89, Y:0.07, Z:-1.47 [[ 9.97307101e-01 2.37887709e-02 6.93732024e-02 1.28949455e+01] [-2.39654682e-02 9.99711315e-01 1.71576577e-03 7.11152996e-02] [-6.93123594e-02 -3.37370666e-03 9.97589302e-01 -1.46894801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.386296757 meters 0.06511852180317888 Centerline is valid? [True, True] Translation: X:12.96, Y:0.07, Z:-1.48 [[ 9.97123834e-01 2.49851605e-02 7.15527912e-02 1.29569712e+01] [-2.51763882e-02 9.99681454e-01 1.77177135e-03 7.31513284e-02] [-7.14857304e-02 -3.56811630e-03 9.97435240e-01 -1.47587129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.446296757 meters 0.06602221451633226 Centerline is valid? [True, True] Translation: X:13.02, Y:0.08, Z:-1.48 [[ 9.96978529e-01 2.74984895e-02 7.26474106e-02 1.30182209e+01] [-2.77009076e-02 9.99614671e-01 1.78005765e-03 7.91636035e-02] [-7.25704686e-02 -3.78707847e-03 9.97356097e-01 -1.48338342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.506296757 meters 0.06833772269732642 Centerline is valid? [True, True] Translation: X:13.08, Y:0.09, Z:-1.49 [[ 9.97019967e-01 3.23144845e-02 7.00496998e-02 1.30780133e+01] [-3.25127934e-02 9.99469887e-01 1.69236954e-03 8.64872011e-02] [-6.99578774e-02 -3.96483764e-03 9.97542067e-01 -1.49356063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.566296757 meters 0.07214111744784822 Centerline is valid? [True, True] Translation: X:13.14, Y:0.09, Z:-1.50 [[ 9.96785298e-01 3.93426524e-02 6.97941636e-02 1.31373064e+01] [-3.95565903e-02 9.99215911e-01 1.68529014e-03 9.25140506e-02] [-6.96731349e-02 -4.44069157e-03 9.97559990e-01 -1.50420729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.626296757 meters 0.0746227860626255 Centerline is valid? [True, True] Translation: X:13.20, Y:0.10, Z:-1.51 [[ 9.95807016e-01 4.63200721e-02 7.88849602e-02 1.31989579e+01] [-4.66158747e-02 9.98911060e-01 1.91142608e-03 1.00500599e-01] [-7.87105219e-02 -5.58070293e-03 9.96881893e-01 -1.50755623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.686296757000001 meters 0.07591737703700065 Centerline is valid? [True, True] Translation: X:13.26, Y:0.11, Z:-1.51 [[ 9.95438509e-01 5.26665750e-02 7.95512834e-02 1.32596002e+01] [-5.29856311e-02 9.98593460e-01 1.90368033e-03 1.08711432e-01] [-7.93391311e-02 -6.11007167e-03 9.96828957e-01 -1.51290343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.746296757 meters 0.07887369484236265 Centerline is valid? [True, True] Translation: X:13.32, Y:0.11, Z:-1.53 [[ 9.95715796e-01 5.51571008e-02 7.42141977e-02 1.33180037e+01] [-5.54415492e-02 9.98460354e-01 1.77658707e-03 1.12199982e-01] [-7.40019427e-02 -5.88352591e-03 9.97240742e-01 -1.52590724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.806296757 meters 0.08007183534643221 Centerline is valid? [True, True] Translation: X:13.38, Y:0.12, Z:-1.53 [[ 9.95513553e-01 5.72828328e-02 7.53089777e-02 1.33783755e+01] [-5.75812417e-02 9.98339209e-01 1.79538410e-03 1.15096715e-01] [-7.50810606e-02 -6.12371366e-03 9.97158631e-01 -1.53378257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.866296757 meters 0.07556372792723438 Centerline is valid? [True, True] Translation: X:13.44, Y:0.11, Z:-1.53 [[ 9.95005710e-01 6.01358325e-02 7.96700673e-02 1.34413131e+01] [-6.04795408e-02 9.98167617e-01 1.90595803e-03 1.09799787e-01] [-7.94094649e-02 -6.71484821e-03 9.96819466e-01 -1.53470915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.926296757 meters 0.07755177981290261 Centerline is valid? [True, True] Translation: X:13.50, Y:0.12, Z:-1.54 [[ 9.94812209e-01 6.12579334e-02 8.12165932e-02 1.35013939e+01] [-6.16171367e-02 9.98098009e-01 1.92150907e-03 1.16799174e-01] [-8.09444123e-02 -6.91587460e-03 9.96694624e-01 -1.54312467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.986296757 meters 0.07710790197556622 Centerline is valid? [True, True] Translation: X:13.56, Y:0.12, Z:-1.55 [[ 9.94736412e-01 6.09646614e-02 8.23576341e-02 1.35633726e+01] [-6.13315549e-02 9.98115582e-01 1.93002633e-03 1.17768987e-01] [-8.20847745e-02 -6.97098923e-03 9.96600971e-01 -1.55032182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.046296757 meters 0.07803840299921716 Centerline is valid? [True, True] Translation: X:13.62, Y:0.12, Z:-1.56 [[ 9.94866145e-01 5.85166752e-02 8.25660474e-02 1.36230587e+01] [-5.88747493e-02 9.98263557e-01 1.90672337e-03 1.19318020e-01] [-8.23111010e-02 -6.75798987e-03 9.96583771e-01 -1.55696239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.106296757 meters 0.0750311760771997 Centerline is valid? [True, True] Translation: X:13.68, Y:0.11, Z:-1.56 [[ 9.95445097e-01 5.45723069e-02 7.81723919e-02 1.36832169e+01] [-5.48810712e-02 9.98491266e-01 1.80525932e-03 1.13238149e-01] [-7.79559334e-02 -6.08722114e-03 9.96938222e-01 -1.56464788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.166296757 meters 0.07389160015232735 Centerline is valid? [True, True] Translation: X:13.74, Y:0.12, Z:-1.57 [[ 9.95840840e-01 4.77451898e-02 7.75978015e-02 1.37430749e+01] [-4.80288725e-02 9.98844339e-01 1.79257841e-03 1.15660666e-01] [-7.74225378e-02 -5.51205770e-03 9.96983133e-01 -1.57325500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.226296757 meters 0.07152439106290549 Centerline is valid? [True, True] Translation: X:13.80, Y:0.11, Z:-1.58 [[ 9.95949184e-01 3.96215478e-02 8.07177546e-02 1.38032543e+01] [-3.99019122e-02 9.99201865e-01 1.86269384e-03 1.05399520e-01] [-8.05795281e-02 -5.07594116e-03 9.96735258e-01 -1.57895544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.286296757 meters 0.07127080020531411 Centerline is valid? [True, True] Translation: X:13.86, Y:0.10, Z:-1.59 [[ 9.95913117e-01 3.58757522e-02 8.28854242e-02 1.38631907e+01] [-3.61585628e-02 9.99344234e-01 1.91301279e-03 1.04397956e-01] [-8.27624401e-02 -4.90221235e-03 9.96557247e-01 -1.58696436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.346296757 meters 0.07118105809333043 Centerline is valid? [True, True] Translation: X:13.92, Y:0.11, Z:-1.60 [[ 9.96352436e-01 3.83022349e-02 7.62545833e-02 1.39230486e+01] [-3.85485228e-02 9.99255180e-01 1.75999837e-03 1.05149099e-01] [-7.61303755e-02 -4.69308021e-03 9.97086827e-01 -1.59733200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.406296757 meters 0.07265946246158238 Centerline is valid? [True, True] Translation: X:13.98, Y:0.10, Z:-1.61 [[ 9.96413877e-01 4.22960415e-02 7.32832181e-02 1.39836544e+01] [-4.25341870e-02 9.99093580e-01 1.69139256e-03 1.02036324e-01] [-7.31452536e-02 -4.80236913e-03 9.97309736e-01 -1.60621632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.466296757 meters 0.07048514771606484 Centerline is valid? [True, True] Translation: X:14.05, Y:0.10, Z:-1.61 [[ 9.95971384e-01 4.57652867e-02 7.71138223e-02 1.40458404e+01] [-4.60395306e-02 9.98938030e-01 1.78138795e-03 9.94674387e-02] [-7.69504040e-02 -5.32449561e-03 9.97020704e-01 -1.60676379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.526296757 meters 0.072886835466067 Centerline is valid? [True, True] Translation: X:14.11, Y:0.10, Z:-1.61 [[ 9.95400681e-01 5.20287396e-02 8.04393819e-02 1.41055702e+01] [-5.23463691e-02 9.98627287e-01 1.84352948e-03 1.02403144e-01] [-8.02330452e-02 -6.04576007e-03 9.96757798e-01 -1.61261840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.586296757 meters 0.0736405146809273 Centerline is valid? [True, True] Translation: X:14.17, Y:0.10, Z:-1.62 [[ 9.95409543e-01 5.23921517e-02 8.00930913e-02 1.41667575e+01] [-5.27086112e-02 9.98608239e-01 1.84061261e-03 1.01776566e-01] [-7.98851872e-02 -6.05375897e-03 9.96785689e-01 -1.62175220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.646296757 meters 0.07552674949901293 Centerline is valid? [True, True] Translation: X:14.23, Y:0.11, Z:-1.63 [[ 9.95545091e-01 5.27747832e-02 7.81331865e-02 1.42267859e+01] [-5.30752101e-02 9.98588946e-01 1.77197136e-03 1.08182013e-01] [-7.79294209e-02 -5.91101268e-03 9.96941355e-01 -1.63117981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.706296757 meters 0.07567275514131708 Centerline is valid? [True, True] Translation: X:14.29, Y:0.10, Z:-1.64 [[ 9.96152366e-01 4.77715239e-02 7.34734338e-02 1.42862823e+01] [-4.80225617e-02 9.98844884e-01 1.65292636e-03 9.97473322e-02] [-7.33096007e-02 -5.17494902e-03 9.97295805e-01 -1.64222422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.766296757 meters 0.0744750484576028 Centerline is valid? [True, True] Translation: X:14.35, Y:0.09, Z:-1.65 [[ 9.96385613e-01 4.35323327e-02 7.29427616e-02 1.43462164e+01] [-4.37684705e-02 9.99040353e-01 1.64125009e-03 9.24432977e-02] [-7.28013148e-02 -4.82791109e-03 9.97334778e-01 -1.65003636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.826296757 meters 0.0737227696063346 Centerline is valid? [True, True] Translation: X:14.41, Y:0.10, Z:-1.66 [[ 9.96104866e-01 4.21803402e-02 7.74332912e-02 1.44065008e+01] [-4.24424581e-02 9.99097395e-01 1.74177007e-03 9.67110611e-02] [-7.72899310e-02 -5.02144485e-03 9.96996014e-01 -1.65548727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.886296757 meters 0.07000820572004857 Centerline is valid? [True, True] Translation: X:14.47, Y:0.08, Z:-1.66 [[ 9.96232135e-01 3.48700156e-02 7.94079021e-02 1.44672512e+01] [-3.51225390e-02 9.99381419e-01 1.78516767e-03 7.80646521e-02] [-7.92965330e-02 -4.56744854e-03 9.96840608e-01 -1.65851088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.946296757 meters 0.06878535174400419 Centerline is valid? [True, True] Translation: X:14.53, Y:0.07, Z:-1.67 [[ 9.96401609e-01 2.94929058e-02 7.94606970e-02 1.45271626e+01] [-2.97288361e-02 9.99556402e-01 1.78751691e-03 6.86868517e-02] [-7.93727293e-02 -4.14335876e-03 9.96836397e-01 -1.66613679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.006296757 meters 0.06969052291479147 Centerline is valid? [True, True] Translation: X:14.59, Y:0.07, Z:-1.68 [[ 9.96201359e-01 3.01743653e-02 8.16845101e-02 1.45872730e+01] [-3.04265187e-02 9.99535306e-01 1.84362757e-03 7.18334239e-02] [-8.15909215e-02 -4.32199956e-03 9.96656532e-01 -1.67562453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.066296757 meters 0.07073996158512588 Centerline is valid? [True, True] Translation: X:14.65, Y:0.06, Z:-1.69 [[ 9.96486852e-01 3.14150823e-02 7.76340529e-02 1.46482321e+01] [-3.16446581e-02 9.99497688e-01 1.72841135e-03 6.03553934e-02] [-7.75407582e-02 -4.17904224e-03 9.96980424e-01 -1.68548500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.126296757 meters 0.07057610027321472 Centerline is valid? [True, True] Translation: X:14.71, Y:0.05, Z:-1.69 [[ 9.96470765e-01 3.19336395e-02 7.76289694e-02 1.47100152e+01] [-3.21651419e-02 9.99481065e-01 1.73331661e-03 5.43160409e-02] [-7.75333339e-02 -4.22414614e-03 9.96980812e-01 -1.69313848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.186296757 meters 0.06995140885608499 Centerline is valid? [True, True] Translation: X:14.77, Y:0.04, Z:-1.70 [[ 9.95969071e-01 3.18958327e-02 8.38347569e-02 1.47705915e+01] [-3.21633082e-02 9.99480930e-01 1.84152300e-03 4.30526610e-02] [-8.37325039e-02 -4.53050307e-03 9.96477969e-01 -1.69749370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.246296757 meters 0.06889341481954826 Centerline is valid? [True, True] Translation: X:14.83, Y:0.03, Z:-1.70 [[ 9.95760480e-01 2.89590900e-02 8.73065773e-02 1.48319152e+01] [-2.92380755e-02 9.99570636e-01 1.91811527e-03 2.61346449e-02] [-8.72135441e-02 -4.46265968e-03 9.96179644e-01 -1.70186223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.306296757000002 meters 0.06848624581837232 Centerline is valid? [True, True] Translation: X:14.89, Y:0.02, Z:-1.71 [[ 9.95881255e-01 3.06817750e-02 8.53179632e-02 1.48931452e+01] [-3.09544081e-02 9.99519040e-01 1.87412529e-03 1.88835091e-02] [-8.52194272e-02 -4.50737330e-03 9.96352012e-01 -1.70811187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.366296757 meters 0.07094778466152661 Centerline is valid? [True, True] Translation: X:14.95, Y:0.02, Z:-1.72 [[ 9.96133113e-01 3.76246625e-02 7.93927327e-02 1.49512727e+01] [-3.78824176e-02 9.99280685e-01 1.74237766e-03 2.09477314e-02] [-7.92700679e-02 -4.74322874e-03 9.96841892e-01 -1.72114623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.426296757 meters 0.07219193837649154 Centerline is valid? [True, True] Translation: X:15.01, Y:0.02, Z:-1.73 [[ 9.96091666e-01 4.49775973e-02 7.60158485e-02 1.50114624e+01] [-4.52345965e-02 9.98975010e-01 1.66161296e-03 1.69225727e-02] [-7.58631976e-02 -5.09366505e-03 9.97105225e-01 -1.72961156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.486296757 meters 0.07418603752357747 Centerline is valid? [True, True] Translation: X:15.07, Y:0.01, Z:-1.74 [[ 9.95889163e-01 4.82481075e-02 7.66609060e-02 1.50706694e+01] [-4.85189997e-02 9.98820857e-01 1.67399380e-03 1.38090671e-02] [-7.64897448e-02 -5.38662276e-03 9.97055818e-01 -1.73690987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.546296757 meters 0.07407704275223494 Centerline is valid? [True, True] Translation: X:15.13, Y:0.01, Z:-1.74 [[ 9.95603388e-01 4.85125011e-02 8.01275942e-02 1.51325503e+01] [-4.88095455e-02 9.98806568e-01 1.75150831e-03 7.24968772e-03] [-7.99469974e-02 -5.65479907e-03 9.96783076e-01 -1.74142560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.606296757 meters 0.07426286782219416 Centerline is valid? [True, True] Translation: X:15.19, Y:0.00, Z:-1.75 [[ 9.95722254e-01 4.76254953e-02 7.91770507e-02 1.51940199e+01] [-4.79129266e-02 9.98850012e-01 1.73333974e-03 1.94413470e-03] [-7.90034469e-02 -5.51952917e-03 9.96859062e-01 -1.74891267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.666296757 meters 0.07308777856755347 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.02, Z:-1.75 [[ 9.95861580e-01 4.52395116e-02 7.88232207e-02 1.52558967e+01] [-4.55148913e-02 9.98962214e-01 1.69961165e-03 -1.79581947e-02] [-7.86645295e-02 -5.28020826e-03 9.96887161e-01 -1.75405558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.726296757 meters 0.07249640106018947 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.03, Z:-1.76 [[ 9.95888500e-01 4.22209162e-02 8.01466829e-02 1.53168866e+01] [-4.24954809e-02 9.99095174e-01 1.72242978e-03 -2.50615277e-02] [-8.00014416e-02 -5.12121983e-03 9.96781592e-01 -1.75977952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.786296757 meters 0.07217206711406587 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.04, Z:-1.77 [[ 9.96017520e-01 3.87041645e-02 8.03186615e-02 1.53767913e+01] [-3.89684160e-02 9.99238955e-01 1.72458312e-03 -3.68202190e-02] [-8.01907868e-02 -4.84760602e-03 9.96767745e-01 -1.76966508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.846296757 meters 0.07157608719066542 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.05, Z:-1.78 [[ 9.96053807e-01 3.94545623e-02 7.94993818e-02 1.54383591e+01] [-3.97164936e-02 9.99209516e-01 1.71561841e-03 -4.60875521e-02] [-7.93688498e-02 -4.86628494e-03 9.96833439e-01 -1.77706012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.906296757 meters 0.07383315158652426 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.05, Z:-1.79 [[ 9.96062808e-01 4.02726134e-02 7.89746746e-02 1.54984741e+01] [-4.05317593e-02 9.99176837e-01 1.68048183e-03 -5.03831890e-02] [-7.88419883e-02 -4.87484796e-03 9.96875206e-01 -1.78669190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.966296757 meters 0.07297731407890148 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.06, Z:-1.79 [[ 9.95552758e-01 4.43960128e-02 8.30885039e-02 1.55598763e+01] [-4.46961239e-02 9.98999088e-01 1.75443190e-03 -5.74403603e-02] [-8.29274499e-02 -5.46036358e-03 9.96540628e-01 -1.79054675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.026296757 meters 0.07501010460326794 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.06, Z:-1.80 [[ 9.95184362e-01 4.97162501e-02 8.44771035e-02 1.56205095e+01] [-5.00452843e-02 9.98745363e-01 1.78048280e-03 -5.50611319e-02] [-8.42825964e-02 -5.99958929e-03 9.96423830e-01 -1.79806859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.086296757 meters 0.07508706947968276 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.06, Z:-1.81 [[ 9.95042685e-01 5.28921662e-02 8.42168291e-02 1.56812542e+01] [-5.32302392e-02 9.98580693e-01 1.77237948e-03 -6.28004909e-02] [-8.40035546e-02 -6.24647519e-03 9.96445876e-01 -1.80512357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.146296757 meters 0.07871350555633937 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.06, Z:-1.81 [[ 9.95014725e-01 5.50041409e-02 8.31879912e-02 1.57401884e+01] [-5.53411684e-02 9.98465971e-01 1.74922458e-03 -5.98511415e-02] [-8.29641638e-02 -6.34422484e-03 9.96532337e-01 -1.81460167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.206296757 meters 0.07707358584192132 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.07, Z:-1.82 [[ 9.95097326e-01 5.47414744e-02 8.23691843e-02 1.58015597e+01] [-5.50716126e-02 9.98480892e-01 1.73970758e-03 -6.53408697e-02] [-8.21488224e-02 -6.26738217e-03 9.96600367e-01 -1.82292523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.266296757 meters 0.07642262451046693 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.07, Z:-1.83 [[ 9.95166853e-01 5.14617091e-02 8.36338892e-02 1.58621684e+01] [-5.17882911e-02 9.98656572e-01 1.73872797e-03 -7.11712820e-02] [-8.34320552e-02 -6.06158064e-03 9.96495032e-01 -1.82802944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.326296757 meters 0.07750401080946477 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.08, Z:-1.84 [[ 9.95483389e-01 4.78218903e-02 8.20115193e-02 1.59214747e+01] [-4.81235157e-02 9.98839939e-01 1.70398657e-03 -7.66094079e-02] [-8.18348931e-02 -5.64297296e-03 9.96629925e-01 -1.83727960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.386296757 meters 0.07827702302403466 Centerline is valid? [True, True] Translation: X:15.98, Y:-0.07, Z:-1.84 [[ 9.95269353e-01 4.98897475e-02 8.33662334e-02 1.59832592e+01] [-5.02088412e-02 9.98737235e-01 1.73418375e-03 -7.34077822e-02] [-8.31744435e-02 -5.91170191e-03 9.96517468e-01 -1.84462414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.446296757 meters 0.07878764058995676 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.08, Z:-1.85 [[ 9.94968403e-01 5.16842611e-02 8.58289780e-02 1.60453115e+01] [-5.20291019e-02 9.98643975e-01 1.78420441e-03 -7.59381190e-02] [-8.56203765e-02 -6.24083166e-03 9.96308287e-01 -1.84806225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.506296757 meters 0.07907305889797425 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.08, Z:-1.86 [[ 9.94974380e-01 5.17084136e-02 8.57451082e-02 1.61064727e+01] [-5.20509657e-02 9.98642874e-01 1.76264900e-03 -7.58854095e-02] [-8.55375975e-02 -6.21690628e-03 9.96315547e-01 -1.85658838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.566296757 meters 0.07904736793281576 Centerline is valid? [True, True] Translation: X:16.17, Y:-0.08, Z:-1.87 [[ 9.95391877e-01 4.92887018e-02 8.22534842e-02 1.61681147e+01] [-4.95937414e-02 9.98768080e-01 1.66832131e-03 -7.68030920e-02] [-8.20699251e-02 -5.73989150e-03 9.96610045e-01 -1.86816973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.626296757 meters 0.07838401759600126 Centerline is valid? [True, True] Translation: X:16.23, Y:-0.09, Z:-1.87 [[ 9.95422119e-01 4.49335386e-02 8.43550902e-02 1.62278065e+01] [-4.52381230e-02 9.98974783e-01 1.70180926e-03 -8.54170092e-02] [-8.41921396e-02 -5.51008453e-03 9.96434304e-01 -1.87392354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.686296757 meters 0.0781882385024163 Centerline is valid? [True, True] Translation: X:16.29, Y:-0.09, Z:-1.88 [[ 9.95614993e-01 4.29565510e-02 8.30994666e-02 1.62893433e+01] [-4.32452635e-02 9.99063079e-01 1.67664805e-03 -8.72001005e-02] [-8.29495860e-02 -5.26295427e-03 9.96539847e-01 -1.88100648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.746296757 meters 0.07363628197128444 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.09, Z:-1.88 [[ 9.95527638e-01 4.55498407e-02 8.27643255e-02 1.63510626e+01] [-4.58447892e-02 9.98947186e-01 1.66580883e-03 -9.43224747e-02] [-8.26013127e-02 -5.45267179e-03 9.96567756e-01 -1.88111816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.806296757 meters 0.07478019924703531 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.09, Z:-1.89 [[ 9.95441203e-01 4.78981016e-02 8.24777702e-02 1.64111268e+01] [-4.81986691e-02 9.98836396e-01 1.65588866e-03 -8.80512863e-02] [-8.23024848e-02 -5.62365856e-03 9.96591529e-01 -1.89011958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.866296757 meters 0.07604059653331734 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.09, Z:-1.90 [[ 9.95424443e-01 4.88613938e-02 8.21142016e-02 1.64723040e+01] [-4.91630290e-02 9.98789397e-01 1.65426526e-03 -8.57796250e-02] [-8.19339643e-02 -5.68367895e-03 9.96621554e-01 -1.89899842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.926296757 meters 0.07528391325668925 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.08, Z:-1.91 [[ 9.95336705e-01 4.36673378e-02 8.60116673e-02 1.65322731e+01] [-4.39767005e-02 9.99031103e-01 1.70436845e-03 -8.30739896e-02] [-8.58539057e-02 -5.47892981e-03 9.96292672e-01 -1.90632713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.986296757 meters 0.07312014571150856 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.09, Z:-1.91 [[ 9.95797248e-01 3.45929934e-02 8.48007442e-02 1.65925800e+01] [-3.48609759e-02 9.99390758e-01 1.68095192e-03 -9.03366272e-02] [-8.46909309e-02 -4.63012400e-03 9.96396512e-01 -1.91323330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.046296757 meters 0.070830349979822 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.10, Z:-1.92 [[ 9.96454945e-01 2.41534187e-02 8.05863143e-02 1.66532550e+01] [-2.43612584e-02 9.99701945e-01 1.59675641e-03 -9.89010730e-02] [-8.05237280e-02 -3.55427985e-03 9.96746355e-01 -1.92033047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.106296757 meters 0.07065192807120034 Centerline is valid? [True, True] Translation: X:16.71, Y:-0.10, Z:-1.93 [[ 9.96408924e-01 2.17181713e-02 8.18387323e-02 1.67145273e+01] [-2.19243356e-02 9.99758318e-01 1.62125137e-03 -9.74991906e-02] [-8.17837428e-02 -3.40968916e-03 9.96644266e-01 -1.92738023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.166296757 meters 0.07079578563268345 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.09, Z:-1.93 [[ 9.96183895e-01 2.51876412e-02 8.35657215e-02 1.67758551e+01] [-2.54146060e-02 9.99675630e-01 1.65319104e-03 -9.00565440e-02] [-8.34969753e-02 -3.77067217e-03 9.96500897e-01 -1.93224161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.226296757 meters 0.07268386929042947 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.08, Z:-1.94 [[ 9.96269831e-01 3.02988329e-02 8.07985388e-02 1.68352296e+01] [-3.05267845e-02 9.99532689e-01 1.58716291e-03 -8.14556216e-02] [-8.07126916e-02 -4.04776210e-03 9.96729189e-01 -1.94081987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.286296757 meters 0.07428100803020608 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.07, Z:-1.95 [[ 9.96107202e-01 3.46354688e-02 8.10606386e-02 1.68953225e+01] [-3.48788789e-02 9.99390285e-01 1.58833455e-03 -7.33812148e-02] [-8.09562020e-02 -4.40945569e-03 9.96707906e-01 -1.95075108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.346296757 meters 0.07387191571736776 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.07, Z:-1.96 [[ 9.96114733e-01 4.04995421e-02 7.81999053e-02 1.69556688e+01] [-4.07439149e-02 9.99168448e-01 1.53132210e-03 -6.72067634e-02] [-7.80728602e-02 -4.71154279e-03 9.96936522e-01 -1.95826210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.406296757 meters 0.0779742882639753 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.05, Z:-1.97 [[ 9.95816882e-01 4.25390631e-02 8.08651017e-02 1.70157367e+01] [-4.28076387e-02 9.99082068e-01 1.58973589e-03 -5.35472405e-02] [-8.07232471e-02 -5.04472990e-03 9.96723787e-01 -1.97022524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.466296757 meters 0.07761390164847268 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.05, Z:-1.97 [[ 9.95575881e-01 4.05118005e-02 8.47788823e-02 1.70769961e+01] [-4.07976091e-02 9.99166084e-01 1.64072218e-03 -5.10871754e-02] [-8.46417152e-02 -5.09223914e-03 9.96398439e-01 -1.97279009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.526296757 meters 0.07578860243412326 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.05, Z:-1.98 [[ 9.95767215e-01 4.18206358e-02 8.18455153e-02 1.71377822e+01] [-4.20911527e-02 9.99112522e-01 1.58186926e-03 -5.12294176e-02] [-8.17067245e-02 -5.02014562e-03 9.96643773e-01 -1.97834752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.586296757 meters 0.07823345996408704 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.04, Z:-1.99 [[ 9.95845000e-01 4.64158617e-02 7.83473310e-02 1.71969110e+01] [-4.66777317e-02 9.98908854e-01 1.51339628e-03 -3.85636524e-02] [-7.81915971e-02 -5.16418382e-03 9.96924975e-01 -1.98791945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.646296757 meters 0.07917429341242066 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.03, Z:-1.99 [[ 9.95616802e-01 5.04498385e-02 7.87527620e-02 1.72571130e+01] [-5.07267587e-02 9.98711415e-01 1.51846959e-03 -2.83395144e-02] [-7.85746758e-02 -5.50668620e-03 9.96893022e-01 -1.99267317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.706296757 meters 0.0803688864066054 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.02, Z:-2.00 [[ 9.95610622e-01 5.24132054e-02 7.75393201e-02 1.73176693e+01] [-5.26875551e-02 9.98609927e-01 1.49527171e-03 -1.57048544e-02] [-7.73531628e-02 -5.57406560e-03 9.96988173e-01 -1.99966485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.766296757 meters 0.0821397766652652 Centerline is valid? [True, True] Translation: X:17.38, Y:0.00, Z:-2.01 [[ 9.95840608e-01 5.28965914e-02 7.41851376e-02 1.73769197e+01] [-5.31487335e-02 9.98585587e-01 1.42741869e-03 4.94381846e-04] [-7.40047036e-02 -5.36432760e-03 9.97243465e-01 -2.00994850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.826296757 meters 0.08269452660883554 Centerline is valid? [True, True] Translation: X:17.44, Y:0.01, Z:-2.02 [[ 9.95980565e-01 5.33164135e-02 7.19727295e-02 1.74373493e+01] [-5.35546996e-02 9.98563959e-01 1.38373322e-03 6.20116484e-03] [-7.17955980e-02 -5.23264930e-03 9.97405640e-01 -2.01792747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.886296757 meters 0.08258945435985238 Centerline is valid? [True, True] Translation: X:17.50, Y:0.01, Z:-2.03 [[ 9.96385937e-01 4.91288879e-02 6.92922560e-02 1.74965887e+01] [-4.93395132e-02 9.98781178e-01 1.33043066e-03 1.43505675e-02] [-6.91424385e-02 -4.74446858e-03 9.97595516e-01 -2.02657868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.946296757 meters 0.07958865550520038 Centerline is valid? [True, True] Translation: X:17.56, Y:0.02, Z:-2.03 [[ 9.96876487e-01 3.90027196e-02 6.86735569e-02 1.75559401e+01] [-3.91856705e-02 9.99231077e-01 1.31847153e-03 1.52625506e-02] [-6.85693282e-02 -4.00537264e-03 9.97638313e-01 -2.03249149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.006296757 meters 0.07726512292009717 Centerline is valid? [True, True] Translation: X:17.62, Y:0.02, Z:-2.04 [[ 9.97173243e-01 3.05268599e-02 6.86559072e-02 1.76163759e+01] [-3.06897431e-02 9.99528089e-01 1.31870333e-03 1.56249116e-02] [-6.85832519e-02 -3.42200783e-03 9.97639528e-01 -2.03970728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.066296757 meters 0.07153920915613539 Centerline is valid? [True, True] Translation: X:17.68, Y:0.01, Z:-2.03 [[ 9.97365011e-01 2.60082666e-02 6.77244758e-02 1.76784362e+01] [-2.61563568e-02 9.99657018e-01 1.30069355e-03 8.16160761e-03] [-6.76674188e-02 -3.06869179e-03 9.97703214e-01 -2.03443838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.126296757 meters 0.07084953746868904 Centerline is valid? [True, True] Translation: X:17.74, Y:0.01, Z:-2.04 [[ 9.97602421e-01 2.03226778e-02 6.61543495e-02 1.77373121e+01] [-2.04513165e-02 9.99790046e-01 1.26782088e-03 9.78925532e-03] [-6.61146946e-02 -2.61772471e-03 9.97808596e-01 -2.04151528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.186296757 meters 0.06997252828977917 Centerline is valid? [True, True] Translation: X:17.80, Y:0.01, Z:-2.05 [[ 9.97786232e-01 1.53368546e-02 6.47102491e-02 1.77987759e+01] [-1.54498177e-02 9.99879869e-01 1.24560134e-03 7.05982001e-03] [-6.46833718e-02 -2.24260542e-03 9.97903318e-01 -2.04772238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.246296757 meters 0.06994387118237104 Centerline is valid? [True, True] Translation: X:17.86, Y:0.01, Z:-2.06 [[ 9.97827973e-01 1.42224239e-02 6.43199774e-02 1.78602799e+01] [-1.43319298e-02 9.99896522e-01 1.24142330e-03 7.69082564e-03] [-6.42956657e-02 -2.16055630e-03 9.97928554e-01 -2.05529835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.306296757 meters 0.06967250595841337 Centerline is valid? [True, True] Translation: X:17.92, Y:0.01, Z:-2.06 [[ 9.97959224e-01 1.57547145e-02 6.18803376e-02 1.79214414e+01] [-1.58574743e-02 9.99873578e-01 1.16983925e-03 6.40979826e-03] [-6.18540841e-02 -2.14871774e-03 9.98082890e-01 -2.05922862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.366296757 meters 0.070475150515449 Centerline is valid? [True, True] Translation: X:17.98, Y:0.01, Z:-2.07 [[ 9.97788175e-01 2.01563738e-02 6.33441241e-02 1.79817840e+01] [-2.02734926e-02 9.99793743e-01 1.20665899e-03 1.04345795e-02] [-6.33067370e-02 -2.48819670e-03 9.97991015e-01 -2.06777321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.426296757 meters 0.07281800462512515 Centerline is valid? [True, True] Translation: X:18.04, Y:0.02, Z:-2.08 [[ 9.97484563e-01 2.99703210e-02 6.42364907e-02 1.80421423e+01] [-3.01095128e-02 9.99545886e-01 1.19967844e-03 1.96596443e-02] [-6.41713653e-02 -3.13079016e-03 9.97933983e-01 -2.07661405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.486296757 meters 0.07787313216042728 Centerline is valid? [True, True] Translation: X:18.10, Y:0.03, Z:-2.09 [[ 9.96861735e-01 3.99150345e-02 6.83627987e-02 1.81016123e+01] [-4.00958138e-02 9.99195028e-01 1.27376905e-03 2.78457283e-02] [-6.82569260e-02 -4.01083368e-03 9.97659714e-01 -2.08637840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.546296757 meters 0.0824188758729789 Centerline is valid? [True, True] Translation: X:18.16, Y:0.04, Z:-2.09 [[ 9.96278722e-01 4.90166474e-02 7.08948232e-02 1.81603209e+01] [-4.92340277e-02 9.98786396e-01 1.32102100e-03 4.11194649e-02] [-7.07440330e-02 -4.80654280e-03 9.97482922e-01 -2.09335249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.606296757 meters 0.0859270387876121 Centerline is valid? [True, True] Translation: X:18.22, Y:0.05, Z:-2.10 [[ 9.96225232e-01 5.37181524e-02 6.81883278e-02 1.82205362e+01] [-5.39299796e-02 9.98543914e-01 1.26813880e-03 4.63159048e-02] [-6.80209177e-02 -4.94074700e-03 9.97671661e-01 -2.10254274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.666296757 meters 0.07931369400482237 Centerline is valid? [True, True] Translation: X:18.28, Y:0.03, Z:-2.10 [[ 9.96049662e-01 5.94713664e-02 6.59410929e-02 1.82824776e+01] [-5.96819140e-02 9.98216693e-01 1.22593648e-03 3.31975957e-02] [-6.57505916e-02 -5.15658426e-03 9.97822764e-01 -2.10057856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.726296757 meters 0.08379998352594978 Centerline is valid? [True, True] Translation: X:18.34, Y:0.05, Z:-2.11 [[ 9.95149468e-01 6.79743582e-02 7.11127482e-02 1.83420718e+01] [-6.82408083e-02 9.97668004e-01 1.32130725e-03 4.65950690e-02] [-7.08570986e-02 -6.16768962e-03 9.97467409e-01 -2.10643865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.786296757 meters 0.08691851130110212 Centerline is valid? [True, True] Translation: X:18.40, Y:0.05, Z:-2.11 [[ 9.94644727e-01 7.29405644e-02 7.32225500e-02 1.84027128e+01] [-7.32364567e-02 9.97313677e-01 1.36068694e-03 5.15903307e-02] [-7.29266013e-02 -6.71596020e-03 9.97314698e-01 -2.11359426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.846296757 meters 0.08692487813694559 Centerline is valid? [True, True] Translation: X:18.46, Y:0.05, Z:-2.12 [[ 9.95024619e-01 6.98606030e-02 7.10317075e-02 1.84629515e+01] [-7.01310592e-02 9.97536916e-01 1.31772112e-03 4.71718511e-02] [-7.07646936e-02 -6.29269384e-03 9.97473188e-01 -2.12382163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.906296757 meters 0.08705584334563916 Centerline is valid? [True, True] Translation: X:18.52, Y:0.05, Z:-2.14 [[ 9.95548369e-01 6.38448414e-02 6.93345632e-02 1.85220409e+01] [-6.40878825e-02 9.97943432e-01 1.28430386e-03 4.70737653e-02] [-6.91099758e-02 -5.72209195e-03 9.97592637e-01 -2.13583701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.966296757 meters 0.08535108009006959 Centerline is valid? [True, True] Translation: X:18.58, Y:0.04, Z:-2.14 [[ 9.95757630e-01 5.87571683e-02 7.08119862e-02 1.85826938e+01] [-5.89979884e-02 9.98257239e-01 1.31232643e-03 3.93964160e-02] [-7.06114692e-02 -5.48452379e-03 9.97488817e-01 -2.14249224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.026296757 meters 0.08393227586176956 Centerline is valid? [True, True] Translation: X:18.64, Y:0.03, Z:-2.15 [[ 9.95850985e-01 5.36264196e-02 7.35188601e-02 1.86434764e+01] [-5.38721374e-02 9.98546913e-01 1.36189976e-03 3.19633250e-02] [-7.33389971e-02 -5.31686735e-03 9.97292897e-01 -2.14818269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.086296757 meters 0.07872226745864186 Centerline is valid? [True, True] Translation: X:18.70, Y:0.02, Z:-2.15 [[ 9.95681939e-01 4.97900037e-02 7.83481500e-02 1.87045074e+01] [-5.00573254e-02 9.98745293e-01 1.45048712e-03 2.04749987e-02] [-7.81776263e-02 -5.36612267e-03 9.96925004e-01 -2.14971249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.146296756999998 meters 0.07448098848982093 Centerline is valid? [True, True] Translation: X:18.77, Y:0.00, Z:-2.15 [[ 9.96078672e-01 4.44874572e-02 7.64731636e-02 1.87657181e+01] [-4.47264464e-02 9.98998270e-01 1.41443795e-03 2.57655672e-03] [-7.63336334e-02 -4.82926433e-03 9.97070637e-01 -2.15342594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.206296757 meters 0.07382004418787871 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.01, Z:-2.16 [[ 9.96235544e-01 3.84515501e-02 7.76931069e-02 1.88252006e+01] [-3.86797979e-02 9.99250627e-01 1.43454219e-03 -5.97898563e-03] [-7.75797254e-02 -4.43429559e-03 9.96976290e-01 -2.15892523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.266296757 meters 0.07377653728619972 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.00, Z:-2.16 [[ 9.95860671e-01 4.04189695e-02 8.14114966e-02 1.88872938e+01] [-4.06770471e-02 9.99171200e-01 1.51331362e-03 -4.09406285e-03] [-8.12828562e-02 -4.81862880e-03 9.96679426e-01 -2.16297684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.326296757 meters 0.07441464441032271 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.00, Z:-2.17 [[ 9.95653446e-01 4.51294478e-02 8.14711547e-02 1.89470770e+01] [-4.54014223e-02 9.98967716e-01 1.48790296e-03 -1.84422460e-03] [-8.13199051e-02 -5.18034201e-03 9.96674589e-01 -2.17054742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.386296757 meters 0.07528321861010884 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.00, Z:-2.18 [[ 9.95376955e-01 5.03844312e-02 8.17687369e-02 1.90071901e+01] [-5.06758529e-02 9.98714040e-01 1.49124596e-03 -3.24842849e-03] [-8.15884500e-02 -5.62805234e-03 9.96650214e-01 -2.17746057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.446296757 meters 0.07623417902620223 Centerline is valid? [True, True] Translation: X:19.07, Y:-0.01, Z:-2.19 [[ 9.95627592e-01 4.96188702e-02 7.91433181e-02 1.90683357e+01] [-4.98897511e-02 9.98753682e-01 1.44779684e-03 -1.09210285e-02] [-7.89728422e-02 -5.38990692e-03 9.96862197e-01 -2.18740941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.506296757 meters 0.07606230770279536 Centerline is valid? [True, True] Translation: X:19.13, Y:-0.01, Z:-2.19 [[ 9.95611462e-01 4.72658541e-02 8.07697719e-02 1.91293402e+01] [-4.75380785e-02 9.98868374e-01 1.44966337e-03 -1.30225102e-02] [-8.06098511e-02 -5.28294122e-03 9.96731730e-01 -2.19417438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.566296757 meters 0.07625353903379938 Centerline is valid? [True, True] Translation: X:19.19, Y:-0.02, Z:-2.20 [[ 9.95870810e-01 4.42030119e-02 7.92932722e-02 1.91894767e+01] [-4.44555183e-02 9.99010354e-01 1.42113565e-03 -2.07923670e-02] [-7.91519814e-02 -4.94029103e-03 9.96850318e-01 -2.20025789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.626296757 meters 0.07718587193759205 Centerline is valid? [True, True] Translation: X:19.25, Y:-0.02, Z:-2.21 [[ 9.95949460e-01 4.43987979e-02 7.81883557e-02 1.92515581e+01] [-4.46454024e-02 9.99001905e-01 1.40789230e-03 -2.23517622e-02] [-7.80478076e-02 -4.89294018e-03 9.96937610e-01 -2.20807906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.686296757 meters 0.07503361887663088 Centerline is valid? [True, True] Translation: X:19.31, Y:-0.03, Z:-2.21 [[ 9.95707446e-01 4.54312974e-02 8.06391961e-02 1.93136913e+01] [-4.56954701e-02 9.98954389e-01 1.43262652e-03 -3.25293402e-02] [-8.04897928e-02 -5.11132287e-03 9.96742328e-01 -2.21091243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.746296757 meters 0.07786958279711531 Centerline is valid? [True, True] Translation: X:19.37, Y:-0.03, Z:-2.22 [[ 9.95687522e-01 4.51482152e-02 8.10431810e-02 1.93739746e+01] [-4.54124115e-02 9.98967317e-01 1.41875090e-03 -2.54068482e-02] [-8.08954350e-02 -5.09299885e-03 9.96709582e-01 -2.22080101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.806296757 meters 0.07559995155760839 Centerline is valid? [True, True] Translation: X:19.44, Y:-0.03, Z:-2.22 [[ 9.95681645e-01 4.36307877e-02 8.19415448e-02 1.94354111e+01] [-4.38937208e-02 9.99035212e-01 1.40928424e-03 -2.99658138e-02] [-8.18010004e-02 -4.99991774e-03 9.96636141e-01 -2.22458023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.866296757 meters 0.07679761617601129 Centerline is valid? [True, True] Translation: X:19.50, Y:-0.03, Z:-2.23 [[ 9.95915207e-01 4.41273858e-02 7.87761062e-02 1.94952540e+01] [-4.43716078e-02 9.99014181e-01 1.35161309e-03 -3.21133135e-02] [-7.86388040e-02 -4.84151452e-03 9.96891417e-01 -2.23220144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.926296757 meters 0.0773720128606408 Centerline is valid? [True, True] Translation: X:19.56, Y:-0.03, Z:-2.24 [[ 9.95919524e-01 4.55906224e-02 7.78832263e-02 1.95564370e+01] [-4.58342447e-02 9.98948157e-01 1.34240664e-03 -3.13825526e-02] [-7.77401042e-02 -4.90664784e-03 9.96961585e-01 -2.24007291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.986296757 meters 0.07795279181059477 Centerline is valid? [True, True] Translation: X:19.62, Y:-0.03, Z:-2.25 [[ 9.96158622e-01 4.63565931e-02 7.42904176e-02 1.96163873e+01] [-4.65785578e-02 9.98913839e-01 1.25708808e-03 -2.80556658e-02] [-7.41514519e-02 -4.71259964e-03 9.97235857e-01 -2.25077162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.046296757 meters 0.07796722418012901 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.03, Z:-2.26 [[ 9.96520063e-01 4.54704627e-02 6.98584330e-02 1.96769178e+01] [-4.56644119e-02 9.98956139e-01 1.18102907e-03 -3.24884701e-02] [-6.97318086e-02 -4.36696342e-03 9.97556216e-01 -2.25906527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.106296757 meters 0.07823426687682734 Centerline is valid? [True, True] Translation: X:19.74, Y:-0.04, Z:-2.27 [[ 9.96720209e-01 4.27464138e-02 6.87136718e-02 1.97371291e+01] [-4.29275716e-02 9.99077512e-01 1.16130304e-03 -3.88909718e-02] [-6.86006427e-02 -4.10720528e-03 9.97635746e-01 -2.26815142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.166296757 meters 0.07830189789119024 Centerline is valid? [True, True] Translation: X:19.80, Y:-0.04, Z:-2.28 [[ 9.96491128e-01 4.15840520e-02 7.26374490e-02 1.97961073e+01] [-4.17831737e-02 9.99125953e-01 1.22328447e-03 -3.81286786e-02] [-7.25230913e-02 -4.25401527e-03 9.97357661e-01 -2.27529312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.226296757 meters 0.07889865546817774 Centerline is valid? [True, True] Translation: X:19.86, Y:-0.04, Z:-2.28 [[ 9.95999967e-01 4.11428104e-02 7.93179407e-02 1.98561485e+01] [-4.13790383e-02 9.99142627e-01 1.33620487e-03 -3.91088155e-02] [-7.91949605e-02 -4.61296012e-03 9.96848473e-01 -2.27864483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.286296757 meters 0.07446360206910194 Centerline is valid? [True, True] Translation: X:19.92, Y:-0.06, Z:-2.28 [[ 9.95944263e-01 4.10187360e-02 8.00780089e-02 1.99194243e+01] [-4.12599198e-02 9.99147523e-01 1.35882424e-03 -5.76999378e-02] [-7.99540070e-02 -4.65732543e-03 9.96787674e-01 -2.27657245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.346296757 meters 0.07552071329737124 Centerline is valid? [True, True] Translation: X:19.98, Y:-0.05, Z:-2.29 [[ 9.95949461e-01 4.18473409e-02 7.95831034e-02 1.99806160e+01] [-4.20865968e-02 9.99113081e-01 1.33065580e-03 -5.46010977e-02] [-7.94568352e-02 -4.67464791e-03 9.96827347e-01 -2.28866340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.406296757 meters 0.0769053292936927 Centerline is valid? [True, True] Translation: X:20.04, Y:-0.06, Z:-2.30 [[ 9.95835101e-01 4.43182247e-02 7.96765094e-02 2.00409638e+01] [-4.45637240e-02 9.99005692e-01 1.30479916e-03 -5.53299550e-02] [-7.95394600e-02 -4.85004677e-03 9.96819919e-01 -2.29821561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.466296757 meters 0.07780760076134514 Centerline is valid? [True, True] Translation: X:20.10, Y:-0.06, Z:-2.30 [[ 9.95569487e-01 4.66861988e-02 8.16198199e-02 2.01025628e+01] [-4.69522579e-02 9.98896233e-01 1.34240960e-03 -5.88072334e-02] [-8.14670586e-02 -5.16869687e-03 9.96662632e-01 -2.30406386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.526296757 meters 0.07744687253815428 Centerline is valid? [True, True] Translation: X:20.16, Y:-0.06, Z:-2.31 [[ 9.95490771e-01 5.21344368e-02 7.92472394e-02 2.01632952e+01] [-5.24003246e-02 9.98625342e-01 1.27789751e-03 -5.80625803e-02] [-7.90716790e-02 -5.42471625e-03 9.96854173e-01 -2.31337465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.586296757 meters 0.08210020037603012 Centerline is valid? [True, True] Translation: X:20.22, Y:-0.05, Z:-2.33 [[ 9.95385123e-01 5.53432338e-02 7.83937713e-02 2.02220521e+01] [-5.56131325e-02 9.98451594e-01 1.26215052e-03 -5.29213164e-02] [-7.82025344e-02 -5.61604904e-03 9.96921674e-01 -2.32568444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.646296756999998 meters 0.07908467464963104 Centerline is valid? [True, True] Translation: X:20.28, Y:-0.06, Z:-2.33 [[ 9.95066473e-01 5.92765192e-02 7.95550645e-02 2.02832726e+01] [-5.95666853e-02 9.98223512e-01 1.27705606e-03 -6.31801588e-02] [-7.93380364e-02 -6.00958717e-03 9.96829655e-01 -2.32611205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.706296757 meters 0.08127271339541606 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.06, Z:-2.33 [[ 9.94666117e-01 6.51238091e-02 7.99887859e-02 2.03439246e+01] [-6.54358805e-02 9.97855950e-01 1.28358907e-03 -6.04581207e-02] [-7.97336938e-02 -6.51087920e-03 9.96794937e-01 -2.33461707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.766296757 meters 0.08309897885986912 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.06, Z:-2.34 [[ 9.94449507e-01 6.69739710e-02 8.11459519e-02 2.04033377e+01] [-6.73010117e-02 9.97731871e-01 1.29880149e-03 -5.67065966e-02] [-8.08749166e-02 -6.75279716e-03 9.96701383e-01 -2.34338671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.826296757 meters 0.08365483090600058 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.05, Z:-2.34 [[ 9.93870142e-01 6.58807618e-02 8.87798724e-02 2.04630761e+01] [-6.62682260e-02 9.97800834e-01 1.42072972e-03 -5.49596551e-02] [-8.84910319e-02 -7.29530550e-03 9.96050258e-01 -2.34471226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.886296757 meters 0.07777745229724913 Centerline is valid? [True, True] Translation: X:20.52, Y:-0.07, Z:-2.35 [[ 9.94538266e-01 5.77481662e-02 8.69412824e-02 2.05236024e+01] [-5.80889753e-02 9.98310438e-01 1.39302786e-03 -7.21378934e-02] [-8.67139449e-02 -6.43574952e-03 9.96212464e-01 -2.34879057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.946296757 meters 0.07721607409069677 Centerline is valid? [True, True] Translation: X:20.58, Y:-0.07, Z:-2.36 [[ 9.95186908e-01 5.20637866e-02 8.30203640e-02 2.05838831e+01] [-5.23546187e-02 9.98627673e-01 1.32850525e-03 -7.37504754e-02] [-8.28372659e-02 -5.66861054e-03 9.96546965e-01 -2.35933864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.006296757 meters 0.07620553225207398 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.08, Z:-2.37 [[ 9.95602993e-01 4.34205419e-02 8.30020304e-02 2.06444884e+01] [-4.36812179e-02 9.99044640e-01 1.32637278e-03 -7.53073559e-02] [-8.28651417e-02 -4.94617048e-03 9.96548495e-01 -2.36792278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.066296757 meters 0.07496965731420849 Centerline is valid? [True, True] Translation: X:20.71, Y:-0.08, Z:-2.37 [[ 9.95978449e-01 3.52638264e-02 8.23613482e-02 2.07055321e+01] [-3.54925982e-02 9.99369074e-01 1.31476018e-03 -8.01367472e-02] [-8.22630209e-02 -4.23269105e-03 9.96601666e-01 -2.37345556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.126296757 meters 0.07462480005617783 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.08, Z:-2.38 [[ 9.96091274e-01 3.21009192e-02 8.22903669e-02 2.07660363e+01] [-3.23184275e-02 9.99476762e-01 1.31219388e-03 -7.97700156e-02] [-8.22051868e-02 -3.96656013e-03 9.96607532e-01 -2.38121788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.186296757 meters 0.0754868216717336 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.07, Z:-2.39 [[ 9.96016558e-01 3.76716692e-02 8.08199304e-02 2.08264819e+01] [-3.78996135e-02 9.99280722e-01 1.28767403e-03 -7.39442246e-02] [-8.07132896e-02 -4.34558878e-03 9.96727887e-01 -2.38877559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.246296757 meters 0.07510612727154271 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.07, Z:-2.39 [[ 9.95563088e-01 4.44194690e-02 8.29520903e-02 2.08872940e+01] [-4.46827655e-02 9.99000355e-01 1.31939592e-03 -7.12309214e-02] [-8.28105608e-02 -5.02007067e-03 9.96552663e-01 -2.39104926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.306296757 meters 0.0758356466176556 Centerline is valid? [True, True] Translation: X:20.95, Y:-0.07, Z:-2.40 [[ 9.95198460e-01 4.76315954e-02 8.55058826e-02 2.09484727e+01] [-4.79231014e-02 9.98850104e-01 1.35865142e-03 -6.57783341e-02] [-8.53428450e-02 -5.44983488e-03 9.96336739e-01 -2.39683858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.366296757 meters 0.07695758981389066 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.06, Z:-2.41 [[ 9.95106465e-01 5.15090334e-02 8.43204824e-02 2.10082983e+01] [-5.18060149e-02 9.98656273e-01 1.33634220e-03 -5.88023353e-02] [-8.41383449e-02 -5.69811092e-03 9.96437791e-01 -2.40502501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.426296757 meters 0.07835003354451174 Centerline is valid? [True, True] Translation: X:21.07, Y:-0.05, Z:-2.41 [[ 9.94958831e-01 5.35422942e-02 8.47947324e-02 2.10687381e+01] [-5.38503860e-02 9.98548105e-01 1.34867682e-03 -5.44379493e-02] [-8.45994081e-02 -5.90810698e-03 9.96397528e-01 -2.41433982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.486296757 meters 0.07503127184408265 Centerline is valid? [True, True] Translation: X:21.13, Y:-0.06, Z:-2.42 [[ 9.94747142e-01 5.26484633e-02 8.77853206e-02 2.11308815e+01] [-5.29731554e-02 9.98594995e-01 1.37156260e-03 -6.25036101e-02] [-8.75897711e-02 -6.01462341e-03 9.96138472e-01 -2.41743648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.546296757 meters 0.07429084318514813 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.05, Z:-2.43 [[ 9.94297300e-01 5.15537592e-02 9.33546368e-02 2.11914392e+01] [-5.19158311e-02 9.98650408e-01 1.45239839e-03 -5.48356981e-02] [-9.31537695e-02 -6.29069936e-03 9.95631861e-01 -2.42536813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.606296757 meters 0.07442687005827822 Centerline is valid? [True, True] Translation: X:21.25, Y:-0.05, Z:-2.43 [[ 9.94539214e-01 5.12450002e-02 9.09159044e-02 2.12530203e+01] [-5.15873698e-02 9.98667478e-01 1.41831092e-03 -5.30942871e-02] [-9.07220756e-02 -6.10067820e-03 9.95857563e-01 -2.43263264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.666296757 meters 0.07411826279500183 Centerline is valid? [True, True] Translation: X:21.31, Y:-0.06, Z:-2.44 [[ 9.95237928e-01 4.73524080e-02 8.52010333e-02 2.13139011e+01] [-4.76365146e-02 9.98863886e-01 1.30345667e-03 -5.79600758e-02] [-8.50425135e-02 -5.35592978e-03 9.96362928e-01 -2.43976146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.726296757 meters 0.07308135426048318 Centerline is valid? [True, True] Translation: X:21.37, Y:-0.06, Z:-2.45 [[ 9.95497331e-01 4.15548736e-02 8.51953988e-02 2.13727546e+01] [-4.18174439e-02 9.99124424e-01 1.29895147e-03 -5.51500159e-02] [-8.50668259e-02 -4.85575654e-03 9.96363416e-01 -2.44836324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.786296757 meters 0.07048369254113628 Centerline is valid? [True, True] Translation: X:21.43, Y:-0.06, Z:-2.45 [[ 9.95605338e-01 3.76132492e-02 8.57627808e-02 2.14336522e+01] [-3.78649631e-02 9.99282007e-01 1.30961507e-03 -6.01813242e-02] [-8.56519449e-02 -4.55126429e-03 9.96314725e-01 -2.45300532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.846296757 meters 0.06995672882431349 Centerline is valid? [True, True] Translation: X:21.49, Y:-0.07, Z:-2.46 [[ 9.95711338e-01 3.25857369e-02 8.65857995e-02 2.14942603e+01] [-3.28232453e-02 9.99460300e-01 1.32039063e-03 -6.72495192e-02] [-8.64960432e-02 -4.15675486e-03 9.96243522e-01 -2.45919661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.906296757 meters 0.06949788659865044 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.07, Z:-2.47 [[ 9.95943336e-01 2.89810091e-02 8.51878677e-02 2.15557108e+01] [-2.91977668e-02 9.99572810e-01 1.29939296e-03 -7.25166801e-02] [-8.51138185e-02 -3.78141725e-03 9.96364059e-01 -2.46619099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.966296757 meters 0.06987162736172116 Centerline is valid? [True, True] Translation: X:21.62, Y:-0.07, Z:-2.48 [[ 9.96037382e-01 3.03600034e-02 8.35930817e-02 2.16167176e+01] [-3.05732046e-02 9.99531722e-01 1.27125603e-03 -6.77114669e-02] [-8.35153416e-02 -3.82192692e-03 9.96499162e-01 -2.47764091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.026296757 meters 0.07076063498493368 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.07, Z:-2.48 [[ 9.96122998e-01 3.31725251e-02 8.14773428e-02 2.16775199e+01] [-3.33838565e-02 9.99441844e-01 1.23245987e-03 -7.11208891e-02] [-8.13909820e-02 -3.94770955e-03 9.96674432e-01 -2.48421110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.086296757 meters 0.07148540913430916 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.07, Z:-2.49 [[ 9.95994435e-01 3.55845371e-02 8.20294251e-02 2.17389021e+01] [-3.58071508e-02 9.99357944e-01 1.24386038e-03 -7.21680108e-02] [-8.19324954e-02 -4.17611801e-03 9.96629132e-01 -2.49163295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.146296756999998 meters 0.07222755112308124 Centerline is valid? [True, True] Translation: X:21.80, Y:-0.07, Z:-2.50 [[ 9.95656223e-01 4.02909121e-02 8.39364487e-02 2.17995794e+01] [-4.05386032e-02 9.99177194e-01 1.24799178e-03 -6.83077572e-02] [-8.38171025e-02 -4.64523717e-03 9.96470328e-01 -2.49995694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.206296757 meters 0.07423348435240402 Centerline is valid? [True, True] Translation: X:21.86, Y:-0.07, Z:-2.51 [[ 9.95652822e-01 4.29033776e-02 8.26725914e-02 2.18592369e+01] [-4.31523197e-02 9.99067753e-01 1.22589437e-03 -6.89904674e-02] [-8.25429250e-02 -4.78807928e-03 9.96576008e-01 -2.51046374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.266296757 meters 0.07212615075448887 Centerline is valid? [True, True] Translation: X:21.92, Y:-0.09, Z:-2.51 [[ 9.95677598e-01 4.21357442e-02 8.27689553e-02 2.19216384e+01] [-4.23831104e-02 9.99100671e-01 1.23311006e-03 -8.63795638e-02] [-8.26425608e-02 -4.73578584e-03 9.96568000e-01 -2.51131952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.326296757 meters 0.0724617312723586 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.09, Z:-2.52 [[ 9.95445523e-01 4.15339938e-02 8.58087291e-02 2.19823863e+01] [-4.17953226e-02 9.99125411e-01 1.25043316e-03 -8.65152825e-02] [-8.56817463e-02 -4.83114160e-03 9.96310844e-01 -2.52016666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.386296757 meters 0.07406200338048227 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.08, Z:-2.53 [[ 9.95328415e-01 4.53035072e-02 8.52580728e-02 2.20416697e+01] [-4.55749960e-02 9.98960151e-01 1.23964944e-03 -8.18696949e-02] [-8.51132567e-02 -5.11949464e-03 9.96358131e-01 -2.52895945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.446296757 meters 0.07406664362486112 Centerline is valid? [True, True] Translation: X:22.10, Y:-0.09, Z:-2.53 [[ 9.95191719e-01 5.22336368e-02 8.28558410e-02 2.21021117e+01] [-5.25135306e-02 9.98619491e-01 1.20091665e-03 -8.66350111e-02] [-8.26787295e-02 -5.54619505e-03 9.96560820e-01 -2.53333381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.506296757 meters 0.07591090829866866 Centerline is valid? [True, True] Translation: X:22.16, Y:-0.08, Z:-2.54 [[ 9.94981465e-01 5.69271365e-02 8.22872175e-02 2.21627579e+01] [-5.72190122e-02 9.98360939e-01 1.19127961e-03 -8.34177379e-02] [-8.20845276e-02 -5.89369443e-03 9.96607944e-01 -2.54083193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.566296757 meters 0.07750973807759415 Centerline is valid? [True, True] Translation: X:22.22, Y:-0.08, Z:-2.55 [[ 9.94585634e-01 5.97297680e-02 8.50398259e-02 2.22228866e+01] [-6.00517506e-02 9.98194506e-01 1.23097729e-03 -7.54678748e-02] [-8.48127610e-02 -6.33110274e-03 9.96376793e-01 -2.54835275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.626296757 meters 0.07891011634369594 Centerline is valid? [True, True] Translation: X:22.28, Y:-0.08, Z:-2.56 [[ 9.94913192e-01 6.08623012e-02 8.02715428e-02 2.22829394e+01] [-6.11516912e-02 9.98127822e-01 1.14945052e-03 -8.01064435e-02] [-8.00513020e-02 -6.05234408e-03 9.96772370e-01 -2.55581353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.686296757 meters 0.08085345330877111 Centerline is valid? [True, True] Translation: X:22.34, Y:-0.08, Z:-2.57 [[ 9.94828248e-01 6.33086748e-02 7.94277522e-02 2.23419037e+01] [-6.35997546e-02 9.97974838e-01 1.13773830e-03 -7.50512241e-02] [-7.91948695e-02 -6.18343975e-03 9.96839976e-01 -2.56863599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.746296757 meters 0.08065538226761251 Centerline is valid? [True, True] Translation: X:22.40, Y:-0.08, Z:-2.57 [[ 9.94627254e-01 6.51152899e-02 8.04774818e-02 2.24041024e+01] [-6.54196870e-02 9.97857177e-01 1.14869730e-03 -7.67439006e-02] [-8.02302350e-02 -6.40733731e-03 9.96755765e-01 -2.57440795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.806296757 meters 0.07892109734958265 Centerline is valid? [True, True] Translation: X:22.47, Y:-0.09, Z:-2.58 [[ 9.94532662e-01 6.61069447e-02 8.08372181e-02 2.24658919e+01] [-6.64173156e-02 9.97791265e-01 1.15364802e-03 -8.50641787e-02] [-8.05824060e-02 -6.51633167e-03 9.96726649e-01 -2.57714638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.866296757 meters 0.07990114164092026 Centerline is valid? [True, True] Translation: X:22.53, Y:-0.09, Z:-2.58 [[ 9.94615663e-01 6.68797739e-02 7.91629824e-02 2.25269489e+01] [-6.71784036e-02 9.97740360e-01 1.11217118e-03 -8.58206052e-02] [-7.89097208e-02 -6.42422565e-03 9.96861066e-01 -2.58447002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.926296757 meters 0.08060998705891968 Centerline is valid? [True, True] Translation: X:22.59, Y:-0.08, Z:-2.59 [[ 9.94587377e-01 6.71884918e-02 7.92568975e-02 2.25896261e+01] [-6.74875290e-02 9.97719514e-01 1.09738124e-03 -8.41383881e-02] [-7.90024219e-02 -6.44029370e-03 9.96853620e-01 -2.59260594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.986296757 meters 0.0801353665825023 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.08, Z:-2.60 [[ 9.94445855e-01 6.34712840e-02 8.39573615e-02 2.26499481e+01] [-6.37911376e-02 9.97962632e-01 1.12989213e-03 -8.39577972e-02] [-8.37145937e-02 -6.47935215e-03 9.96468707e-01 -2.59819117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.046296757 meters 0.0798461643371152 Centerline is valid? [True, True] Translation: X:22.71, Y:-0.09, Z:-2.60 [[ 9.94665813e-01 6.07753568e-02 8.33443267e-02 2.27101071e+01] [-6.10809525e-02 9.98132188e-01 1.11939732e-03 -8.65528308e-02] [-8.31206234e-02 -6.20417711e-03 9.96520181e-01 -2.60420809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.106296757 meters 0.0770846502053357 Centerline is valid? [True, True] Translation: X:22.77, Y:-0.09, Z:-2.61 [[ 9.94764573e-01 5.75447781e-02 8.44514193e-02 2.27705416e+01] [-5.78470559e-02 9.98324812e-01 1.13464108e-03 -8.94092160e-02] [-8.42446546e-02 -6.01396672e-03 9.96426952e-01 -2.60960341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.166296757 meters 0.07688469943495385 Centerline is valid? [True, True] Translation: X:22.83, Y:-0.08, Z:-2.62 [[ 9.94885517e-01 5.81661453e-02 8.25803140e-02 2.28324256e+01] [-5.84573099e-02 9.98289292e-01 1.11032557e-03 -8.43284189e-02] [-8.23744598e-02 -5.93206984e-03 9.96583794e-01 -2.61599691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.226296757 meters 0.07736764287550539 Centerline is valid? [True, True] Translation: X:22.89, Y:-0.08, Z:-2.62 [[ 9.95107619e-01 5.78930065e-02 8.00576491e-02 2.28942777e+01] [-5.81657435e-02 9.98306359e-01 1.07694880e-03 -8.19308481e-02] [-7.98597124e-02 -5.72829265e-03 9.96789653e-01 -2.62293318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.286296757 meters 0.07887133706915145 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.07, Z:-2.63 [[ 9.94862037e-01 5.97555415e-02 8.17239429e-02 2.29548491e+01] [-6.00440515e-02 9.98195149e-01 1.07503079e-03 -7.00212648e-02] [-8.15122043e-02 -5.97654396e-03 9.96654424e-01 -2.63207967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.346296757 meters 0.08005847187433886 Centerline is valid? [True, True] Translation: X:23.02, Y:-0.06, Z:-2.64 [[ 9.94974397e-01 6.09400251e-02 7.94497510e-02 2.30151267e+01] [-6.12154108e-02 9.98124044e-01 1.03288178e-03 -6.26859255e-02] [-7.92377629e-02 -5.89124008e-03 9.96838337e-01 -2.64292296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.406296757 meters 0.07731137173205166 Centerline is valid? [True, True] Translation: X:23.08, Y:-0.07, Z:-2.65 [[ 9.95276666e-01 6.04565500e-02 7.59563210e-02 2.30776285e+01] [-6.07071846e-02 9.98155124e-01 9.93060543e-04 -7.41919779e-02] [-7.57561540e-02 -5.59946439e-03 9.97110651e-01 -2.64585762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.466296757 meters 0.08079513311977107 Centerline is valid? [True, True] Translation: X:23.14, Y:-0.06, Z:-2.66 [[ 9.95368488e-01 5.79782141e-02 7.66818055e-02 2.31362293e+01] [-5.82242338e-02 9.98303054e-01 9.74668780e-04 -6.44502290e-02] [-7.64951711e-02 -5.43489396e-03 9.97055139e-01 -2.65673765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.526296757 meters 0.07753868994266694 Centerline is valid? [True, True] Translation: X:23.20, Y:-0.07, Z:-2.66 [[ 9.95310777e-01 5.84156434e-02 7.70977876e-02 2.31991517e+01] [-5.86664486e-02 9.98277149e-01 9.90256745e-04 -6.79903444e-02] [-7.69071132e-02 -5.50866661e-03 9.97023044e-01 -2.66059197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.586296757 meters 0.0788557869278209 Centerline is valid? [True, True] Translation: X:23.26, Y:-0.06, Z:-2.67 [[ 9.95041081e-01 5.91525793e-02 7.99638603e-02 2.32596182e+01] [-5.94228069e-02 9.98232401e-01 1.00186221e-03 -5.98573872e-02] [-7.97632535e-02 -5.74857109e-03 9.96797260e-01 -2.66750575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.646296756999998 meters 0.07962302453568387 Centerline is valid? [True, True] Translation: X:23.32, Y:-0.06, Z:-2.67 [[ 9.95310857e-01 5.76896227e-02 7.76415229e-02 2.33200848e+01] [-5.79386083e-02 9.98319690e-01 9.56183547e-04 -6.26371746e-02] [-7.74558992e-02 -5.45014164e-03 9.96980882e-01 -2.67409798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.706296757 meters 0.0756723737972777 Centerline is valid? [True, True] Translation: X:23.38, Y:-0.07, Z:-2.68 [[ 9.95511976e-01 5.45141581e-02 7.73570421e-02 2.33801303e+01] [-5.47498695e-02 9.98499670e-01 9.27929195e-04 -6.59418180e-02] [-7.71903957e-02 -5.15905259e-03 9.97003023e-01 -2.68087943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.766296757 meters 0.07621305402836288 Centerline is valid? [True, True] Translation: X:23.44, Y:-0.06, Z:-2.69 [[ 9.95190973e-01 5.27636263e-02 8.25283350e-02 2.34392723e+01] [-5.30260509e-02 9.98592639e-01 9.89702100e-04 -5.83310861e-02] [-8.23599675e-02 -5.36109429e-03 9.96588227e-01 -2.68657844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.826296757 meters 0.07604144589655883 Centerline is valid? [True, True] Translation: X:23.50, Y:-0.06, Z:-2.69 [[ 9.95353013e-01 4.91046533e-02 8.28318356e-02 2.34997633e+01] [-4.93565355e-02 9.98780728e-01 9.94725168e-04 -5.95597040e-02] [-8.26819954e-02 -5.07839512e-03 9.96563042e-01 -2.69156259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.886296757 meters 0.0757876341346649 Centerline is valid? [True, True] Translation: X:23.56, Y:-0.06, Z:-2.70 [[ 9.95822325e-01 4.39998447e-02 8.00119435e-02 2.35585103e+01] [-4.42182717e-02 9.99021433e-01 9.59284981e-04 -5.74290204e-02] [-7.98914381e-02 -4.49326726e-03 9.96793443e-01 -2.70340349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.946296757 meters 0.07491749061104253 Centerline is valid? [True, True] Translation: X:23.62, Y:-0.06, Z:-2.71 [[ 9.95986234e-01 4.17211901e-02 7.91881498e-02 2.36190005e+01] [-4.19280507e-02 9.99120180e-01 9.50626164e-04 -5.51601640e-02] [-7.90788172e-02 -4.26701533e-03 9.96859234e-01 -2.71231109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.006296757 meters 0.07489378523234796 Centerline is valid? [True, True] Translation: X:23.68, Y:-0.05, Z:-2.72 [[ 9.95989475e-01 3.98966040e-02 8.00826228e-02 2.36805741e+01] [-4.01021307e-02 9.99195126e-01 9.59106815e-04 -5.36560493e-02] [-7.99799012e-02 -4.16674410e-03 9.96787768e-01 -2.71925263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.066296757 meters 0.07543077868336133 Centerline is valid? [True, True] Translation: X:23.74, Y:-0.05, Z:-2.73 [[ 9.95974566e-01 4.10592268e-02 7.96793873e-02 2.37423285e+01] [-4.12661064e-02 9.99147739e-01 9.50794919e-04 -5.08578357e-02] [-7.95724408e-02 -4.23502563e-03 9.96820090e-01 -2.72578771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.126296757 meters 0.07530603513311197 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.04, Z:-2.73 [[ 9.95568927e-01 4.54193624e-02 8.23382878e-02 2.38027652e+01] [-4.56545714e-02 9.98956810e-01 9.75138206e-04 -4.21845423e-02] [-8.22081032e-02 -4.72993653e-03 9.96603961e-01 -2.73271099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.186296757 meters 0.07625071228462768 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.04, Z:-2.74 [[ 9.95486001e-01 4.73030972e-02 8.22802452e-02 2.38640031e+01] [-4.75447964e-02 9.98868626e-01 9.79572344e-04 -4.10065721e-02] [-8.21408187e-02 -4.88714806e-03 9.96608751e-01 -2.73978951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.246296757 meters 0.07641458784237232 Centerline is valid? [True, True] Translation: X:23.93, Y:-0.04, Z:-2.75 [[ 9.95328914e-01 4.62127283e-02 8.47628243e-02 2.39255184e+01] [-4.64632882e-02 9.98919513e-01 9.84607402e-04 -4.24773778e-02] [-8.46257378e-02 -4.91836775e-03 9.96400669e-01 -2.74623082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.306296757 meters 0.0764351292480391 Centerline is valid? [True, True] Translation: X:23.98, Y:-0.04, Z:-2.76 [[ 9.95370656e-01 4.36765445e-02 8.56131824e-02 2.39845347e+01] [-4.39223467e-02 9.99034459e-01 9.88656653e-04 -3.85383283e-02] [-8.54873382e-02 -4.74441170e-03 9.96327961e-01 -2.75629525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.366296757 meters 0.07665505397196261 Centerline is valid? [True, True] Translation: X:24.05, Y:-0.04, Z:-2.77 [[ 9.95729308e-01 4.21538341e-02 8.21352451e-02 2.40472374e+01] [-4.23755186e-02 9.99101296e-01 9.56904476e-04 -3.97042122e-02] [-8.20210926e-02 -4.43334144e-03 9.96620733e-01 -2.76625429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.426296757 meters 0.0725154927453428 Centerline is valid? [True, True] Translation: X:24.11, Y:-0.06, Z:-2.76 [[ 9.95734747e-01 3.46737446e-02 8.54988028e-02 2.41093241e+01] [-3.48839603e-02 9.99390903e-01 9.65469563e-04 -6.00590676e-02] [-8.54132493e-02 -3.94388844e-03 9.96337805e-01 -2.76347748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.486296756999998 meters 0.07256414750614663 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.06, Z:-2.77 [[ 9.95483922e-01 3.47231054e-02 8.83519535e-02 2.41713391e+01] [-3.49478853e-02 9.99388638e-01 9.98063338e-04 -5.59759850e-02] [-8.82632826e-02 -4.08126994e-03 9.96088819e-01 -2.77178635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.546296757 meters 0.07391871917895722 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.05, Z:-2.78 [[ 9.95303577e-01 3.95727043e-02 8.83447276e-02 2.42307836e+01] [-3.98155759e-02 9.99206557e-01 9.87942478e-04 -5.04364413e-02] [-8.82355355e-02 -4.50079889e-03 9.96089470e-01 -2.77983941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.606296757 meters 0.07422008531188592 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.05, Z:-2.78 [[ 9.95247702e-01 4.62744784e-02 8.56777992e-02 2.42914470e+01] [-4.65276218e-02 9.98916543e-01 9.59019687e-04 -5.44112613e-02] [-8.55405929e-02 -4.94084638e-03 9.96322435e-01 -2.78289798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.666296757 meters 0.0747923593083968 Centerline is valid? [True, True] Translation: X:24.35, Y:-0.05, Z:-2.79 [[ 9.95138878e-01 4.89568937e-02 8.54507872e-02 2.43519624e+01] [-4.92184551e-02 9.98787580e-01 9.55646611e-04 -4.96212362e-02] [-8.53003995e-02 -5.15675683e-03 9.96341934e-01 -2.79146932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.726296757 meters 0.0764966975385349 Centerline is valid? [True, True] Translation: X:24.41, Y:-0.04, Z:-2.80 [[ 9.95165429e-01 5.23195570e-02 8.31169818e-02 2.44105557e+01] [-5.25784467e-02 9.98616366e-01 9.27446874e-04 -4.39967430e-02] [-8.29534548e-02 -5.29312486e-03 9.96539366e-01 -2.80131785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.786296757 meters 0.07683541421813096 Centerline is valid? [True, True] Translation: X:24.47, Y:-0.05, Z:-2.81 [[ 9.95342295e-01 5.14877384e-02 8.15029396e-02 2.44724897e+01] [-5.17345364e-02 9.98660450e-01 9.17809101e-04 -5.12985497e-02] [-8.13465065e-02 -5.13005101e-03 9.96672679e-01 -2.80763762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.846296757 meters 0.07717264616628092 Centerline is valid? [True, True] Translation: X:24.53, Y:-0.05, Z:-2.82 [[ 9.95233606e-01 5.12873570e-02 8.29438118e-02 2.45327820e+01] [-5.15405606e-02 9.98670485e-01 9.13006602e-04 -4.86079671e-02] [-8.27867111e-02 -5.18362541e-03 9.96553807e-01 -2.81772326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.906296757 meters 0.07713944366477221 Centerline is valid? [True, True] Translation: X:24.59, Y:-0.06, Z:-2.82 [[ 9.95698756e-01 4.85668805e-02 7.89002239e-02 2.45943283e+01] [-4.87861676e-02 9.98808882e-01 8.52911004e-04 -5.80337975e-02] [-7.87648212e-02 -4.69848197e-03 9.96882153e-01 -2.82489369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.966296757 meters 0.07339758080202649 Centerline is valid? [True, True] Translation: X:24.66, Y:-0.08, Z:-2.82 [[ 9.95863763e-01 4.44200509e-02 7.92604806e-02 2.46557392e+01] [-4.46262187e-02 9.99003409e-01 8.30827838e-04 -7.76837064e-02] [-7.91445849e-02 -4.36448688e-03 9.96853593e-01 -2.82254819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.026296757 meters 0.07217897551618531 Centerline is valid? [True, True] Translation: X:24.72, Y:-0.08, Z:-2.83 [[ 9.95768040e-01 4.28771228e-02 8.12869133e-02 2.47174349e+01] [-4.30888333e-02 9.99070882e-01 8.51283570e-04 -8.20450846e-02] [-8.11748876e-02 -4.35023923e-03 9.96690380e-01 -2.82887249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.086296757 meters 0.07649095027252108 Centerline is valid? [True, True] Translation: X:24.78, Y:-0.07, Z:-2.84 [[ 9.95980239e-01 4.22248120e-02 7.89963863e-02 2.47770150e+01] [-4.24228377e-02 9.99099402e-01 8.29451866e-04 -7.20888587e-02] [-7.88902189e-02 -4.17736855e-03 9.96874557e-01 -2.84464386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.146296756999998 meters 0.07226984166830078 Centerline is valid? [True, True] Translation: X:24.84, Y:-0.09, Z:-2.84 [[ 9.96041781e-01 4.17522628e-02 7.84698551e-02 2.48397474e+01] [-4.19447966e-02 9.99119604e-01 8.06241810e-04 -9.25339064e-02] [-7.83671081e-02 -4.09445264e-03 9.96916161e-01 -2.84078085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.206296757 meters 0.07290193181673932 Centerline is valid? [True, True] Translation: X:24.90, Y:-0.09, Z:-2.85 [[ 9.96024071e-01 4.49969819e-02 7.68851216e-02 2.49001046e+01] [-4.51893257e-02 9.98978149e-01 7.62883295e-04 -8.72018587e-02] [-7.67722291e-02 -4.23423693e-03 9.97039666e-01 -2.85171564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.266296757 meters 0.07449527947529591 Centerline is valid? [True, True] Translation: X:24.96, Y:-0.08, Z:-2.86 [[ 9.95771803e-01 5.03446842e-02 7.68370333e-02 2.49592797e+01] [-5.05524521e-02 9.98721118e-01 7.60142591e-04 -8.41071934e-02] [-7.67004987e-02 -4.64122901e-03 9.97043375e-01 -2.86010108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.326296757 meters 0.0760753098626108 Centerline is valid? [True, True] Translation: X:25.02, Y:-0.09, Z:-2.87 [[ 9.95486631e-01 5.51780751e-02 7.72123587e-02 2.50196746e+01] [-5.54020505e-02 9.98463838e-01 7.60085842e-04 -8.65655299e-02] [-7.70518079e-02 -5.03437829e-03 9.97014380e-01 -2.86780638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.386296757 meters 0.07721784237381413 Centerline is valid? [True, True] Translation: X:25.08, Y:-0.08, Z:-2.88 [[ 9.95251035e-01 5.78505671e-02 7.82859511e-02 2.50794655e+01] [-5.80889723e-02 9.98311113e-01 7.69559594e-04 -8.19823694e-02] [-7.81092156e-02 -5.31345543e-03 9.96930648e-01 -2.87907629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.446296757 meters 0.0775563292352605 Centerline is valid? [True, True] Translation: X:25.14, Y:-0.08, Z:-2.89 [[ 9.95079721e-01 5.82269523e-02 8.01621511e-02 2.51411384e+01] [-5.84786776e-02 9.98288342e-01 7.94121381e-04 -8.25334437e-02] [-7.99787017e-02 -5.47799067e-03 9.96781520e-01 -2.88749670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.506296757 meters 0.07846510837367096 Centerline is valid? [True, True] Translation: X:25.20, Y:-0.09, Z:-2.90 [[ 9.95121135e-01 5.74262059e-02 8.02256609e-02 2.52029645e+01] [-5.76742046e-02 9.98335156e-01 7.75558932e-04 -9.01350392e-02] [-8.00475603e-02 -5.39872627e-03 9.96776425e-01 -2.89584425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.566296757 meters 0.07872260961062073 Centerline is valid? [True, True] Translation: X:25.26, Y:-0.09, Z:-2.90 [[ 9.94654869e-01 5.74267620e-02 8.58129289e-02 2.52636091e+01] [-5.77082735e-02 9.98333167e-01 8.01441148e-04 -9.14876807e-02] [-8.56238689e-02 -5.74927331e-03 9.96310945e-01 -2.90088461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.626296757 meters 0.07559330653584181 Centerline is valid? [True, True] Translation: X:25.33, Y:-0.10, Z:-2.91 [[ 9.94609259e-01 5.86175165e-02 8.55360111e-02 2.53254586e+01] [-5.89020224e-02 9.98263445e-01 8.04022636e-04 -9.82468113e-02] [-8.53403433e-02 -5.83793240e-03 9.96334755e-01 -2.90525459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.686296757 meters 0.07661455492871176 Centerline is valid? [True, True] Translation: X:25.39, Y:-0.10, Z:-2.91 [[ 9.94568289e-01 5.79611216e-02 8.64547708e-02 2.53864174e+01] [-5.82474368e-02 9.98301864e-01 7.90677917e-04 -1.01685316e-01] [-8.62621302e-02 -5.82215198e-03 9.96255463e-01 -2.91199689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.746296757 meters 0.08126433828789538 Centerline is valid? [True, True] Translation: X:25.45, Y:-0.09, Z:-2.92 [[ 9.94217325e-01 5.87927996e-02 8.98627710e-02 2.54468613e+01] [-5.91037080e-02 9.98251527e-01 8.00425115e-04 -9.43095303e-02] [-8.96585891e-02 -6.10701949e-03 9.95953835e-01 -2.91954795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.806296757 meters 0.08033069514128631 Centerline is valid? [True, True] Translation: X:25.51, Y:-0.09, Z:-2.93 [[ 9.93739715e-01 6.40836663e-02 9.15131835e-02 2.55077669e+01] [-6.44261046e-02 9.97922168e-01 7.89695859e-04 -8.74580350e-02] [-9.12724279e-02 -6.68059007e-03 9.95803552e-01 -2.92731043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.866296757 meters 0.08272710140946027 Centerline is valid? [True, True] Translation: X:25.57, Y:-0.08, Z:-2.94 [[ 9.93694015e-01 6.76929697e-02 8.93860519e-02 2.55678751e+01] [-6.80338392e-02 9.97682718e-01 7.68719711e-04 -8.47583495e-02] [-8.91268823e-02 -6.84514846e-03 9.95996758e-01 -2.93596587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.926296757 meters 0.08342742449951172 Centerline is valid? [True, True] Translation: X:25.63, Y:-0.09, Z:-2.94 [[ 9.93684374e-01 6.79140541e-02 8.93255020e-02 2.56308135e+01] [-6.82558620e-02 9.97667549e-01 7.73974221e-04 -8.53601575e-02] [-8.90645910e-02 -6.86607523e-03 9.96002187e-01 -2.94318779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.986296756999998 meters 0.08418405099138718 Centerline is valid? [True, True] Translation: X:25.69, Y:-0.08, Z:-2.95 [[ 9.93715168e-01 6.74243992e-02 8.93538816e-02 2.56919653e+01] [-6.77622601e-02 9.97701215e-01 7.49610744e-04 -7.88869527e-02] [-8.90979342e-02 -6.79972054e-03 9.95999660e-01 -2.95245365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.046296757 meters 0.08501946283964429 Centerline is valid? [True, True] Translation: X:25.75, Y:-0.08, Z:-2.96 [[ 9.93796986e-01 6.65656388e-02 8.90874074e-02 2.57532298e+01] [-6.68962443e-02 9.97759672e-01 7.27106167e-04 -7.54004528e-02] [-8.88394222e-02 -6.68220889e-03 9.96023546e-01 -2.95801441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.106296757 meters 0.0800515914731041 Centerline is valid? [True, True] Translation: X:25.81, Y:-0.08, Z:-2.96 [[ 9.93696111e-01 6.34365428e-02 9.24329164e-02 2.58142520e+01] [-6.37767169e-02 9.97963927e-01 7.28032571e-04 -8.48820700e-02] [-9.21985324e-02 -6.61851108e-03 9.95718648e-01 -2.95906043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.166296757 meters 0.07638737754607013 Centerline is valid? [True, True] Translation: X:25.88, Y:-0.09, Z:-2.97 [[ 9.93952344e-01 5.94281359e-02 9.23419427e-02 2.58750030e+01] [-5.97503596e-02 9.98213087e-01 7.26289783e-04 -8.85477890e-02] [-9.21337737e-02 -6.23936172e-03 9.95727090e-01 -2.96613656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.226296757 meters 0.07914442935145327 Centerline is valid? [True, True] Translation: X:25.93, Y:-0.08, Z:-2.97 [[ 9.93804372e-01 5.86701954e-02 9.43963886e-02 2.59348668e+01] [-5.90034806e-02 9.98257502e-01 7.41069714e-04 -8.10156014e-02] [-9.41884244e-02 -6.30619381e-03 9.95534416e-01 -2.97455720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.286296757 meters 0.07654964929936395 Centerline is valid? [True, True] Translation: X:26.00, Y:-0.08, Z:-2.98 [[ 9.93732300e-01 5.50035152e-02 9.73176717e-02 2.59950654e+01] [-5.53402561e-02 9.98467263e-01 7.62356070e-04 -8.12239173e-02] [-9.71265770e-02 -6.14316272e-03 9.95253078e-01 -2.97986761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.346296757 meters 0.07648240360880285 Centerline is valid? [True, True] Translation: X:26.06, Y:-0.08, Z:-2.99 [[ 9.93870829e-01 5.38160549e-02 9.65640101e-02 2.60572149e+01] [-5.41418721e-02 9.98532968e-01 7.55169988e-04 -7.83044030e-02] [-9.63817073e-02 -5.97869771e-03 9.95326490e-01 -2.98691828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.406296757 meters 0.07700247922374695 Centerline is valid? [True, True] Translation: X:26.12, Y:-0.07, Z:-2.99 [[ 9.94350450e-01 5.39847366e-02 9.13938215e-02 2.61182648e+01] [-5.42767232e-02 9.98525679e-01 7.10533748e-04 -7.26270689e-02] [-9.12207197e-02 -5.66707670e-03 9.95814573e-01 -2.99448879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.466296757 meters 0.07447831154715386 Centerline is valid? [True, True] Translation: X:26.18, Y:-0.07, Z:-3.00 [[ 9.94550315e-01 5.44004689e-02 8.89396460e-02 2.61803657e+01] [-5.46769599e-02 9.98503869e-01 6.73591213e-04 -7.40798915e-02] [-8.87699369e-02 -5.53286981e-03 9.96036789e-01 -2.99936740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.526296757 meters 0.07809245753831058 Centerline is valid? [True, True] Translation: X:26.24, Y:-0.06, Z:-3.01 [[ 9.94748202e-01 5.42484021e-02 8.67935771e-02 2.62404572e+01] [-5.45091889e-02 9.98513067e-01 6.35754166e-04 -5.91278002e-02] [-8.66300321e-02 -5.36346280e-03 9.96226114e-01 -3.01034250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.586296757 meters 0.07454519767749225 Centerline is valid? [True, True] Translation: X:26.30, Y:-0.06, Z:-3.01 [[ 9.94681956e-01 5.51226125e-02 8.70017488e-02 2.63029734e+01] [-5.53862800e-02 9.98464811e-01 6.17740237e-04 -6.44325382e-02] [-8.68341332e-02 -5.43315829e-03 9.96207967e-01 -3.01126465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.646296756999998 meters 0.07446015052536127 Centerline is valid? [True, True] Translation: X:26.36, Y:-0.06, Z:-3.02 [[ 9.94627529e-01 5.46788879e-02 8.78993649e-02 2.63645031e+01] [-5.49444027e-02 9.98489234e-01 6.02218560e-04 -5.99131925e-02] [-8.77336409e-02 -5.42856126e-03 9.96129178e-01 -3.01783086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.706296757 meters 0.07397044332778462 Centerline is valid? [True, True] Translation: X:26.42, Y:-0.06, Z:-3.03 [[ 9.94956613e-01 5.12249192e-02 8.62400503e-02 2.64241524e+01] [-5.14652034e-02 9.98674629e-01 5.63742944e-04 -5.89238765e-02] [-8.60968726e-02 -4.99926150e-03 9.96274227e-01 -3.02505134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.766296757 meters 0.0739164738111869 Centerline is valid? [True, True] Translation: X:26.49, Y:-0.06, Z:-3.03 [[ 9.95282622e-01 4.86020446e-02 8.39663302e-02 2.64851176e+01] [-4.88205607e-02 9.98807414e-01 5.49901566e-04 -6.01008513e-02] [-8.38394668e-02 -4.64659079e-03 9.96468441e-01 -3.03426983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.826296756999998 meters 0.07432668845349681 Centerline is valid? [True, True] Translation: X:26.55, Y:-0.06, Z:-3.04 [[ 9.95150584e-01 4.91145779e-02 8.52236687e-02 2.65468753e+01] [-4.93418318e-02 9.98781792e-01 5.60954770e-04 -5.55923854e-02] [-8.50922975e-02 -4.76332639e-03 9.96361687e-01 -3.04279124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.886296757 meters 0.07255862669160995 Centerline is valid? [True, True] Translation: X:26.61, Y:-0.05, Z:-3.05 [[ 9.94843984e-01 4.93267034e-02 8.86133404e-02 2.66080084e+01] [-4.95710596e-02 9.98770444e-01 5.57669734e-04 -5.20278284e-02] [-8.84768773e-02 -4.94745156e-03 9.96065944e-01 -3.05051833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.946296757 meters 0.07208251716431686 Centerline is valid? [True, True] Translation: X:26.67, Y:-0.06, Z:-3.05 [[ 9.94624101e-01 4.69483513e-02 9.22970712e-02 2.66685302e+01] [-4.72025982e-02 9.98885172e-01 5.72388779e-04 -5.62201439e-02] [-9.21673031e-02 -4.92597324e-03 9.95731351e-01 -3.05382885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.006296757 meters 0.07215727928498994 Centerline is valid? [True, True] Translation: X:26.73, Y:-0.05, Z:-3.06 [[ 9.94525994e-01 4.68734397e-02 9.33859132e-02 2.67295609e+01] [-4.71338915e-02 9.98888410e-01 5.84077649e-04 -4.77997802e-02] [-9.32547286e-02 -4.98252191e-03 9.95629816e-01 -3.06434270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.066296757 meters 0.0726255936029127 Centerline is valid? [True, True] Translation: X:26.79, Y:-0.05, Z:-3.07 [[ 9.94650540e-01 4.78159970e-02 9.15638226e-02 2.67905400e+01] [-4.80683312e-02 9.98843898e-01 5.51252463e-04 -4.57914437e-02] [-9.14316068e-02 -4.94962371e-03 9.95799057e-01 -3.07370666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.126296757 meters 0.06976359453320638 Centerline is valid? [True, True] Translation: X:26.85, Y:-0.05, Z:-3.08 [[ 9.94767915e-01 4.88759124e-02 8.97103166e-02 2.68525214e+01] [-4.91203476e-02 9.98792733e-01 5.17662112e-04 -5.44993745e-02] [-8.95767111e-02 -4.92155559e-03 9.95967766e-01 -3.07734934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.186296757 meters 0.07040768111247857 Centerline is valid? [True, True] Translation: X:26.91, Y:-0.05, Z:-3.09 [[ 9.94781474e-01 5.19073171e-02 8.78376360e-02 2.69130505e+01] [-5.21527196e-02 9.98638996e-01 4.99651178e-04 -5.00836005e-02] [-8.76921531e-02 -5.07801534e-03 9.96134680e-01 -3.08864314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.246296757 meters 0.07321813210392254 Centerline is valid? [True, True] Translation: X:26.97, Y:-0.04, Z:-3.10 [[ 9.94755814e-01 5.26918315e-02 8.76609487e-02 2.69731182e+01] [-5.29394525e-02 9.98597598e-01 5.00698357e-04 -4.43568011e-02] [-8.75116301e-02 -5.13879523e-03 9.96150243e-01 -3.09987356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.306296757 meters 0.07562815951082175 Centerline is valid? [True, True] Translation: X:27.03, Y:-0.04, Z:-3.11 [[ 9.94361194e-01 5.18329218e-02 9.25157526e-02 2.70320970e+01] [-5.21027485e-02 9.98641603e-01 5.01957742e-04 -4.09801194e-02] [-9.23640616e-02 -5.31945229e-03 9.95711094e-01 -3.10617712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.366296757 meters 0.07041505204816219 Centerline is valid? [True, True] Translation: X:27.09, Y:-0.06, Z:-3.11 [[ 9.94256590e-01 5.26837495e-02 9.31571603e-02 2.70946701e+01] [-5.29608528e-02 9.98596463e-01 5.03139565e-04 -5.60305170e-02] [-9.29999034e-02 -5.43393248e-03 9.95651290e-01 -3.10736849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.426296757 meters 0.07030520819965498 Centerline is valid? [True, True] Translation: X:27.16, Y:-0.06, Z:-3.12 [[ 9.94308124e-01 5.23482141e-02 9.27955780e-02 2.71564277e+01] [-5.26195445e-02 9.98614518e-01 4.77975438e-04 -5.77519362e-02] [-9.26419902e-02 -5.35811590e-03 9.95685067e-01 -3.11528352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.486296756999998 meters 0.06933248179000204 Centerline is valid? [True, True] Translation: X:27.22, Y:-0.06, Z:-3.12 [[ 9.93825463e-01 5.42500716e-02 9.67878030e-02 2.72182163e+01] [-5.45518833e-02 9.98510825e-01 4.72858008e-04 -6.12596584e-02] [-9.66180165e-02 -5.74989526e-03 9.95304927e-01 -3.11764708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.546296757 meters 0.07062107906004074 Centerline is valid? [True, True] Translation: X:27.28, Y:-0.05, Z:-3.13 [[ 9.93952446e-01 5.64335044e-02 9.42008187e-02 2.72770161e+01] [-5.67265375e-02 9.98389659e-01 4.33684622e-04 -5.26559850e-02] [-9.40246490e-02 -5.77474817e-03 9.95553121e-01 -3.12809240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.606296757 meters 0.07044385888488207 Centerline is valid? [True, True] Translation: X:27.34, Y:-0.06, Z:-3.13 [[ 9.94305563e-01 5.69899574e-02 9.00477193e-02 2.73378445e+01] [-5.72599221e-02 9.98359218e-01 4.15443923e-04 -5.74938155e-02] [-8.98762945e-02 -5.56920360e-03 9.95937365e-01 -3.13477271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.666296757 meters 0.07060678797759752 Centerline is valid? [True, True] Translation: X:27.40, Y:-0.06, Z:-3.14 [[ 9.94562379e-01 5.65433531e-02 8.74558368e-02 2.73996164e+01] [-5.67964388e-02 9.98385697e-01 4.06220017e-04 -5.97806120e-02] [-8.72916875e-02 -5.37119123e-03 9.96168315e-01 -3.14264321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.726296757 meters 0.07151324929799853 Centerline is valid? [True, True] Translation: X:27.46, Y:-0.06, Z:-3.15 [[ 9.94681725e-01 5.70453883e-02 8.57559835e-02 2.74604815e+01] [-5.72887271e-02 9.98357581e-01 3.77280076e-04 -5.78990750e-02] [-8.55936141e-02 -5.28812473e-03 9.96316099e-01 -3.15371203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.786296757 meters 0.07258502122565255 Centerline is valid? [True, True] Translation: X:27.52, Y:-0.06, Z:-3.16 [[ 9.94289989e-01 5.86485152e-02 8.91502612e-02 2.75216877e+01] [-5.89159779e-02 9.98262877e-01 3.69392826e-04 -6.26685136e-02] [-8.89737319e-02 -5.61965840e-03 9.96018120e-01 -3.16043086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.846296757 meters 0.0735294346756939 Centerline is valid? [True, True] Translation: X:27.58, Y:-0.06, Z:-3.17 [[ 9.94046087e-01 6.05523478e-02 9.05858150e-02 2.75830007e+01] [-6.08341460e-02 9.98147827e-01 3.50501416e-04 -6.27854753e-02] [-9.03968107e-02 -5.85912526e-03 9.95888592e-01 -3.17042485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.906296757 meters 0.07117757965406384 Centerline is valid? [True, True] Translation: X:27.64, Y:-0.08, Z:-3.18 [[ 9.94045204e-01 5.94288664e-02 9.13364258e-02 2.76444020e+01] [-5.97083269e-02 9.98215812e-01 3.27818911e-04 -7.72915165e-02] [-9.11539826e-02 -5.77941199e-03 9.95820039e-01 -3.17636090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.966296757 meters 0.0710402378034835 Centerline is valid? [True, True] Translation: X:27.71, Y:-0.08, Z:-3.18 [[ 9.94140841e-01 5.63884354e-02 9.22189344e-02 2.77051492e+01] [-5.66598087e-02 9.98393490e-01 3.25130190e-04 -8.10888958e-02] [-9.20524501e-02 -5.54833238e-03 9.95738702e-01 -3.18428594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.026296757 meters 0.07127806973042573 Centerline is valid? [True, True] Translation: X:27.76, Y:-0.09, Z:-3.19 [[ 9.94273945e-01 5.22464888e-02 9.32181687e-02 2.77647346e+01] [-5.25055079e-02 9.98620581e-01 3.26540264e-04 -8.95533284e-02] [-9.30725212e-02 -5.21913777e-03 9.95645653e-01 -3.19172690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.086296757 meters 0.07180193064564766 Centerline is valid? [True, True] Translation: X:27.82, Y:-0.09, Z:-3.20 [[ 9.94392400e-01 5.05860764e-02 9.28698234e-02 2.78239107e+01] [-5.08360108e-02 9.98706961e-01 3.26006963e-04 -9.25768381e-02] [-9.27332477e-02 -5.04531020e-03 9.95678206e-01 -3.20325359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.146296756999998 meters 0.07195308716018595 Centerline is valid? [True, True] Translation: X:27.88, Y:-0.10, Z:-3.21 [[ 9.93956506e-01 5.00321426e-02 9.77100197e-02 2.78844000e+01] [-5.03061851e-02 9.98733784e-01 3.41510294e-04 -9.67906392e-02] [-9.75692112e-02 -5.25486472e-03 9.95214869e-01 -3.21171910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.206296757 meters 0.07316835430729737 Centerline is valid? [True, True] Translation: X:27.95, Y:-0.10, Z:-3.22 [[ 9.93662950e-01 5.06265479e-02 1.00353844e-01 2.79452582e+01] [-5.09186482e-02 9.98702743e-01 3.49781929e-04 -9.77266620e-02] [-1.00205951e-01 -5.45744742e-03 9.94951749e-01 -3.21984854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.266296757 meters 0.07337625497964595 Centerline is valid? [True, True] Translation: X:28.01, Y:-0.10, Z:-3.22 [[ 9.93554927e-01 5.13315464e-02 1.01062746e-01 2.80074787e+01] [-5.16292040e-02 9.98666269e-01 3.30152554e-04 -1.00687999e-01] [-1.00911008e-01 -5.54581382e-03 9.94879999e-01 -3.22361673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.326296756999998 meters 0.07311496807827306 Centerline is valid? [True, True] Translation: X:28.07, Y:-0.10, Z:-3.23 [[ 9.93648579e-01 5.31862090e-02 9.91651620e-02 2.80676132e+01] [-5.34793368e-02 9.98568912e-01 2.98211165e-04 -1.02491552e-01] [-9.90073872e-02 -5.59960420e-03 9.95070943e-01 -3.23249594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.386296757 meters 0.07189577181282908 Centerline is valid? [True, True] Translation: X:28.13, Y:-0.11, Z:-3.24 [[ 9.93556581e-01 5.52020471e-02 9.89851216e-02 2.81286091e+01] [-5.55039123e-02 9.98458426e-01 2.96289862e-04 -1.06740905e-01] [-9.88161729e-02 -5.78844225e-03 9.95088869e-01 -3.23832799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.446296757 meters 0.07808498180945533 Centerline is valid? [True, True] Translation: X:28.19, Y:-0.09, Z:-3.25 [[ 9.93737381e-01 5.79857499e-02 9.55179089e-02 2.81871035e+01] [-5.82792035e-02 9.98300283e-01 2.83009830e-04 -9.04483992e-02] [-9.53391449e-02 -5.84794509e-03 9.95427671e-01 -3.25179418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.506296757 meters 0.07516922627796613 Centerline is valid? [True, True] Translation: X:28.25, Y:-0.10, Z:-3.26 [[ 9.93941420e-01 6.06703397e-02 9.16491345e-02 2.82473074e+01] [-6.09512073e-02 9.98140711e-01 2.66162500e-04 -9.79175719e-02] [-9.14625841e-02 -5.85067533e-03 9.95791326e-01 -3.25975424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.566296757 meters 0.07465820558364633 Centerline is valid? [True, True] Translation: X:28.31, Y:-0.10, Z:-3.27 [[ 9.94147005e-01 5.88250809e-02 9.06164583e-02 2.83074022e+01] [-5.90918775e-02 9.98252514e-01 2.61852185e-04 -1.04203391e-01] [-9.04427038e-02 -5.61501622e-03 9.95885831e-01 -3.26506058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.626296757 meters 0.07164168734651652 Centerline is valid? [True, True] Translation: X:28.37, Y:-0.12, Z:-3.27 [[ 9.94382684e-01 5.63574194e-02 8.95930791e-02 2.83690482e+01] [-5.66081725e-02 9.98396438e-01 2.58275313e-04 -1.15845174e-01] [-8.94348553e-02 -5.32852498e-03 9.95978420e-01 -3.26855138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.686296757 meters 0.07016270495904407 Centerline is valid? [True, True] Translation: X:28.43, Y:-0.12, Z:-3.28 [[ 9.94658162e-01 5.14577723e-02 8.94831784e-02 2.84295334e+01] [-5.16876597e-02 9.98663268e-01 2.52176312e-04 -1.24461333e-01] [-8.93505869e-02 -4.87600530e-03 9.95988302e-01 -3.27522705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.746296757 meters 0.0690751064043366 Centerline is valid? [True, True] Translation: X:28.49, Y:-0.13, Z:-3.28 [[ 9.94982429e-01 4.38940015e-02 8.99070803e-02 2.84896342e+01] [-4.40951889e-02 9.99027302e-01 2.51729149e-04 -1.34914550e-01] [-8.98085785e-02 -4.21493577e-03 9.95950126e-01 -3.28122900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.806296757 meters 0.06912457169041547 Centerline is valid? [True, True] Translation: X:28.55, Y:-0.14, Z:-3.29 [[ 9.95122404e-01 3.90831521e-02 9.05754321e-02 2.85490448e+01] [-3.92674435e-02 9.99228705e-01 2.52887470e-04 -1.39102852e-01] [-9.04956880e-02 -3.80831965e-03 9.95889566e-01 -3.28911034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.866296757 meters 0.06936991142117455 Centerline is valid? [True, True] Translation: X:28.61, Y:-0.14, Z:-3.30 [[ 9.95362612e-01 3.78705964e-02 8.84256072e-02 2.86113761e+01] [-3.80420706e-02 9.99276106e-01 2.54142232e-04 -1.42494672e-01] [-8.83519720e-02 -3.61685687e-03 9.96082751e-01 -3.29623173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.926296757 meters 0.07012011067893643 Centerline is valid? [True, True] Translation: X:28.67, Y:-0.14, Z:-3.30 [[ 9.95026614e-01 4.06025178e-02 9.09586372e-02 2.86718797e+01] [-4.07924637e-02 9.99167615e-01 2.29403232e-04 -1.41311310e-01] [-9.08736103e-02 -3.93868923e-03 9.95854645e-01 -3.30156246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.986296756999998 meters 0.07188484707189416 Centerline is valid? [True, True] Translation: X:28.73, Y:-0.14, Z:-3.31 [[ 9.94720757e-01 4.58982562e-02 9.17821680e-02 2.87308615e+01] [-4.61138475e-02 9.98936165e-01 2.28510935e-04 -1.36835727e-01] [-9.16740386e-02 -4.45973347e-03 9.95779083e-01 -3.30858111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.046296757 meters 0.0748171435923312 Centerline is valid? [True, True] Translation: X:28.79, Y:-0.13, Z:-3.32 [[ 9.94573017e-01 5.40559419e-02 8.88958283e-02 2.87908325e+01] [-5.42901061e-02 9.98525181e-01 2.16606427e-04 -1.26926585e-01] [-8.87530142e-02 -5.04159486e-03 9.96040905e-01 -3.32073902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.106296757 meters 0.0743044804552126 Centerline is valid? [True, True] Translation: X:28.85, Y:-0.13, Z:-3.33 [[ 9.94404191e-01 6.00693811e-02 8.69020994e-02 2.88515542e+01] [-6.03158747e-02 9.98179318e-01 2.11096501e-04 -1.28070666e-01] [-8.67311979e-02 -5.45149139e-03 9.96216834e-01 -3.32785755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.166296757 meters 0.07683149206760714 Centerline is valid? [True, True] Translation: X:28.91, Y:-0.12, Z:-3.34 [[ 9.94304165e-01 6.42361385e-02 8.50467339e-02 2.89119318e+01] [-6.44870871e-02 9.97918521e-01 2.03969516e-04 -1.24969422e-01] [-8.48566086e-02 -5.68722387e-03 9.96376942e-01 -3.33689955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.226296757 meters 0.07713496357077267 Centerline is valid? [True, True] Translation: X:28.97, Y:-0.13, Z:-3.34 [[ 9.94453196e-01 6.26387007e-02 8.44939939e-02 2.89732600e+01] [-6.28805977e-02 9.98021037e-01 2.02029108e-04 -1.26477044e-01] [-8.43141285e-02 -5.51394132e-03 9.96423968e-01 -3.34460609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.286296757 meters 0.07595351957514981 Centerline is valid? [True, True] Translation: X:29.03, Y:-0.13, Z:-3.35 [[ 9.94598670e-01 5.98116611e-02 8.48295368e-02 2.90339821e+01] [-6.00446194e-02 9.98195675e-01 1.95182395e-04 -1.31456272e-01] [-8.46648026e-02 -5.28768541e-03 9.96395459e-01 -3.35150164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.346296757 meters 0.07587071027316145 Centerline is valid? [True, True] Translation: X:29.09, Y:-0.13, Z:-3.36 [[ 9.94620133e-01 5.63264441e-02 8.69374648e-02 2.90947495e+01] [-5.65578004e-02 9.98399307e-01 1.98351520e-04 -1.34912315e-01] [-8.67871322e-02 -5.11427620e-03 9.96213751e-01 -3.35920589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.406296757 meters 0.07517719387096507 Centerline is valid? [True, True] Translation: X:29.16, Y:-0.14, Z:-3.36 [[ 9.94520581e-01 5.11358390e-02 9.11808079e-02 2.91552683e+01] [-5.13686535e-02 9.98679738e-01 2.06807040e-04 -1.42895435e-01] [-9.10498501e-02 -4.88950918e-03 9.95834332e-01 -3.36375233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.466296757 meters 0.07493947052314569 Centerline is valid? [True, True] Translation: X:29.21, Y:-0.14, Z:-3.37 [[ 9.94715676e-01 4.65920853e-02 9.14871664e-02 2.92149605e+01] [-4.68071513e-02 9.98903924e-01 2.05386940e-04 -1.44505813e-01] [-9.13773201e-02 -4.48655525e-03 9.95806234e-01 -3.36953373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.526296757 meters 0.07332583047290389 Centerline is valid? [True, True] Translation: X:29.28, Y:-0.15, Z:-3.38 [[ 9.95169135e-01 4.63252379e-02 8.65584515e-02 2.92763610e+01] [-4.65172012e-02 9.98917469e-01 2.00944767e-04 -1.52222219e-01] [-8.64554405e-02 -4.22643094e-03 9.96246754e-01 -3.37564253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.586296757 meters 0.07336857922213472 Centerline is valid? [True, True] Translation: X:29.34, Y:-0.15, Z:-3.38 [[ 9.94954245e-01 4.75909172e-02 8.83241525e-02 2.93393748e+01] [-4.77940820e-02 9.98857193e-01 1.85620123e-04 -1.49252755e-01] [-8.82143812e-02 -4.40605531e-03 9.96091768e-01 -3.38189346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.646296756999998 meters 0.077352481872304 Centerline is valid? [True, True] Translation: X:29.40, Y:-0.14, Z:-3.40 [[ 9.94848944e-01 4.86378546e-02 8.89378353e-02 2.93992350e+01] [-4.88456337e-02 9.98806327e-01 1.60001929e-04 -1.36724288e-01] [-8.88238905e-02 -4.50340268e-03 9.96037166e-01 -3.39588786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.706296757 meters 0.07405783700857832 Centerline is valid? [True, True] Translation: X:29.46, Y:-0.15, Z:-3.40 [[ 9.94645905e-01 4.93267501e-02 9.08096628e-02 2.94620817e+01] [-4.95443931e-02 9.98771912e-01 1.42663321e-04 -1.49151016e-01] [-9.06911035e-02 -4.64100912e-03 9.95868257e-01 -3.39554220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.766296757 meters 0.07616733682523537 Centerline is valid? [True, True] Translation: X:29.52, Y:-0.14, Z:-3.41 [[ 9.94483850e-01 5.56449462e-02 8.89129427e-02 2.95223952e+01] [-5.58762618e-02 9.98437695e-01 1.12786040e-04 -1.39222534e-01] [-8.87677576e-02 -5.08028676e-03 9.96039395e-01 -3.40711220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.826296756999998 meters 0.07857469781757417 Centerline is valid? [True, True] Translation: X:29.58, Y:-0.13, Z:-3.42 [[ 9.94419757e-01 6.31381361e-02 8.45158124e-02 2.95815840e+01] [-6.33737544e-02 9.97989858e-01 1.05234721e-04 -1.30217680e-01] [-8.43392793e-02 -5.46073182e-03 9.96422133e-01 -3.41724183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.886296757 meters 0.07946023403203038 Centerline is valid? [True, True] Translation: X:29.64, Y:-0.13, Z:-3.42 [[ 9.94509252e-01 6.43150194e-02 8.25525629e-02 2.96419791e+01] [-6.45434863e-02 9.97914890e-01 9.90731373e-05 -1.30720705e-01] [-8.23740599e-02 -5.42675936e-03 9.96586707e-01 -3.42427823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.946296757 meters 0.07748315079323767 Centerline is valid? [True, True] Translation: X:29.70, Y:-0.13, Z:-3.43 [[ 9.94318127e-01 6.30759666e-02 8.57489621e-02 2.97021938e+01] [-6.33178147e-02 9.97993409e-01 1.00898966e-04 -1.33030345e-01] [-8.55705347e-02 -5.52976256e-03 9.96316770e-01 -3.42915546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.006296757 meters 0.0772193573817053 Centerline is valid? [True, True] Translation: X:29.76, Y:-0.14, Z:-3.43 [[ 9.94375356e-01 6.01185515e-02 8.71975394e-02 2.97615445e+01] [-6.03573798e-02 9.98176826e-01 1.02596068e-04 -1.36021148e-01] [-8.70323952e-02 -5.36503401e-03 9.96191035e-01 -3.43410262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.066296756999996 meters 0.07714134742214489 Centerline is valid? [True, True] Translation: X:29.82, Y:-0.13, Z:-3.44 [[ 9.94492679e-01 5.79755629e-02 8.73106254e-02 2.98211036e+01] [-5.82068442e-02 9.98304539e-01 1.03226665e-04 -1.33832449e-01] [-8.71566091e-02 -5.18473413e-03 9.96181130e-01 -3.44298100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.126296757 meters 0.07768231055361638 Centerline is valid? [True, True] Translation: X:29.88, Y:-0.13, Z:-3.45 [[ 9.94587367e-01 5.64598665e-02 8.72253043e-02 2.98821635e+01] [-5.66848423e-02 9.98392116e-01 1.02521162e-04 -1.28614405e-01] [-8.70792678e-02 -5.04631887e-03 9.96188605e-01 -3.45182810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.186296756999994 meters 0.07677037629246782 Centerline is valid? [True, True] Translation: X:29.94, Y:-0.13, Z:-3.46 [[ 9.94594102e-01 5.30441533e-02 8.92686364e-02 2.99431462e+01] [-5.32656729e-02 9.98580371e-01 9.94055235e-05 -1.33131696e-01] [-8.91366352e-02 -4.85382213e-03 9.96007581e-01 -3.45522246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.246296756999996 meters 0.07507074667963576 Centerline is valid? [True, True] Translation: X:30.00, Y:-0.14, Z:-3.46 [[ 9.95000592e-01 4.98247163e-02 8.65524105e-02 3.00041608e+01] [-5.00207027e-02 9.98748177e-01 9.57137339e-05 -1.37369590e-01] [-8.64392932e-02 -4.42464762e-03 9.96247294e-01 -3.46110034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.306296757 meters 0.07793681989623842 Centerline is valid? [True, True] Translation: X:30.06, Y:-0.12, Z:-3.48 [[ 9.95484407e-01 5.04581464e-02 8.04037930e-02 3.00625702e+01] [-5.06290358e-02 9.98717524e-01 8.68197512e-05 -1.22370205e-01] [-8.02962963e-02 -4.15719422e-03 9.96762370e-01 -3.47770783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36629675699999 meters 0.07691049323223799 Centerline is valid? [True, True] Translation: X:30.12, Y:-0.13, Z:-3.48 [[ 9.95070936e-01 5.51773569e-02 8.23971589e-02 3.01239516e+01] [-5.53725796e-02 9.98465758e-01 8.42648003e-05 -1.26678650e-01] [-8.22660922e-02 -4.64639270e-03 9.96599569e-01 -3.47692706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.426296756999996 meters 0.07745524376171375 Centerline is valid? [True, True] Translation: X:30.19, Y:-0.12, Z:-3.48 [[ 9.94915233e-01 5.76446135e-02 8.25880041e-02 3.01850579e+01] [-5.78491294e-02 9.98325333e-01 8.35716291e-05 -1.24044036e-01] [-8.24448793e-02 -4.86079082e-03 9.96583772e-01 -3.48300883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.486296757 meters 0.08078768531770068 Centerline is valid? [True, True] Translation: X:30.24, Y:-0.11, Z:-3.49 [[ 9.94740606e-01 6.12550164e-02 8.20911076e-02 3.02442243e+01] [-6.14690853e-02 9.98108985e-01 8.05568287e-05 -1.13667860e-01] [-8.19309375e-02 -5.12619844e-03 9.96624826e-01 -3.49464795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54629675699999 meters 0.07695881702997287 Centerline is valid? [True, True] Translation: X:30.31, Y:-0.12, Z:-3.50 [[ 9.94488564e-01 6.20532027e-02 8.45097350e-02 3.03066007e+01] [-6.22832135e-02 9.98058512e-01 8.53914090e-05 -1.21743260e-01] [-8.43403616e-02 -5.34845865e-03 9.96422650e-01 -3.49767311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.606296756999996 meters 0.07726472467083097 Centerline is valid? [True, True] Translation: X:30.37, Y:-0.12, Z:-3.50 [[ 9.94369071e-01 6.14310437e-02 8.63503179e-02 3.03665001e+01] [-6.16664884e-02 9.98096809e-01 5.92940586e-05 -1.22075914e-01] [-8.61823343e-02 -5.38388106e-03 9.96264834e-01 -3.50191245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.666296757 meters 0.07616855965441997 Centerline is valid? [True, True] Translation: X:30.43, Y:-0.12, Z:-3.51 [[ 9.94476722e-01 5.95777712e-02 8.64091394e-02 3.04277646e+01] [-5.98064946e-02 9.98209988e-01 5.83325041e-05 -1.24184776e-01] [-8.62509907e-02 -5.22583805e-03 9.96259734e-01 -3.50675052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72629675699999 meters 0.07615159310059516 Centerline is valid? [True, True] Translation: X:30.49, Y:-0.12, Z:-3.52 [[ 9.94550838e-01 5.90570391e-02 8.59121443e-02 3.04892116e+01] [-5.92814350e-02 9.98241307e-01 6.08177467e-05 -1.21509781e-01] [-8.57574595e-02 -5.15348154e-03 9.96302715e-01 -3.51814063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.786296756999995 meters 0.07389247516481119 Centerline is valid? [True, True] Translation: X:30.55, Y:-0.13, Z:-3.52 [[ 9.94515669e-01 5.73920681e-02 8.74341763e-02 3.05502979e+01] [-5.76157987e-02 9.98338830e-01 3.52775049e-05 -1.29851131e-01] [-8.72869086e-02 -5.07267393e-03 9.96170298e-01 -3.52145037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.846296757 meters 0.07300429738416866 Centerline is valid? [True, True] Translation: X:30.61, Y:-0.13, Z:-3.53 [[ 9.94645381e-01 5.62756676e-02 8.66811183e-02 3.06116946e+01] [-5.64915757e-02 9.98403075e-01 3.79001125e-05 -1.31744710e-01] [-8.65405622e-02 -4.93445013e-03 9.96236108e-01 -3.52804293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90629675699999 meters 0.07470838383326799 Centerline is valid? [True, True] Translation: X:30.67, Y:-0.12, Z:-3.54 [[ 9.94911978e-01 5.51926109e-02 8.42848277e-02 3.06730180e+01] [-5.53911393e-02 9.98464732e-01 1.69963819e-05 -1.24885207e-01] [-8.41544898e-02 -4.68554253e-03 9.96441703e-01 -3.53805176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.966296756999995 meters 0.0746216910000475 Centerline is valid? [True, True] Translation: X:30.73, Y:-0.13, Z:-3.55 [[ 9.95236469e-01 5.50590119e-02 8.04541904e-02 3.07341250e+01] [-5.52371462e-02 9.98473263e-01 -1.15456971e-05 -1.27822207e-01] [-8.03319937e-02 -4.43256918e-03 9.96758307e-01 -3.54571438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.026296757 meters 0.07349764150598809 Centerline is valid? [True, True] Translation: X:30.80, Y:-0.13, Z:-3.55 [[ 9.95077111e-01 5.68510803e-02 8.11757250e-02 3.07953453e+01] [-5.70386749e-02 9.98371970e-01 -7.94819749e-06 -1.28315920e-01] [-8.10440203e-02 -4.62224672e-03 9.96699805e-01 -3.55219906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.086296757 meters 0.07443103800944467 Centerline is valid? [True, True] Translation: X:30.86, Y:-0.12, Z:-3.56 [[ 9.94913362e-01 5.79728923e-02 8.23804920e-02 3.08561594e+01] [-5.81683317e-02 9.98306789e-01 -2.76946112e-05 -1.24167821e-01] [-8.22426100e-02 -4.76438205e-03 9.96600950e-01 -3.55970195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.146296756999995 meters 0.07404049811672392 Centerline is valid? [True, True] Translation: X:30.92, Y:-0.13, Z:-3.57 [[ 9.94956781e-01 5.58633294e-02 8.33084176e-02 3.09174485e+01] [-5.60538073e-02 9.98427748e-01 -5.26050389e-05 -1.28109908e-01] [-8.31803744e-02 -4.61741425e-03 9.96523810e-01 -3.56576120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.206296757 meters 0.0736945911086856 Centerline is valid? [True, True] Translation: X:30.98, Y:-0.13, Z:-3.57 [[ 9.94928578e-01 5.32690030e-02 8.53202049e-02 3.09779023e+01] [-5.34588688e-02 9.98570051e-01 -5.94782615e-05 -1.30126552e-01] [-8.52013697e-02 -4.50194502e-03 9.96353581e-01 -3.57181269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.266296757 meters 0.07394931510464342 Centerline is valid? [True, True] Translation: X:31.04, Y:-0.13, Z:-3.58 [[ 9.94597542e-01 5.40083713e-02 8.86500126e-02 3.10399966e+01] [-5.42167227e-02 9.98529190e-01 -5.77112134e-05 -1.31704667e-01] [-8.85227421e-02 -4.74891372e-03 9.96062835e-01 -3.57711683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.326296756999994 meters 0.07550117470362289 Centerline is valid? [True, True] Translation: X:31.10, Y:-0.13, Z:-3.59 [[ 9.94360082e-01 5.86978361e-02 8.83322794e-02 3.11006470e+01] [-5.89207240e-02 9.98262661e-01 -8.42511061e-05 -1.27056287e-01] [-8.81837617e-02 -5.12082592e-03 9.96091061e-01 -3.58600003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.386296757 meters 0.07473865754063864 Centerline is valid? [True, True] Translation: X:31.16, Y:-0.13, Z:-3.59 [[ 9.94090068e-01 6.29420685e-02 8.84490443e-02 3.11618088e+01] [-6.31821652e-02 9.98002007e-01 -8.53362196e-05 -1.30665710e-01] [-8.82776950e-02 -5.50357024e-03 9.96080699e-01 -3.59067417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.446296757 meters 0.07565529976199871 Centerline is valid? [True, True] Translation: X:31.22, Y:-0.13, Z:-3.60 [[ 9.94177701e-01 6.39245686e-02 8.67430007e-02 3.12228906e+01] [-6.41593911e-02 9.97939660e-01 -8.10010335e-05 -1.32328983e-01] [-8.65694586e-02 -5.48484869e-03 9.96230719e-01 -3.59805256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.506296756999994 meters 0.07469629240581356 Centerline is valid? [True, True] Translation: X:31.28, Y:-0.13, Z:-3.60 [[ 9.94415265e-01 6.20357224e-02 8.53806195e-02 3.12843832e+01] [-6.22542090e-02 9.98060320e-01 -1.03737745e-04 -1.34756596e-01] [-8.52214439e-02 -5.21214454e-03 9.96348402e-01 -3.60446724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.566296756999996 meters 0.07539171528133869 Centerline is valid? [True, True] Translation: X:31.35, Y:-0.13, Z:-3.61 [[ 9.94293831e-01 6.19459467e-02 8.68474383e-02 3.13453581e+01] [-6.21717094e-02 9.98065462e-01 -1.05504647e-04 -1.32136589e-01] [-8.66859643e-02 -5.29455108e-03 9.96221618e-01 -3.61040174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.626296757 meters 0.0812093424659933 Centerline is valid? [True, True] Translation: X:31.41, Y:-0.11, Z:-3.62 [[ 9.93800309e-01 6.47172090e-02 9.04025915e-02 3.14060964e+01] [-6.49713914e-02 9.97887118e-01 -1.31415374e-04 -1.13170259e-01] [-9.02200864e-02 -5.74298152e-03 9.95905294e-01 -3.61988129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.686296756999994 meters 0.0783614243956488 Centerline is valid? [True, True] Translation: X:31.47, Y:-0.11, Z:-3.62 [[ 9.93687777e-01 6.73811933e-02 8.96904482e-02 3.14670093e+01] [-6.76399272e-02 9.97709786e-01 -1.55056131e-04 -1.13963816e-01] [-8.94954857e-02 -5.91257801e-03 9.95969678e-01 -3.62494791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.746296756999996 meters 0.0789822067403585 Centerline is valid? [True, True] Translation: X:31.53, Y:-0.11, Z:-3.63 [[ 9.93725630e-01 6.89841842e-02 8.80372304e-02 3.15279229e+01] [-6.92395734e-02 9.97600049e-01 -1.53194508e-04 -1.11952061e-01] [-8.78365133e-02 -5.94342696e-03 9.96117173e-01 -3.63358061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.806296757 meters 0.07688414608291731 Centerline is valid? [True, True] Translation: X:31.59, Y:-0.11, Z:-3.64 [[ 9.93840839e-01 6.83855120e-02 8.71998147e-02 3.15899087e+01] [-6.86339901e-02 9.97641896e-01 -1.48962537e-04 -1.11361232e-01] [-8.70043754e-02 -5.83682617e-03 9.96190830e-01 -3.64008231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86629675699999 meters 0.07548871837717834 Centerline is valid? [True, True] Translation: X:31.65, Y:-0.11, Z:-3.65 [[ 9.93838564e-01 6.82912997e-02 8.72995242e-02 3.16522506e+01] [-6.85377756e-02 9.97648507e-01 -1.74441064e-04 -1.10776687e-01] [-8.71061528e-02 -5.80994895e-03 9.96182093e-01 -3.64638502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.926296756999996 meters 0.07607064314033482 Centerline is valid? [True, True] Translation: X:31.71, Y:-0.11, Z:-3.65 [[ 9.93718687e-01 6.81309991e-02 8.87769028e-02 3.17127749e+01] [-6.83849011e-02 9.97658996e-01 -1.81916799e-04 -1.09244176e-01] [-8.85814699e-02 -5.89022560e-03 9.96051519e-01 -3.65310399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.986296757 meters 0.07534165994715152 Centerline is valid? [True, True] Translation: X:31.77, Y:-0.11, Z:-3.66 [[ 9.93825625e-01 6.48117889e-02 9.00558630e-02 3.17729512e+01] [-6.50571758e-02 9.97881516e-01 -2.10954785e-04 -1.09989643e-01] [-8.98787534e-02 -5.64912784e-03 9.95936693e-01 -3.65930300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04629675699999 meters 0.07392923849006111 Centerline is valid? [True, True] Translation: X:31.83, Y:-0.11, Z:-3.67 [[ 9.93672091e-01 6.12665842e-02 9.41391541e-02 3.18334170e+01] [-6.15189104e-02 9.98105893e-01 -2.22164523e-04 -1.08955323e-01] [-9.39744558e-02 -5.57057950e-03 9.95559024e-01 -3.66516557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.106296756999996 meters 0.07275336988466513 Centerline is valid? [True, True] Translation: X:31.89, Y:-0.11, Z:-3.67 [[ 9.93897274e-01 5.43057619e-02 9.60161064e-02 3.18941246e+01] [-5.45358856e-02 9.98511785e-01 -2.27828764e-04 -1.14376655e-01] [-9.58855862e-02 -5.00988500e-03 9.95379754e-01 -3.67039883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.166296757 meters 0.07078269692502467 Centerline is valid? [True, True] Translation: X:31.95, Y:-0.12, Z:-3.68 [[ 9.94360797e-01 4.94809419e-02 9.37989468e-02 3.19541727e+01] [-4.96788742e-02 9.98765217e-01 -2.25148712e-04 -1.22398128e-01] [-9.36942661e-02 -4.43594703e-03 9.95591134e-01 -3.67610144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22629675699999 meters 0.0707196216796077 Centerline is valid? [True, True] Translation: X:32.01, Y:-0.12, Z:-3.69 [[ 9.94867455e-01 4.56899073e-02 9.02838798e-02 3.20138503e+01] [-4.58577171e-02 9.98947958e-01 -2.15866432e-04 -1.22138305e-01] [-9.01987603e-02 -3.92545413e-03 9.95916048e-01 -3.68774517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.286296756999995 meters 0.07115125902452567 Centerline is valid? [True, True] Translation: X:32.08, Y:-0.12, Z:-3.69 [[ 9.94638179e-01 4.73106327e-02 9.19597616e-02 3.20754984e+01] [-4.74917918e-02 9.98871604e-01 -2.18555752e-04 -1.20522484e-01] [-9.18663347e-02 -4.14994996e-03 9.95762700e-01 -3.69482967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.346296757 meters 0.07231813679632439 Centerline is valid? [True, True] Translation: X:32.13, Y:-0.12, Z:-3.70 [[ 9.94553980e-01 5.08891726e-02 9.09542387e-02 3.21347821e+01] [-5.10787774e-02 9.98694598e-01 -2.43423550e-04 -1.16950304e-01] [-9.08478945e-02 -4.40373345e-03 9.95855043e-01 -3.70265373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40629675699999 meters 0.07275620057419463 Centerline is valid? [True, True] Translation: X:32.19, Y:-0.11, Z:-3.71 [[ 9.94484083e-01 5.44706921e-02 8.96345450e-02 3.21949802e+01] [-5.46693162e-02 9.98504486e-01 -2.39479493e-04 -1.14531557e-01] [-8.95135399e-02 -4.66210074e-03 9.95974694e-01 -3.71023896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.466296756999995 meters 0.07371810993578712 Centerline is valid? [True, True] Translation: X:32.26, Y:-0.11, Z:-3.72 [[ 9.94471037e-01 5.72322809e-02 8.80444368e-02 3.22558910e+01] [-5.74345609e-02 9.98349245e-01 -2.36211787e-04 -1.13971944e-01] [-8.79126159e-02 -4.82188778e-03 9.96116520e-01 -3.71735751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.526296757 meters 0.07166642508871063 Centerline is valid? [True, True] Translation: X:32.32, Y:-0.12, Z:-3.72 [[ 9.94461943e-01 5.79344940e-02 8.76871619e-02 3.23181194e+01] [-5.81380868e-02 9.98308524e-01 -2.32467383e-04 -1.19375865e-01] [-8.75523090e-02 -4.86678387e-03 9.96148035e-01 -3.72106440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.586296757 meters 0.07211064247751373 Centerline is valid? [True, True] Translation: X:32.38, Y:-0.12, Z:-3.73 [[ 9.94333443e-01 5.69594795e-02 8.97586853e-02 3.23780219e+01] [-5.71663318e-02 9.98364632e-01 -2.66651463e-04 -1.18996948e-01] [-8.96270852e-02 -4.86603432e-03 9.95963507e-01 -3.72697767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.646296756999995 meters 0.07186582162027867 Centerline is valid? [True, True] Translation: X:32.44, Y:-0.12, Z:-3.73 [[ 9.94822329e-01 5.33911196e-02 8.64749780e-02 3.24387394e+01] [-5.35695203e-02 9.98564089e-01 -2.57875316e-04 -1.24858406e-01] [-8.63645759e-02 -4.37588296e-03 9.96253990e-01 -3.73431666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.706296757 meters 0.07171533222558608 Centerline is valid? [True, True] Translation: X:32.50, Y:-0.13, Z:-3.75 [[ 9.95370997e-01 5.07783661e-02 8.15974022e-02 3.25009678e+01] [-5.09287887e-02 9.98702259e-01 -2.38118032e-04 -1.25511686e-01] [-8.15036011e-02 -3.91864107e-03 9.96665344e-01 -3.74567528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.766296757 meters 0.07183428855908199 Centerline is valid? [True, True] Translation: X:32.56, Y:-0.13, Z:-3.75 [[ 9.95608727e-01 4.92200869e-02 7.96281747e-02 3.25625584e+01] [-4.93565574e-02 9.98781190e-01 -2.54654499e-04 -1.30694570e-01] [-7.95436572e-02 -3.67663633e-03 9.96824603e-01 -3.75436047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.826296756999994 meters 0.07189594265641332 Centerline is valid? [True, True] Translation: X:32.62, Y:-0.14, Z:-3.76 [[ 9.95216698e-01 4.59851152e-02 8.61921891e-02 3.26224979e+01] [-4.61305519e-02 9.98935373e-01 -3.04699132e-04 -1.38000513e-01] [-8.61144381e-02 -3.67285159e-03 9.96278482e-01 -3.75724099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.886296757 meters 0.07283935202772407 Centerline is valid? [True, True] Translation: X:32.68, Y:-0.13, Z:-3.77 [[ 9.95208102e-01 4.84528163e-02 8.49303192e-02 3.26831021e+01] [-4.86029987e-02 9.98818131e-01 -2.99696810e-04 -1.33257389e-01] [-8.48444638e-02 -3.82960750e-03 9.96386848e-01 -3.76680112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.946296757 meters 0.07284243159993473 Centerline is valid? [True, True] Translation: X:32.74, Y:-0.14, Z:-3.77 [[ 9.95409732e-01 5.42748284e-02 7.88270847e-02 3.27431959e+01] [-5.44220738e-02 9.98517981e-01 -2.80743918e-04 -1.37977632e-01] [-7.87254988e-02 -4.01047819e-03 9.96888265e-01 -3.77276570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.006296756999994 meters 0.07434088863530361 Centerline is valid? [True, True] Translation: X:32.80, Y:-0.13, Z:-3.78 [[ 9.95244103e-01 5.93142059e-02 7.72722532e-02 3.28037419e+01] [-5.94706365e-02 9.98230017e-01 -2.77208485e-04 -1.33766897e-01] [-7.71519250e-02 -4.31953997e-03 9.97009991e-01 -3.78168257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.066296756999996 meters 0.07505804312498626 Centerline is valid? [True, True] Translation: X:32.87, Y:-0.13, Z:-3.79 [[ 9.95064347e-01 6.12025929e-02 7.81100956e-02 3.28655239e+01] [-6.13686990e-02 9.98115127e-01 -2.74347996e-04 -1.29367139e-01] [-7.79796588e-02 -4.52052104e-03 9.96944701e-01 -3.79048142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.126296757 meters 0.07688645530736245 Centerline is valid? [True, True] Translation: X:32.93, Y:-0.12, Z:-3.80 [[ 9.94587357e-01 6.42093982e-02 8.16893063e-02 3.29258747e+01] [-6.43994931e-02 9.97924151e-01 -3.08333151e-04 -1.24390715e-01] [-8.15395295e-02 -4.95408567e-03 9.96657796e-01 -3.79752679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.186296756999994 meters 0.07540419601903045 Centerline is valid? [True, True] Translation: X:32.99, Y:-0.13, Z:-3.80 [[ 9.94483800e-01 6.19307473e-02 8.46555021e-02 3.29870798e+01] [-6.21246188e-02 9.98068341e-01 -3.44824296e-04 -1.28585837e-01] [-8.45133318e-02 -4.91626862e-03 9.96410220e-01 -3.80084818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.246296756999996 meters 0.07410911061953918 Centerline is valid? [True, True] Translation: X:33.05, Y:-0.13, Z:-3.81 [[ 9.94708360e-01 5.90178801e-02 8.40961819e-02 3.30481753e+01] [-5.91987896e-02 9.98246155e-01 -3.42952237e-04 -1.33263830e-01] [-8.39689305e-02 -4.63725472e-03 9.96457583e-01 -3.80832912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.306296757 meters 0.07382938745880495 Centerline is valid? [True, True] Translation: X:33.11, Y:-0.13, Z:-3.82 [[ 9.94850075e-01 5.56550789e-02 8.47103371e-02 3.31084491e+01] [-5.58258230e-02 9.98440460e-01 -3.53657117e-04 -1.33978889e-01] [-8.45979107e-02 -4.37718847e-03 9.96405557e-01 -3.81610653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36629675699999 meters 0.07286902377736115 Centerline is valid? [True, True] Translation: X:33.17, Y:-0.14, Z:-3.82 [[ 9.95244869e-01 5.33993141e-02 8.14626495e-02 3.31703099e+01] [-5.35501194e-02 9.98565107e-01 -3.34020840e-04 -1.37430669e-01] [-8.13635958e-02 -4.02990208e-03 9.96676339e-01 -3.82197769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.426296756999996 meters 0.07351756569811034 Centerline is valid? [True, True] Translation: X:33.23, Y:-0.14, Z:-3.83 [[ 9.95361239e-01 5.29428868e-02 8.03309078e-02 3.32321069e+01] [-5.30865361e-02 9.98589855e-01 -3.47926589e-04 -1.36330950e-01] [-8.02360499e-02 -3.91817700e-03 9.96768190e-01 -3.83069282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.486296757 meters 0.07375603362203666 Centerline is valid? [True, True] Translation: X:33.29, Y:-0.13, Z:-3.84 [[ 9.95085780e-01 5.36414758e-02 8.32278952e-02 3.32936213e+01] [-5.37962443e-02 9.98551860e-01 -3.83497212e-04 -1.31858974e-01] [-8.31279409e-02 -4.09573556e-03 9.96530466e-01 -3.83613413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54629675699999 meters 0.07335301968099538 Centerline is valid? [True, True] Translation: X:33.35, Y:-0.13, Z:-3.84 [[ 9.95303649e-01 5.59188923e-02 7.90172374e-02 3.33537021e+01] [-5.60635256e-02 9.98427128e-01 -3.88617260e-04 -1.31318125e-01] [-7.89146845e-02 -4.04319274e-03 9.96873174e-01 -3.84307831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.606296756999996 meters 0.0744688127938289 Centerline is valid? [True, True] Translation: X:33.41, Y:-0.13, Z:-3.85 [[ 9.95213374e-01 5.96480711e-02 7.74109076e-02 3.34141768e+01] [-5.97979325e-02 9.98210429e-01 -3.82692000e-04 -1.29188143e-01] [-7.72952022e-02 -4.24815203e-03 9.96999200e-01 -3.85098431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.666296757 meters 0.07443097634497395 Centerline is valid? [True, True] Translation: X:33.47, Y:-0.12, Z:-3.86 [[ 9.94960829e-01 6.39255187e-02 7.72429739e-02 3.34749040e+01] [-6.40874754e-02 9.97944211e-01 -3.82866041e-04 -1.24886840e-01] [-7.71086536e-02 -4.56937048e-03 9.97012225e-01 -3.85868961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72629675699999 meters 0.0770590041734933 Centerline is valid? [True, True] Translation: X:33.54, Y:-0.12, Z:-3.87 [[ 9.94708247e-01 6.49605678e-02 7.95966565e-02 3.35354807e+01] [-6.51363926e-02 9.97876295e-01 -3.88255216e-04 -1.17441531e-01] [-7.94528379e-02 -4.79843840e-03 9.96827077e-01 -3.86923129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.786296756999995 meters 0.07537469411211407 Centerline is valid? [True, True] Translation: X:33.60, Y:-0.13, Z:-3.87 [[ 9.94987817e-01 6.21999326e-02 7.82969460e-02 3.35964505e+01] [-6.23596193e-02 9.98053662e-01 -4.06261355e-04 -1.31085882e-01] [-7.81698232e-02 -4.47834265e-03 9.96929999e-01 -3.87316142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.846296757 meters 0.07332784120803659 Centerline is valid? [True, True] Translation: X:33.66, Y:-0.14, Z:-3.88 [[ 9.95346871e-01 5.79826533e-02 7.69585429e-02 3.36571278e+01] [-5.81241008e-02 9.98309284e-01 -4.02543193e-04 -1.40792704e-01] [-7.68517684e-02 -4.07247600e-03 9.97034212e-01 -3.87879168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90629675699999 meters 0.07599151928249787 Centerline is valid? [True, True] Translation: X:33.72, Y:-0.13, Z:-3.89 [[ 9.95317993e-01 5.56788519e-02 7.90060610e-02 3.37156234e+01] [-5.58205703e-02 9.98440730e-01 -4.15355067e-04 -1.32321494e-01] [-7.89059957e-02 -3.99675301e-03 9.96874049e-01 -3.89309048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.966296756999995 meters 0.07330738567485809 Centerline is valid? [True, True] Translation: X:33.78, Y:-0.15, Z:-3.89 [[ 9.95137845e-01 5.29324245e-02 8.30591840e-02 3.37768395e+01] [-5.30796492e-02 9.98590186e-01 -4.36218800e-04 -1.46103513e-01] [-8.29651762e-02 -3.97465451e-03 9.96544521e-01 -3.88982289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.026296757 meters 0.07279731716926309 Centerline is valid? [True, True] Translation: X:33.84, Y:-0.15, Z:-3.90 [[ 9.95235078e-01 4.90223725e-02 8.42849146e-02 3.38372059e+01] [-4.91599353e-02 9.98790821e-01 -4.43776067e-04 -1.49094328e-01] [-8.42047540e-02 -3.70177944e-03 9.96441597e-01 -3.89505085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08629675699999 meters 0.07337124394161684 Centerline is valid? [True, True] Translation: X:33.90, Y:-0.14, Z:-3.91 [[ 9.95352328e-01 4.81563699e-02 8.33948850e-02 3.38984282e+01] [-4.82884620e-02 9.98833338e-01 -4.33534768e-04 -1.44662257e-01] [-8.33184688e-02 -3.59549089e-03 9.96516485e-01 -3.90727842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.146296756999995 meters 0.07405799027378052 Centerline is valid? [True, True] Translation: X:33.96, Y:-0.14, Z:-3.91 [[ 9.95140438e-01 5.02673628e-02 8.46681794e-02 3.39591496e+01] [-5.04093128e-02 9.98728536e-01 -4.61849746e-04 -1.43195129e-01] [-8.45837428e-02 -3.80845938e-03 9.96409096e-01 -3.91471945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.206296757 meters 0.07469201090574788 Centerline is valid? [True, True] Translation: X:34.02, Y:-0.14, Z:-3.92 [[ 9.94690997e-01 5.43554155e-02 8.73802531e-02 3.40203467e+01] [-5.45201533e-02 9.98512544e-01 -5.01927524e-04 -1.39058547e-01] [-8.72775613e-02 -4.26472200e-03 9.96174904e-01 -3.91956291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.266296757 meters 0.07670770302117824 Centerline is valid? [True, True] Translation: X:34.08, Y:-0.13, Z:-3.93 [[ 9.94665443e-01 5.92451726e-02 8.44432737e-02 3.40790871e+01] [-5.94161579e-02 9.98233180e-01 -4.89062268e-04 -1.27790463e-01] [-8.43230521e-02 -4.53084155e-03 9.96428168e-01 -3.93153355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.326296756999994 meters 0.07551959029628993 Centerline is valid? [True, True] Translation: X:34.14, Y:-0.13, Z:-3.94 [[ 9.94667180e-01 6.12438285e-02 8.29843030e-02 3.41399509e+01] [-6.14159681e-02 9.98112143e-01 -4.79139492e-04 -1.34076453e-01] [-8.28569848e-02 -4.61997698e-03 9.96550739e-01 -3.93672188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.386296757 meters 0.0754011971359198 Centerline is valid? [True, True] Translation: X:34.20, Y:-0.14, Z:-3.94 [[ 9.94659031e-01 6.04862025e-02 8.36351105e-02 3.42015207e+01] [-6.06588621e-02 9.98158442e-01 -4.77414668e-04 -1.38725776e-01] [-8.35099685e-02 -4.59834582e-03 9.96496332e-01 -3.94279468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.446296757 meters 0.07325262283579476 Centerline is valid? [True, True] Translation: X:34.26, Y:-0.14, Z:-3.95 [[ 9.94403286e-01 5.89081085e-02 8.77037015e-02 3.42618332e+01] [-5.90893984e-02 9.98252554e-01 -5.29941251e-04 -1.39627705e-01] [-8.75816619e-02 -4.65538364e-03 9.96146465e-01 -3.94817735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.506296756999994 meters 0.07541649204789896 Centerline is valid? [True, True] Translation: X:34.32, Y:-0.14, Z:-3.96 [[ 9.94765567e-01 5.90171348e-02 8.34172859e-02 3.43225668e+01] [-5.91820198e-02 9.98247084e-01 -4.96865350e-04 -1.38593613e-01] [-8.33003860e-02 -4.44253893e-03 9.96514581e-01 -3.95748286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.566296756999996 meters 0.07468261583437628 Centerline is valid? [True, True] Translation: X:34.38, Y:-0.14, Z:-3.96 [[ 9.94638444e-01 5.89394321e-02 8.49735739e-02 3.43848552e+01] [-5.91081991e-02 9.98251441e-01 -5.30586540e-04 -1.38065616e-01] [-8.48562650e-02 -4.49489315e-03 9.96383064e-01 -3.96328768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.626296757 meters 0.07392001298764188 Centerline is valid? [True, True] Translation: X:34.45, Y:-0.14, Z:-3.97 [[ 9.94329290e-01 5.99901346e-02 8.78091482e-02 3.44462723e+01] [-6.01741856e-02 9.98187739e-01 -5.51895731e-04 -1.35496808e-01] [-8.76831235e-02 -4.73507790e-03 9.96137164e-01 -3.96912187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.686296756999994 meters 0.07376847446577739 Centerline is valid? [True, True] Translation: X:34.51, Y:-0.14, Z:-3.97 [[ 9.94330541e-01 5.92977969e-02 8.82640727e-02 3.45081259e+01] [-5.94790694e-02 9.98229386e-01 -5.77224096e-04 -1.36741594e-01] [-8.81420192e-02 -4.67591336e-03 9.96096943e-01 -3.97339331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.746296756999996 meters 0.07389366139978934 Centerline is valid? [True, True] Translation: X:34.57, Y:-0.14, Z:-3.98 [[ 9.94477106e-01 6.00076644e-02 8.61067163e-02 3.45693935e+01] [-6.01809190e-02 9.98187315e-01 -5.84660944e-04 -1.37582759e-01] [-8.59857161e-02 -4.60054940e-03 9.96285748e-01 -3.98108398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.806296757 meters 0.07514399103878357 Centerline is valid? [True, True] Translation: X:34.63, Y:-0.13, Z:-3.99 [[ 9.94052598e-01 6.60139272e-02 8.66117452e-02 3.46302020e+01] [-6.62096261e-02 9.97805546e-01 -6.14371811e-04 -1.27716416e-01] [-8.64622368e-02 -5.12381338e-03 9.96241953e-01 -3.98988224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86629675699999 meters 0.07608578353876809 Centerline is valid? [True, True] Translation: X:34.69, Y:-0.12, Z:-4.00 [[ 9.93475150e-01 7.34802333e-02 8.72225973e-02 3.46907476e+01] [-7.37071023e-02 9.97279739e-01 -6.21092641e-04 -1.21884802e-01] [-8.70309671e-02 -5.81188480e-03 9.96188653e-01 -3.99575471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.926296756999996 meters 0.07920626278229428 Centerline is valid? [True, True] Translation: X:34.75, Y:-0.11, Z:-4.01 [[ 9.93378841e-01 7.78711957e-02 8.44662952e-02 3.47503317e+01] [-7.80995354e-02 9.96945384e-01 -6.02644691e-04 -1.14333415e-01] [-8.42552118e-02 -5.99812393e-03 9.96426155e-01 -4.00535749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.986296757 meters 0.07937109961570589 Centerline is valid? [True, True] Translation: X:34.81, Y:-0.11, Z:-4.01 [[ 9.93193297e-01 8.02218479e-02 8.44483815e-02 3.48105815e+01] [-8.04584607e-02 9.96757780e-01 -6.03293987e-04 -1.11888100e-01] [-8.42229786e-02 -6.19539923e-03 9.96427673e-01 -4.01287218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04629675699999 meters 0.08151248638824339 Centerline is valid? [True, True] Translation: X:34.87, Y:-0.10, Z:-4.02 [[ 9.93113945e-01 8.21956974e-02 8.34779008e-02 3.48700133e+01] [-8.24336300e-02 9.96596377e-01 -5.98322815e-04 -1.04243842e-01] [-8.32429531e-02 -6.28718366e-03 9.96509449e-01 -4.02165243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.106296756999996 meters 0.07784838908553555 Centerline is valid? [True, True] Translation: X:34.93, Y:-0.11, Z:-4.02 [[ 9.93029876e-01 8.09798035e-02 8.56384114e-02 3.49320064e+01] [-8.12259920e-02 9.96695522e-01 -6.11534262e-04 -1.09627976e-01] [-8.54049431e-02 -6.34879313e-03 9.96326095e-01 -4.02392063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.166296757 meters 0.07549540476895174 Centerline is valid? [True, True] Translation: X:34.99, Y:-0.12, Z:-4.03 [[ 9.93264496e-01 7.78719005e-02 8.57998158e-02 3.49933147e+01] [-7.81067913e-02 9.96944805e-01 -6.21026499e-04 -1.18735897e-01] [-8.55860411e-02 -6.08470473e-03 9.96312203e-01 -4.02714649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22629675699999 meters 0.07428162903003288 Centerline is valid? [True, True] Translation: X:35.05, Y:-0.13, Z:-4.04 [[ 9.93776317e-01 6.95014601e-02 8.70527340e-02 3.50533980e+01] [-6.97111476e-02 9.97567018e-01 -6.32683203e-04 -1.25496796e-01] [-8.68849087e-02 -5.43980041e-03 9.96203504e-01 -4.03521170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.286296756999995 meters 0.07472941841946529 Centerline is valid? [True, True] Translation: X:35.11, Y:-0.13, Z:-4.05 [[ 9.94151375e-01 6.35362434e-02 8.73280517e-02 3.51121222e+01] [-6.37242104e-02 9.97967344e-01 -6.36504301e-04 -1.26183154e-01] [-8.71909849e-02 -4.93212951e-03 9.96179405e-01 -4.04714765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.346296757 meters 0.0736220418921659 Centerline is valid? [True, True] Translation: X:35.17, Y:-0.13, Z:-4.05 [[ 9.94365269e-01 5.86603517e-02 8.82987821e-02 3.51725253e+01] [-5.88335286e-02 9.98267601e-01 -6.42263661e-04 -1.32639258e-01] [-8.81834888e-02 -4.55628424e-03 9.96093827e-01 -4.05360013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40629675699999 meters 0.07366810246745245 Centerline is valid? [True, True] Translation: X:35.23, Y:-0.14, Z:-4.06 [[ 9.94636383e-01 5.61165538e-02 8.68872698e-02 3.52336004e+01] [-5.62744909e-02 9.98415135e-01 -6.32550290e-04 -1.43026247e-01] [-8.67850617e-02 -4.26037934e-03 9.96217949e-01 -4.06014787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.466296756999995 meters 0.07477812935459245 Centerline is valid? [True, True] Translation: X:35.30, Y:-0.14, Z:-4.07 [[ 9.94497153e-01 5.82066530e-02 8.71056724e-02 3.52952044e+01] [-5.83731904e-02 9.98294629e-01 -6.36208608e-04 -1.41165500e-01] [-8.69941565e-02 -4.45192835e-03 9.96198874e-01 -4.06874061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.526296757 meters 0.07598601326470832 Centerline is valid? [True, True] Translation: X:35.35, Y:-0.14, Z:-4.08 [[ 9.94310028e-01 6.29525726e-02 8.59333605e-02 3.53549523e+01] [-6.31316258e-02 9.98005007e-01 -6.35074508e-04 -1.39321896e-01] [-8.58019036e-02 -4.79365180e-03 9.96300685e-01 -4.07933401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58629675699999 meters 0.07511894553786413 Centerline is valid? [True, True] Translation: X:35.42, Y:-0.15, Z:-4.08 [[ 9.94264224e-01 6.52963292e-02 8.47056230e-02 3.54158902e+01] [-6.54788142e-02 9.97853764e-01 -6.25052514e-04 -1.51746835e-01] [-8.45646384e-02 -4.92495640e-03 9.96405824e-01 -4.08306592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.646296756999995 meters 0.07652547580453573 Centerline is valid? [True, True] Translation: X:35.48, Y:-0.16, Z:-4.09 [[ 9.94153662e-01 6.73619526e-02 8.43852058e-02 3.54755701e+01] [-6.75501563e-02 9.97715683e-01 -6.26191999e-04 -1.55543415e-01] [-8.42346247e-02 -5.07770276e-03 9.96433011e-01 -4.09068242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.706296757 meters 0.0780929903525503 Centerline is valid? [True, True] Translation: X:35.54, Y:-0.16, Z:-4.10 [[ 9.94025887e-01 6.92402170e-02 8.43701893e-02 3.55362856e+01] [-6.94346940e-02 9.97586300e-01 -6.30655869e-04 -1.56907890e-01] [-8.42102117e-02 -5.23133002e-03 9.96434280e-01 -4.10194051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.766296757 meters 0.07703315325312866 Centerline is valid? [True, True] Translation: X:35.60, Y:-0.17, Z:-4.11 [[ 9.93891907e-01 6.94710941e-02 8.57475564e-02 3.55979423e+01] [-6.96731258e-02 9.97569671e-01 -6.37926175e-04 -1.65150728e-01] [-8.55834791e-02 -5.34027063e-03 9.96316691e-01 -4.10732507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.826296756999994 meters 0.07661965690424274 Centerline is valid? [True, True] Translation: X:35.66, Y:-0.18, Z:-4.11 [[ 9.94007416e-01 6.50888551e-02 8.78219664e-02 3.56574033e+01] [-6.52813172e-02 9.97866667e-01 -6.81895731e-04 -1.78410764e-01] [-8.76789967e-02 -5.05532423e-03 9.96135953e-01 -4.11168506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.886296757 meters 0.0765590741361801 Centerline is valid? [True, True] Translation: X:35.72, Y:-0.18, Z:-4.12 [[ 9.93791340e-01 6.27230321e-02 9.18944718e-02 3.57171101e+01] [-6.29238467e-02 9.98018076e-01 -7.13273186e-04 -1.84684881e-01] [-9.17570826e-02 -5.07350894e-03 9.95768496e-01 -4.11811033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.946296757 meters 0.07565776229644014 Centerline is valid? [True, True] Translation: X:35.78, Y:-0.20, Z:-4.12 [[ 9.93708808e-01 6.44468734e-02 9.15936962e-02 3.57789896e+01] [-6.46537977e-02 9.97907502e-01 -7.09331461e-04 -1.95111933e-01] [-9.14477508e-02 -5.21701138e-03 9.95796210e-01 -4.12484344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.006296756999994 meters 0.07676167638284076 Centerline is valid? [True, True] Translation: X:35.84, Y:-0.20, Z:-4.13 [[ 9.93703827e-01 6.61509450e-02 9.04254177e-02 3.58394673e+01] [-6.63589261e-02 9.97795566e-01 -7.07774132e-04 -1.99057570e-01] [-9.02729008e-02 -5.29721574e-03 9.95902979e-01 -4.13336760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.066296756999996 meters 0.07659477912592205 Centerline is valid? [True, True] Translation: X:35.90, Y:-0.20, Z:-4.14 [[ 9.93600480e-01 6.72488821e-02 9.07506093e-02 3.59007528e+01] [-6.74632740e-02 9.97721508e-01 -7.06492880e-04 -2.01242558e-01] [-9.05913456e-02 -5.42036155e-03 9.95873399e-01 -4.14025462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.126296757 meters 0.07660594693590818 Centerline is valid? [True, True] Translation: X:35.96, Y:-0.21, Z:-4.15 [[ 9.93646211e-01 6.75464940e-02 9.00259903e-02 3.59619656e+01] [-6.77566488e-02 9.97701615e-01 -7.23223091e-04 -2.07894036e-01] [-8.98679272e-02 -5.38123152e-03 9.95939154e-01 -4.14642270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.186296756999994 meters 0.0783475325250081 Centerline is valid? [True, True] Translation: X:36.02, Y:-0.21, Z:-4.16 [[ 9.93909737e-01 7.03392041e-02 8.48282481e-02 3.60225141e+01] [-7.05337362e-02 9.97509145e-01 -7.05333343e-04 -2.06054821e-01] [-8.46665658e-02 -5.28221560e-03 9.96395339e-01 -4.15706974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.246296756999996 meters 0.08099400056143688 Centerline is valid? [True, True] Translation: X:36.08, Y:-0.20, Z:-4.17 [[ 9.93549308e-01 7.53830042e-02 8.47182085e-02 3.60822415e+01] [-7.55950390e-02 9.97138351e-01 -7.06881166e-04 -1.96581602e-01] [-8.45290615e-02 -5.70195498e-03 9.96404700e-01 -4.16729351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.306296757 meters 0.07999354944164665 Centerline is valid? [True, True] Translation: X:36.14, Y:-0.20, Z:-4.17 [[ 9.93121168e-01 7.84302119e-02 8.69427875e-02 3.61440208e+01] [-7.86651935e-02 9.96900828e-01 -7.25469763e-04 -2.01300537e-01] [-8.67302356e-02 -6.11889183e-03 9.96213042e-01 -4.16855794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36629675699999 meters 0.07948059614709597 Centerline is valid? [True, True] Translation: X:36.21, Y:-0.20, Z:-4.17 [[ 9.93240208e-01 7.74161566e-02 8.64906261e-02 3.62065094e+01] [-7.76447299e-02 9.96980829e-01 -7.23272395e-04 -2.03150984e-01] [-8.62854891e-02 -5.99715808e-03 9.96252402e-01 -4.17390812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.426296756999996 meters 0.0789900794381465 Centerline is valid? [True, True] Translation: X:36.27, Y:-0.20, Z:-4.18 [[ 9.93450029e-01 7.34588146e-02 8.75262400e-02 3.62670933e+01] [-7.36768050e-02 9.97281895e-01 -7.41740288e-04 -1.99479449e-01] [-8.73428219e-02 -5.71177181e-03 9.96161938e-01 -4.18217944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.486296757 meters 0.07790549286326472 Centerline is valid? [True, True] Translation: X:36.33, Y:-0.21, Z:-4.19 [[ 9.93519254e-01 7.24090136e-02 8.76152226e-02 3.63291168e+01] [-7.26237952e-02 9.97359133e-01 -7.37910052e-04 -2.05953610e-01] [-8.74372738e-02 -5.62982214e-03 9.96154119e-01 -4.18515522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54629675699999 meters 0.07692020757067303 Centerline is valid? [True, True] Translation: X:36.39, Y:-0.20, Z:-4.19 [[ 9.93537013e-01 7.17616942e-02 8.79457999e-02 3.63913565e+01] [-7.19732776e-02 9.97406266e-01 -7.66929613e-04 -2.02063401e-01] [-8.77727281e-02 -5.56777452e-03 9.96124966e-01 -4.19155648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.606296756999996 meters 0.07712155349317527 Centerline is valid? [True, True] Translation: X:36.45, Y:-0.20, Z:-4.20 [[ 9.93646559e-01 6.92704762e-02 8.87024105e-02 3.64512121e+01] [-6.94749913e-02 9.97583386e-01 -7.83407814e-04 -1.96585948e-01] [-8.85423180e-02 -5.38416872e-03 9.96057864e-01 -4.20214518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.666296757 meters 0.07599254648690923 Centerline is valid? [True, True] Translation: X:36.51, Y:-0.20, Z:-4.21 [[ 9.93887744e-01 6.81762337e-02 8.68282948e-02 3.65136400e+01] [-6.83680322e-02 9.97659874e-01 -7.66379613e-04 -2.03617911e-01] [-8.66773546e-02 -5.17458435e-03 9.96222997e-01 -4.20694700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72629675699999 meters 0.07622335281133953 Centerline is valid? [True, True] Translation: X:36.57, Y:-0.19, Z:-4.22 [[ 9.93886904e-01 7.03713157e-02 8.50687967e-02 3.65741310e+01] [-7.05626148e-02 9.97507063e-01 -7.59687495e-04 -1.93051910e-01] [-8.49101857e-02 -5.24763328e-03 9.96374790e-01 -4.21789583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.786296756999995 meters 0.0761173522251842 Centerline is valid? [True, True] Translation: X:36.64, Y:-0.19, Z:-4.22 [[ 9.93446754e-01 7.38388676e-02 8.72431611e-02 3.66351439e+01] [-7.40531043e-02 9.97253992e-01 -7.82747670e-04 -1.89939305e-01] [-8.70613879e-02 -5.68300878e-03 9.96186739e-01 -4.22288126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.846296757 meters 0.07945622067161184 Centerline is valid? [True, True] Translation: X:36.70, Y:-0.18, Z:-4.23 [[ 9.93060216e-01 7.69508699e-02 8.89380182e-02 3.66952999e+01] [-7.71858180e-02 9.97016404e-01 -7.99596138e-04 -1.84848728e-01] [-8.87341927e-02 -6.07070657e-03 9.96036841e-01 -4.22813675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90629675699999 meters 0.08213458763775668 Centerline is valid? [True, True] Translation: X:36.75, Y:-0.17, Z:-4.24 [[ 9.92797120e-01 8.13723585e-02 8.79341719e-02 3.67548945e+01] [-8.16190618e-02 9.96663284e-01 -7.92327261e-04 -1.73080224e-01] [-8.77052341e-02 -6.39048439e-03 9.96125973e-01 -4.23734175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.966296756999995 meters 0.08428350890509445 Centerline is valid? [True, True] Translation: X:36.81, Y:-0.16, Z:-4.25 [[ 9.92654518e-01 8.41514115e-02 8.69226535e-02 3.68146258e+01] [-8.44029507e-02 9.96431396e-01 -7.83893727e-04 -1.62940671e-01] [-8.66784268e-02 -6.55839279e-03 9.96214755e-01 -4.24744364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.026296757 meters 0.0776691048927674 Centerline is valid? [True, True] Translation: X:36.88, Y:-0.18, Z:-4.24 [[ 9.92520419e-01 8.51032944e-02 8.75251214e-02 3.68773179e+01] [-8.53624857e-02 9.96349653e-01 -7.84091965e-04 -1.79306886e-01] [-8.72723532e-02 -6.69313464e-03 9.96162004e-01 -4.24453998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08629675699999 meters 0.07989110423760623 Centerline is valid? [True, True] Translation: X:36.94, Y:-0.17, Z:-4.25 [[ 9.92669640e-01 8.04727220e-02 9.01727589e-02 3.69370590e+01] [-8.07262421e-02 9.96735959e-01 -8.38013544e-04 -1.71663058e-01] [-8.99458685e-02 -6.44743736e-03 9.95925786e-01 -4.25309347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.146296756999995 meters 0.07842163732420655 Centerline is valid? [True, True] Translation: X:37.00, Y:-0.17, Z:-4.26 [[ 9.92623154e-01 8.18656526e-02 8.94275579e-02 3.69990331e+01] [-8.21206372e-02 9.96622050e-01 -8.30488652e-04 -1.68741041e-01] [-8.91934646e-02 -6.51948577e-03 9.95992983e-01 -4.26074809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.206296757 meters 0.07853705701812144 Centerline is valid? [True, True] Translation: X:37.06, Y:-0.17, Z:-4.27 [[ 9.92869498e-01 8.02110646e-02 8.81835894e-02 3.70599680e+01] [-8.04518551e-02 9.96758154e-01 -8.26000539e-04 -1.68918483e-01] [-8.79639661e-02 -6.27442261e-03 9.96103896e-01 -4.26627945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.266296757 meters 0.07690384438323151 Centerline is valid? [True, True] Translation: X:37.12, Y:-0.18, Z:-4.27 [[ 9.93563456e-01 7.50768737e-02 8.48240697e-02 3.71203040e+01] [-7.52806740e-02 9.97162065e-01 -7.97931063e-04 -1.76314685e-01] [-8.46432507e-02 -5.59281800e-03 9.96395624e-01 -4.27241372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.326296756999994 meters 0.07580508852761991 Centerline is valid? [True, True] Translation: X:37.18, Y:-0.18, Z:-4.28 [[ 9.93645330e-01 7.33912492e-02 8.53386340e-02 3.71817865e+01] [-7.35913239e-02 9.97288159e-01 -8.03251924e-04 -1.75386043e-01] [-8.51661609e-02 -5.48203554e-03 9.96351681e-01 -4.28058869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.386296757 meters 0.07649152928454832 Centerline is valid? [True, True] Translation: X:37.24, Y:-0.17, Z:-4.29 [[ 9.93803423e-01 7.34165044e-02 8.34552233e-02 3.72423754e+01] [-7.36079701e-02 9.97286945e-01 -7.84478211e-04 -1.74414602e-01] [-8.32863984e-02 -5.36335246e-03 9.96511219e-01 -4.28977970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.446296757 meters 0.07581769556331601 Centerline is valid? [True, True] Translation: X:37.30, Y:-0.18, Z:-4.30 [[ 9.93858646e-01 7.36434045e-02 8.25932254e-02 3.73037321e+01] [-7.38302275e-02 9.97270508e-01 -7.94078230e-04 -1.84194012e-01] [-8.24262665e-02 -5.30867511e-03 9.96583026e-01 -4.29562858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.506296756999994 meters 0.07545708032300763 Centerline is valid? [True, True] Translation: X:37.37, Y:-0.18, Z:-4.30 [[ 9.93598215e-01 7.57559041e-02 8.38071019e-02 3.73650137e+01] [-7.59536714e-02 9.97111002e-01 -8.30634225e-04 -1.81089194e-01] [-8.36279088e-02 -5.54014040e-03 9.96481650e-01 -4.30315714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.566296756999996 meters 0.08011408924242666 Centerline is valid? [True, True] Translation: X:37.43, Y:-0.17, Z:-4.31 [[ 9.93159146e-01 7.78371134e-02 8.70419119e-02 3.74257152e+01] [-7.80577760e-02 9.96948457e-01 -8.70797802e-04 -1.69373260e-01] [-8.68440801e-02 -5.92945726e-03 9.96204270e-01 -4.31369606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.626296757 meters 0.07559332395590224 Centerline is valid? [True, True] Translation: X:37.49, Y:-0.19, Z:-4.31 [[ 9.93188248e-01 7.62847889e-02 8.80780010e-02 3.74873200e+01] [-7.65024588e-02 9.97068980e-01 -9.06625055e-04 -1.88996088e-01] [-8.78890044e-02 -5.83773429e-03 9.96113168e-01 -4.31355256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.686296756999994 meters 0.07612610953322689 Centerline is valid? [True, True] Translation: X:37.55, Y:-0.18, Z:-4.32 [[ 9.93048373e-01 7.56496990e-02 9.01778955e-02 3.75473585e+01] [-7.58749946e-02 9.97116902e-01 -9.32087202e-04 -1.83526466e-01] [-8.99884159e-02 -5.91663965e-03 9.95925237e-01 -4.32179354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.746296756999996 meters 0.07714154786698921 Centerline is valid? [True, True] Translation: X:37.61, Y:-0.18, Z:-4.33 [[ 9.92981521e-01 7.71660781e-02 8.96275402e-02 3.76085306e+01] [-7.73950717e-02 9.97000076e-01 -9.22815673e-04 -1.82209030e-01] [-8.94298744e-02 -6.02039099e-03 9.95974926e-01 -4.32957728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.806296757 meters 0.07819758441748476 Centerline is valid? [True, True] Translation: X:37.67, Y:-0.18, Z:-4.34 [[ 9.92668923e-01 7.89897878e-02 9.14823640e-02 3.76699597e+01] [-7.92341906e-02 9.96855564e-01 -9.62927828e-04 -1.81206948e-01] [-9.12707651e-02 -6.29266254e-03 9.95806231e-01 -4.33584516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86629675699999 meters 0.07939292566999474 Centerline is valid? [True, True] Translation: X:37.73, Y:-0.17, Z:-4.34 [[ 9.92437108e-01 8.00630212e-02 9.30510564e-02 3.77313084e+01] [-8.03184707e-02 9.96768749e-01 -1.00253142e-03 -1.74132638e-01] [-9.28306507e-02 -6.47876917e-03 9.95660834e-01 -4.34365893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.926296756999996 meters 0.08035400241432687 Centerline is valid? [True, True] Translation: X:37.79, Y:-0.17, Z:-4.35 [[ 9.92894717e-01 7.76817351e-02 9.01422727e-02 3.77922575e+01] [-7.79092756e-02 9.96959954e-01 -9.96989152e-04 -1.73789770e-01] [-8.99456839e-02 -6.03301391e-03 9.95928399e-01 -4.35168395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.986296757 meters 0.07923612477425272 Centerline is valid? [True, True] Translation: X:37.85, Y:-0.17, Z:-4.36 [[ 9.93434677e-01 7.39313974e-02 8.73022981e-02 3.78520921e+01] [-7.41300187e-02 9.97248114e-01 -9.69222852e-04 -1.74857202e-01] [-8.71337082e-02 -5.50886141e-03 9.96181394e-01 -4.36170459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04629675699999 meters 0.07846949989268408 Centerline is valid? [True, True] Translation: X:37.91, Y:-0.18, Z:-4.37 [[ 9.93674518e-01 7.11976260e-02 8.68438272e-02 3.79126381e+01] [-7.13837796e-02 9.97448458e-01 -9.64023535e-04 -1.78314140e-01] [-8.66908777e-02 -5.24131499e-03 9.96221472e-01 -4.36835476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.106296756999996 meters 0.0783113393130071 Centerline is valid? [True, True] Translation: X:37.97, Y:-0.18, Z:-4.37 [[ 9.93439544e-01 6.91854614e-02 9.10562656e-02 3.79725420e+01] [-6.93815642e-02 9.97589681e-01 -1.01379905e-03 -1.78986358e-01] [-9.09069311e-02 -5.31047807e-03 9.95845233e-01 -4.37315018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.166296757 meters 0.07870623940369965 Centerline is valid? [True, True] Translation: X:38.03, Y:-0.18, Z:-4.38 [[ 9.93334691e-01 6.79563010e-02 9.31028104e-02 3.80342384e+01] [-6.81561182e-02 9.97674131e-01 -1.03548986e-03 -1.76595843e-01] [-9.29566335e-02 -5.31693815e-03 9.95655962e-01 -4.37910400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22629675699999 meters 0.07380963779143886 Centerline is valid? [True, True] Translation: X:38.10, Y:-0.19, Z:-4.38 [[ 9.93456334e-01 6.84289345e-02 9.14439366e-02 3.80959573e+01] [-6.86236742e-02 9.97642099e-01 -1.01660089e-03 -1.89589321e-01] [-9.12978858e-02 -5.26527032e-03 9.95809707e-01 -4.38339598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.286296756999995 meters 0.07366940009040361 Centerline is valid? [True, True] Translation: X:38.16, Y:-0.19, Z:-4.39 [[ 9.93547799e-01 6.55462467e-02 9.25551804e-02 3.81555659e+01] [-6.57306171e-02 9.97836843e-01 -1.05828680e-03 -1.92713115e-01] [-9.24243358e-02 -5.03225061e-03 9.95706994e-01 -4.38839238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.346296757 meters 0.07278895139468153 Centerline is valid? [True, True] Translation: X:38.22, Y:-0.19, Z:-4.40 [[ 9.93532918e-01 6.45795866e-02 9.33906757e-02 3.82173135e+01] [-6.47635793e-02 9.97900070e-01 -1.06248351e-03 -1.91840226e-01] [-9.32631765e-02 -4.99270208e-03 9.95628973e-01 -4.39530332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40629675699999 meters 0.07333271296551781 Centerline is valid? [True, True] Translation: X:38.28, Y:-0.19, Z:-4.40 [[ 9.93431340e-01 6.67996753e-02 9.29084241e-02 3.82780878e+01] [-6.69887824e-02 9.97753138e-01 -1.08525978e-03 -1.88898253e-01] [-9.27721667e-02 -5.14569112e-03 9.95674067e-01 -4.40269349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.466296756999995 meters 0.07458488070860277 Centerline is valid? [True, True] Translation: X:38.34, Y:-0.19, Z:-4.41 [[ 9.93101335e-01 6.97115684e-02 9.42869907e-02 3.83379832e+01] [-6.99190609e-02 9.97552056e-01 -1.10519684e-03 -1.85355588e-01] [-9.41332264e-02 -5.49488538e-03 9.95544445e-01 -4.40891980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.526296757 meters 0.07544308538089466 Centerline is valid? [True, True] Translation: X:38.40, Y:-0.18, Z:-4.42 [[ 9.93092797e-01 7.14664935e-02 9.30550208e-02 3.83984308e+01] [-7.16761329e-02 9.97427361e-01 -1.09166268e-03 -1.81486365e-01] [-9.28936411e-02 -5.58570170e-03 9.95660369e-01 -4.41749993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58629675699999 meters 0.07618482260379272 Centerline is valid? [True, True] Translation: X:38.46, Y:-0.18, Z:-4.43 [[ 9.93329060e-01 7.23999348e-02 8.97531511e-02 3.84585691e+01] [-7.25981792e-02 9.97360709e-01 -1.05811602e-03 -1.78150357e-01] [-8.95928740e-02 -5.46485796e-03 9.95963479e-01 -4.42684718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.646296756999995 meters 0.07690111398315055 Centerline is valid? [True, True] Translation: X:38.52, Y:-0.18, Z:-4.44 [[ 9.93709829e-01 7.11563136e-02 8.64728592e-02 3.85200947e+01] [-7.13360064e-02 9.97451826e-01 -1.01424020e-03 -1.79257908e-01] [-8.63246809e-02 -5.16076798e-03 9.96253691e-01 -4.43712610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.706296757 meters 0.07555225219447785 Centerline is valid? [True, True] Translation: X:38.58, Y:-0.18, Z:-4.44 [[ 9.93816198e-01 6.60717866e-02 8.92405942e-02 3.85807761e+01] [-6.62402147e-02 9.97803125e-01 -1.07615627e-03 -1.81776426e-01] [-8.91156473e-02 -4.84181459e-03 9.96009517e-01 -4.44279291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.766296757 meters 0.0734525349533321 Centerline is valid? [True, True] Translation: X:38.64, Y:-0.19, Z:-4.45 [[ 9.93937210e-01 6.38793518e-02 8.94888362e-02 3.86419967e+01] [-6.40397000e-02 9.97946766e-01 -1.08116126e-03 -1.89594990e-01] [-8.93741585e-02 -4.65623181e-03 9.95987239e-01 -4.44655351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.826296756999994 meters 0.07262954176416601 Centerline is valid? [True, True] Translation: X:38.70, Y:-0.20, Z:-4.45 [[ 9.94261387e-01 5.68670227e-02 9.06114595e-02 3.87021222e+01] [-5.70020898e-02 9.98373455e-01 -1.09863617e-03 -1.95953419e-01] [-9.05265520e-02 -4.07271103e-03 9.95885715e-01 -4.45329194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.886296757 meters 0.07130459668495613 Centerline is valid? [True, True] Translation: X:38.76, Y:-0.21, Z:-4.46 [[ 9.94266217e-01 5.24606536e-02 9.31803087e-02 3.87622887e+01] [-5.25841715e-02 9.98615855e-01 -1.13087379e-03 -2.07189938e-01] [-9.31106600e-02 -3.77541973e-03 9.95648608e-01 -4.45767223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.946296757 meters 0.0718858842074925 Centerline is valid? [True, True] Translation: X:38.82, Y:-0.20, Z:-4.47 [[ 9.94133044e-01 5.26235708e-02 9.44999999e-02 3.88229847e+01] [-5.27516558e-02 9.98607007e-01 -1.14394032e-03 -2.02962980e-01] [-9.44285603e-02 -3.84780260e-03 9.95524204e-01 -4.46544741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.006296756999994 meters 0.07232297314641709 Centerline is valid? [True, True] Translation: X:38.88, Y:-0.21, Z:-4.47 [[ 9.94102853e-01 5.39703350e-02 9.40570073e-02 3.88843819e+01] [-5.41021678e-02 9.98534743e-01 -1.14967761e-03 -2.05755911e-01] [-9.39812382e-02 -3.94579020e-03 9.95566149e-01 -4.47271610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.066296756999996 meters 0.07255610256607345 Centerline is valid? [True, True] Translation: X:38.95, Y:-0.21, Z:-4.48 [[ 9.94030370e-01 5.52172016e-02 9.40993294e-02 3.89464155e+01] [-5.53525306e-02 9.98466184e-01 -1.17335648e-03 -2.07627859e-01] [-9.40197878e-02 -4.04228404e-03 9.95562122e-01 -4.47922045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.126296757 meters 0.07407732965315307 Centerline is valid? [True, True] Translation: X:39.01, Y:-0.20, Z:-4.49 [[ 9.93983300e-01 6.08904094e-02 9.10470036e-02 3.90066377e+01] [-6.10383127e-02 9.98134748e-01 -1.16170645e-03 -1.98680956e-01] [-9.09479147e-02 -4.40263867e-03 9.95845919e-01 -4.49173572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.186296756999994 meters 0.07665201612318263 Centerline is valid? [True, True] Translation: X:39.07, Y:-0.19, Z:-4.50 [[ 9.93842028e-01 6.74138771e-02 8.79397079e-02 3.90660420e+01] [-6.75769843e-02 9.97713429e-01 -1.12444439e-03 -1.89431195e-01] [-8.78144307e-02 -4.82518017e-03 9.96125165e-01 -4.50249913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.246296756999996 meters 0.07854673713110048 Centerline is valid? [True, True] Translation: X:39.13, Y:-0.19, Z:-4.51 [[ 9.93684808e-01 7.15489727e-02 8.64363719e-02 3.91251445e+01] [-7.17221159e-02 9.97424041e-01 -1.10472643e-03 -1.88595629e-01] [-8.62927574e-02 -5.10164961e-03 9.96256761e-01 -4.50949057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.306296757 meters 0.07895418615946936 Centerline is valid? [True, True] Translation: X:39.19, Y:-0.19, Z:-4.52 [[ 9.93608453e-01 7.02129070e-02 8.83877251e-02 3.91857099e+01] [-7.03881109e-02 9.97519033e-01 -1.13691172e-03 -1.86108705e-01] [-8.82482640e-02 -5.09179990e-03 9.96085497e-01 -4.51624313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36629675699999 meters 0.07656245033248442 Centerline is valid? [True, True] Translation: X:39.25, Y:-0.20, Z:-4.52 [[ 9.93624907e-01 6.92531739e-02 8.89580931e-02 3.92483863e+01] [-6.94266949e-02 9.97586398e-01 -1.14583235e-03 -1.97493751e-01] [-8.88227362e-02 -5.03753883e-03 9.96034711e-01 -4.51924363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.426296756999996 meters 0.07483051861497278 Centerline is valid? [True, True] Translation: X:39.31, Y:-0.21, Z:-4.53 [[ 9.93871109e-01 6.69770570e-02 8.79448261e-02 3.93090612e+01] [-6.71369777e-02 9.97743115e-01 -1.14156803e-03 -2.06444274e-01] [-8.78228036e-02 -4.76977834e-03 9.96124693e-01 -4.52588466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.486296757 meters 0.07552442288640918 Centerline is valid? [True, True] Translation: X:39.37, Y:-0.20, Z:-4.54 [[ 9.93866703e-01 6.32642194e-02 9.07006879e-02 3.93685567e+01] [-6.34186149e-02 9.97986314e-01 -1.18163776e-03 -2.04797434e-01] [-9.05928006e-02 -4.57772158e-03 9.95877497e-01 -4.53532071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54629675699999 meters 0.07401460048373132 Centerline is valid? [True, True] Translation: X:39.43, Y:-0.21, Z:-4.54 [[ 9.93955369e-01 6.07332800e-02 9.14559610e-02 3.94302579e+01] [-6.08797341e-02 9.98144399e-01 -1.19013230e-03 -2.12144066e-01] [-9.13585358e-02 -4.38487620e-03 9.95808411e-01 -4.54089364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.606296756999996 meters 0.07494487337297659 Centerline is valid? [True, True] Translation: X:39.49, Y:-0.21, Z:-4.55 [[ 9.93656917e-01 6.24789090e-02 9.35003594e-02 3.94907054e+01] [-6.26395873e-02 9.98035469e-01 -1.21826400e-03 -2.07702554e-01] [-9.33927909e-02 -4.64628747e-03 9.95618501e-01 -4.54818446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.666296757 meters 0.07576008259048866 Centerline is valid? [True, True] Translation: X:39.55, Y:-0.21, Z:-4.56 [[ 9.93639959e-01 6.58456108e-02 9.13454343e-02 3.95516752e+01] [-6.60108705e-02 9.97818165e-01 -1.21415919e-03 -2.06378863e-01] [-9.12260807e-02 -4.82335455e-03 9.95818526e-01 -4.55539454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72629675699999 meters 0.0768287019746955 Centerline is valid? [True, True] Translation: X:39.61, Y:-0.20, Z:-4.56 [[ 9.93390523e-01 6.88872331e-02 9.18140395e-02 3.96122197e+01] [-6.90668739e-02 9.97611282e-01 -1.22315667e-03 -2.02415839e-01] [-9.16789816e-02 -5.12623644e-03 9.95775419e-01 -4.56374025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.786296756999995 meters 0.07921102482353985 Centerline is valid? [True, True] Translation: X:39.67, Y:-0.19, Z:-4.58 [[ 9.93150228e-01 7.42508440e-02 9.02188271e-02 3.96715656e+01] [-7.44459021e-02 9.97224325e-01 -1.20577014e-03 -1.91035514e-01] [-9.00579384e-02 -5.51891108e-03 9.95921237e-01 -4.57555242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.846296757 meters 0.07994628091311023 Centerline is valid? [True, True] Translation: X:39.73, Y:-0.19, Z:-4.58 [[ 9.93337600e-01 7.39779377e-02 8.83610580e-02 3.97317115e+01] [-7.41638028e-02 9.97245372e-01 -1.18221855e-03 -1.93193352e-01] [-8.82051143e-02 -5.37884995e-03 9.96087810e-01 -4.58341867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90629675699999 meters 0.0766045422266631 Centerline is valid? [True, True] Translation: X:39.79, Y:-0.21, Z:-4.59 [[ 9.93889145e-01 7.01861655e-02 8.51954761e-02 3.97926524e+01] [-7.03440095e-02 9.97522127e-01 -1.15153589e-03 -2.06193452e-01] [-8.50651944e-02 -4.84849236e-03 9.96363591e-01 -4.58813062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.966296756999995 meters 0.07574264566460005 Centerline is valid? [True, True] Translation: X:39.85, Y:-0.21, Z:-4.60 [[ 9.93936966e-01 6.48207362e-02 8.88120527e-02 3.98534579e+01] [-6.49707315e-02 9.97886444e-01 -1.20391546e-03 -2.08776484e-01] [-8.87023821e-02 -4.57356795e-03 9.96047675e-01 -4.59519703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.026296757 meters 0.07594497247355143 Centerline is valid? [True, True] Translation: X:39.91, Y:-0.22, Z:-4.60 [[ 9.94021612e-01 6.23573221e-02 8.96247702e-02 3.99136753e+01] [-6.24999427e-02 9.98044226e-01 -1.21697842e-03 -2.15532570e-01] [-8.95253719e-02 -4.39184015e-03 9.95974859e-01 -4.60057078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08629675699999 meters 0.07508071461252941 Centerline is valid? [True, True] Translation: X:39.98, Y:-0.22, Z:-4.61 [[ 9.93921589e-01 6.17380228e-02 9.11498253e-02 3.99754534e+01] [-6.18831299e-02 9.98082637e-01 -1.23609456e-03 -2.20492291e-01] [-9.10513720e-02 -4.41205541e-03 9.95836423e-01 -4.60711862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.146296756999995 meters 0.0748642603859573 Centerline is valid? [True, True] Translation: X:40.04, Y:-0.22, Z:-4.61 [[ 9.93618213e-01 6.40900565e-02 9.28187013e-02 4.00370384e+01] [-6.42486936e-02 9.97933096e-01 -1.28116762e-03 -2.21009150e-01] [-9.27089640e-02 -4.69048883e-03 9.95682202e-01 -4.61477584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.206296757 meters 0.07499387764478492 Centerline is valid? [True, True] Translation: X:40.10, Y:-0.22, Z:-4.62 [[ 9.93486888e-01 6.55407998e-02 9.32105508e-02 4.00986742e+01] [-6.57050091e-02 9.97838232e-01 -1.30940881e-03 -2.23392923e-01] [-9.30948709e-02 -4.82351961e-03 9.95645559e-01 -4.62084306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26629675699999 meters 0.07667787871864669 Centerline is valid? [True, True] Translation: X:40.16, Y:-0.22, Z:-4.63 [[ 9.93273352e-01 7.05448417e-02 9.18230549e-02 4.01593862e+01] [-7.07229216e-02 9.97495130e-01 -1.31712653e-03 -2.18892417e-01] [-9.16859665e-02 -5.18572803e-03 9.95774468e-01 -4.62794597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.326296756999994 meters 0.07862008242486064 Centerline is valid? [True, True] Translation: X:40.22, Y:-0.21, Z:-4.64 [[ 9.92960155e-01 7.76590461e-02 8.94382694e-02 4.02191577e+01] [-7.78564524e-02 9.96963752e-01 -1.28467354e-03 -2.07486865e-01] [-8.92664792e-02 -5.68771673e-03 9.95991539e-01 -4.63848499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.386296757 meters 0.08189146274124881 Centerline is valid? [True, True] Translation: X:40.28, Y:-0.20, Z:-4.65 [[ 9.92741550e-01 8.34634464e-02 8.65913882e-02 4.02784878e+01] [-8.36701938e-02 9.96492723e-01 -1.24537898e-03 -1.99142472e-01] [-8.63916319e-02 -6.00877878e-03 9.96243133e-01 -4.64730217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.446296757 meters 0.07998614439430039 Centerline is valid? [True, True] Translation: X:40.34, Y:-0.21, Z:-4.65 [[ 9.93132178e-01 8.27375602e-02 8.27222621e-02 4.03397458e+01] [-8.29237450e-02 9.96555187e-01 -1.18837679e-03 -2.06189723e-01] [-8.25356228e-02 -5.67942454e-03 9.96571932e-01 -4.65404334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.506296756999994 meters 0.08143752041847843 Centerline is valid? [True, True] Translation: X:40.40, Y:-0.20, Z:-4.66 [[ 9.93419367e-01 7.87026648e-02 8.32096834e-02 4.03986064e+01] [-7.88745867e-02 9.96883795e-01 -1.22424618e-03 -2.03671010e-01] [-8.30467364e-02 -5.34693952e-03 9.96531309e-01 -4.66370806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.566296756999996 meters 0.07916635529941593 Centerline is valid? [True, True] Translation: X:40.46, Y:-0.21, Z:-4.67 [[ 9.94242650e-01 6.84268538e-02 8.24579818e-02 4.04584253e+01] [-6.85605179e-02 9.97646222e-01 -1.21275365e-03 -2.14885861e-01] [-8.23468789e-02 -4.44759054e-03 9.96593804e-01 -4.67045603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.626296757 meters 0.07559533684479534 Centerline is valid? [True, True] Translation: X:40.52, Y:-0.23, Z:-4.67 [[ 9.94796383e-01 5.92638840e-02 8.28730878e-02 4.05189618e+01] [-5.93671557e-02 9.98235470e-01 -1.21968823e-03 -2.33435271e-01] [-8.27991392e-02 -3.70659807e-03 9.96559363e-01 -4.67257296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.686296756999994 meters 0.07366134039425182 Centerline is valid? [True, True] Translation: X:40.58, Y:-0.24, Z:-4.68 [[ 9.94870681e-01 5.72858741e-02 8.33705988e-02 4.05803773e+01] [-5.73834012e-02 9.98351460e-01 -1.22792232e-03 -2.43188025e-01] [-8.33035016e-02 -3.56246460e-03 9.96517855e-01 -4.67501140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.746296756999996 meters 0.07375650052164351 Centerline is valid? [True, True] Translation: X:40.64, Y:-0.24, Z:-4.68 [[ 9.94916889e-01 5.67426329e-02 8.31904859e-02 4.06405855e+01] [-5.68380877e-02 9.98382661e-01 -1.22234438e-03 -2.43964349e-01] [-8.31252978e-02 -3.51225706e-03 9.96532914e-01 -4.68229439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.806296757 meters 0.0742370827242043 Centerline is valid? [True, True] Translation: X:40.70, Y:-0.24, Z:-4.69 [[ 9.94817500e-01 6.00524900e-02 8.20477888e-02 4.07014330e+01] [-6.01545188e-02 9.98188319e-01 -1.23008932e-03 -2.44100210e-01] [-8.19730144e-02 -3.71183087e-03 9.96627637e-01 -4.68989431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86629675699999 meters 0.07660886037510424 Centerline is valid? [True, True] Translation: X:40.76, Y:-0.24, Z:-4.70 [[ 9.94764664e-01 6.48937201e-02 7.89434482e-02 4.07605912e+01] [-6.50031167e-02 9.97884356e-01 -1.18597036e-03 -2.39300292e-01] [-7.88533940e-02 -3.95180877e-03 9.96878391e-01 -4.70134456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.926296756999996 meters 0.07614974475048611 Centerline is valid? [True, True] Translation: X:40.82, Y:-0.24, Z:-4.71 [[ 9.94837987e-01 6.68595881e-02 7.63359371e-02 4.08212574e+01] [-6.69673657e-02 9.97754504e-01 -1.14986287e-03 -2.41357772e-01] [-7.62414044e-02 -3.96808935e-03 9.97081492e-01 -4.70817571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.986296757 meters 0.07763801100155321 Centerline is valid? [True, True] Translation: X:40.88, Y:-0.24, Z:-4.72 [[ 9.95007157e-01 6.92850708e-02 7.18354836e-02 4.08803143e+01] [-6.93864740e-02 9.97589263e-01 -1.08587767e-03 -2.41569647e-01] [-7.17375422e-02 -3.90395486e-03 9.97415903e-01 -4.72009091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04629675699999 meters 0.07734248950079527 Centerline is valid? [True, True] Translation: X:40.94, Y:-0.25, Z:-4.73 [[ 9.95087534e-01 6.76925244e-02 7.22393336e-02 4.09419227e+01] [-6.77910072e-02 9.97698948e-01 -1.09045992e-03 -2.48483329e-01] [-7.21469231e-02 -3.81207412e-03 9.97386730e-01 -4.72554226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.106296756999996 meters 0.07569778880845422 Centerline is valid? [True, True] Translation: X:41.00, Y:-0.26, Z:-4.73 [[ 9.95016061e-01 6.47627344e-02 7.58210164e-02 4.10023813e+01] [-6.48623748e-02 9.97893556e-01 -1.15021732e-03 -2.61103677e-01] [-7.57357949e-02 -3.77344648e-03 9.97120780e-01 -4.72876729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.166296757 meters 0.07559758620639519 Centerline is valid? [True, True] Translation: X:41.06, Y:-0.27, Z:-4.73 [[ 9.94895416e-01 6.35144404e-02 7.84157273e-02 4.10628775e+01] [-6.36171307e-02 9.97973669e-01 -1.19041629e-03 -2.67753423e-01] [-7.83324397e-02 -3.80424386e-03 9.96920035e-01 -4.73424861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22629675699999 meters 0.07643618121890654 Centerline is valid? [True, True] Translation: X:41.12, Y:-0.27, Z:-4.74 [[ 9.94778490e-01 6.45399781e-02 7.90591411e-02 4.11241951e+01] [-6.46480841e-02 9.97907410e-01 -1.19402923e-03 -2.70274541e-01] [-7.89707654e-02 -3.92322741e-03 9.96869212e-01 -4.74302347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.286296756999995 meters 0.07673819520675693 Centerline is valid? [True, True] Translation: X:41.19, Y:-0.28, Z:-4.75 [[ 9.94419073e-01 6.70970933e-02 8.14167527e-02 4.11864536e+01] [-6.72186566e-02 9.97737485e-01 -1.25000073e-03 -2.78445921e-01] [-8.13164175e-02 -4.22970017e-03 9.96679362e-01 -4.74698140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.346296757 meters 0.07815688644668517 Centerline is valid? [True, True] Translation: X:41.25, Y:-0.27, Z:-4.76 [[ 9.93931220e-01 7.30613260e-02 8.22360840e-02 4.12467894e+01] [-7.32034183e-02 9.97316196e-01 -1.28995625e-03 -2.72228979e-01] [-8.21096244e-02 -4.73783466e-03 9.96612042e-01 -4.75551060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40629675699999 meters 0.08192803649600675 Centerline is valid? [True, True] Translation: X:41.31, Y:-0.26, Z:-4.76 [[ 9.92892202e-01 8.24430661e-02 8.58383167e-02 4.13065211e+01] [-8.26326230e-02 9.96579164e-01 -1.34852220e-03 -2.58015468e-01] [-8.56558542e-02 -5.75410809e-03 9.96308168e-01 -4.76346340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.466296756999995 meters 0.0828275938783006 Centerline is valid? [True, True] Translation: X:41.37, Y:-0.26, Z:-4.77 [[ 9.92606890e-01 8.81995688e-02 8.33810391e-02 4.13676573e+01] [-8.83980953e-02 9.96084358e-01 -1.31507499e-03 -2.59766117e-01] [-8.31705379e-02 -6.06537255e-03 9.96516870e-01 -4.76901147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.526296757 meters 0.08412562436970998 Centerline is valid? [True, True] Translation: X:41.43, Y:-0.25, Z:-4.78 [[ 9.92343164e-01 9.17428349e-02 8.26939921e-02 4.14280819e+01] [-9.19500438e-02 9.95762763e-01 -1.30724551e-03 -2.49091226e-01] [-8.24635285e-02 -6.30648006e-03 9.96574129e-01 -4.77986728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58629675699999 meters 0.08395179752390544 Centerline is valid? [True, True] Translation: X:41.49, Y:-0.25, Z:-4.79 [[ 9.92653151e-01 9.04247608e-02 8.03933069e-02 4.14896705e+01] [-9.06167310e-02 9.95885038e-01 -1.26481545e-03 -2.49025311e-01] [-8.01768621e-02 -6.02945562e-03 9.96762417e-01 -4.78730601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.646296756999995 meters 0.08366391339608897 Centerline is valid? [True, True] Translation: X:41.55, Y:-0.25, Z:-4.79 [[ 9.92996144e-01 8.71533459e-02 7.97681218e-02 4.15490884e+01] [-8.73296005e-02 9.96178646e-01 -1.28303936e-03 -2.52147630e-01] [-7.95751207e-02 -5.69206506e-03 9.96812621e-01 -4.79394999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.706296757 meters 0.08201619483115748 Centerline is valid? [True, True] Translation: X:41.61, Y:-0.25, Z:-4.80 [[ 9.93259823e-01 8.12189192e-02 8.26946827e-02 4.16090888e+01] [-8.13880522e-02 9.96681603e-01 -1.32923002e-03 -2.49900400e-01] [-8.25282275e-02 -5.41008838e-03 9.96574043e-01 -4.80261135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76629675699999 meters 0.07753925410048251 Centerline is valid? [True, True] Translation: X:41.67, Y:-0.26, Z:-4.80 [[ 9.93267233e-01 7.44489913e-02 8.87555728e-02 4.16704985e+01] [-7.46168558e-02 9.97211252e-01 -1.42970050e-03 -2.59159162e-01] [-8.86144957e-02 -5.20258712e-03 9.96052410e-01 -4.80163570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.826296756999994 meters 0.07500807356896003 Centerline is valid? [True, True] Translation: X:41.73, Y:-0.27, Z:-4.81 [[ 9.93773683e-01 6.91096401e-02 8.73940746e-02 4.17310728e+01] [-6.92517061e-02 9.97598224e-01 -1.40891918e-03 -2.66596364e-01] [-8.72815435e-02 -4.65204196e-03 9.96172822e-01 -4.80514177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.886296757 meters 0.07486940382794423 Centerline is valid? [True, True] Translation: X:41.79, Y:-0.26, Z:-4.81 [[ 9.93957367e-01 6.79683401e-02 8.61919749e-02 4.17930735e+01] [-6.81026577e-02 9.97677358e-01 -1.38453296e-03 -2.61872209e-01] [-8.60858862e-02 -4.49373582e-03 9.96277585e-01 -4.81286178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.946296757 meters 0.07530510248167784 Centerline is valid? [True, True] Translation: X:41.85, Y:-0.26, Z:-4.82 [[ 9.93940184e-01 6.90626947e-02 8.55175709e-02 4.18546032e+01] [-6.91971120e-02 9.97602032e-01 -1.39496914e-03 -2.59248139e-01] [-8.54088429e-02 -4.53105305e-03 9.96335686e-01 -4.82067154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.006296756999994 meters 0.07483329894189415 Centerline is valid? [True, True] Translation: X:41.91, Y:-0.26, Z:-4.83 [[ 9.94190264e-01 7.00880952e-02 8.16907443e-02 4.19148276e+01] [-7.02119684e-02 9.97531169e-01 -1.35883322e-03 -2.59155214e-01] [-8.15843017e-02 -4.38472920e-03 9.96656799e-01 -4.82776376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.066296756999996 meters 0.0757399622827772 Centerline is valid? [True, True] Translation: X:41.98, Y:-0.25, Z:-4.84 [[ 9.94155695e-01 7.09306363e-02 8.13836566e-02 4.19754334e+01] [-7.10568261e-02 9.97471358e-01 -1.34830245e-03 -2.53620424e-01] [-8.12735024e-02 -4.44244177e-03 9.96681936e-01 -4.83843336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.126296757 meters 0.07587817620955055 Centerline is valid? [True, True] Translation: X:42.04, Y:-0.25, Z:-4.85 [[ 9.94232788e-01 7.01910851e-02 8.10825177e-02 4.20359929e+01] [-7.03123942e-02 9.97524091e-01 -1.36170774e-03 -2.51911293e-01] [-8.09773445e-02 -4.34725146e-03 9.96706462e-01 -4.84519027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.186296756999994 meters 0.07537196425263508 Centerline is valid? [True, True] Translation: X:42.10, Y:-0.25, Z:-4.85 [[ 9.94527705e-01 6.66749445e-02 8.04306903e-02 4.20960457e+01] [-6.67808415e-02 9.97766720e-01 -1.37563912e-03 -2.52944146e-01] [-8.03427866e-02 -4.00311796e-03 9.96759255e-01 -4.85243467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.246296756999996 meters 0.07329909688061959 Centerline is valid? [True, True] Translation: X:42.16, Y:-0.26, Z:-4.85 [[ 9.94295319e-01 6.40727039e-02 8.52731297e-02 4.21570246e+01] [-6.41822656e-02 9.97937126e-01 -1.45888487e-03 -2.58150041e-01] [-8.51906967e-02 -4.02246027e-03 9.96356545e-01 -4.85387023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.306296757 meters 0.072274074896295 Centerline is valid? [True, True] Translation: X:42.22, Y:-0.26, Z:-4.86 [[ 9.94222896e-01 6.28578607e-02 8.70041505e-02 4.22188614e+01] [-6.29672971e-02 9.98014480e-01 -1.48874160e-03 -2.58315046e-01] [-8.69249812e-02 -3.99827521e-03 9.96206837e-01 -4.85867875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36629675699999 meters 0.07251791129668134 Centerline is valid? [True, True] Translation: X:42.28, Y:-0.26, Z:-4.86 [[ 9.94070902e-01 6.27521109e-02 8.87987277e-02 4.22793957e+01] [-6.28656849e-02 9.98020839e-01 -1.51991325e-03 -2.56404625e-01] [-8.87183585e-02 -4.07149130e-03 9.96048430e-01 -4.86473217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.426296756999996 meters 0.07135461611076968 Centerline is valid? [True, True] Translation: X:42.34, Y:-0.26, Z:-4.87 [[ 9.94004407e-01 6.43919621e-02 8.83680554e-02 4.23412235e+01] [-6.45091796e-02 9.97915938e-01 -1.53173489e-03 -2.57339354e-01] [-8.82825223e-02 -4.17799953e-03 9.96086713e-01 -4.86844255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.486296757 meters 0.07265098994601439 Centerline is valid? [True, True] Translation: X:42.40, Y:-0.25, Z:-4.88 [[ 9.94162339e-01 6.81496469e-02 8.36472857e-02 4.24011128e+01] [-6.82656617e-02 9.97666087e-01 -1.47573915e-03 -2.47940193e-01] [-8.35526313e-02 -4.24311302e-03 9.96494332e-01 -4.88016990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54629675699999 meters 0.07212360963057421 Centerline is valid? [True, True] Translation: X:42.46, Y:-0.25, Z:-4.88 [[ 9.93905319e-01 6.96400268e-02 8.54545707e-02 4.24642087e+01] [-6.97671035e-02 9.97562176e-01 -1.50210131e-03 -2.49708232e-01] [-8.53508539e-02 -4.46897139e-03 9.96340936e-01 -4.88379923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.606296756999996 meters 0.07218357959612204 Centerline is valid? [True, True] Translation: X:42.53, Y:-0.25, Z:-4.89 [[ 9.93782543e-01 7.07824065e-02 8.59424657e-02 4.25256881e+01] [-7.09129694e-02 9.97481323e-01 -1.53657922e-03 -2.49990418e-01] [-8.58347671e-02 -4.56740983e-03 9.96298917e-01 -4.88947977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.666296757 meters 0.07254482526184121 Centerline is valid? [True, True] Translation: X:42.59, Y:-0.24, Z:-4.90 [[ 9.93831326e-01 7.28888959e-02 8.35853098e-02 4.25859866e+01] [-7.30175360e-02 9.97329497e-01 -1.52097683e-03 -2.44464777e-01] [-8.34729573e-02 -4.59159895e-03 9.96499464e-01 -4.89928552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72629675699999 meters 0.07197331890929592 Centerline is valid? [True, True] Translation: X:42.65, Y:-0.25, Z:-4.91 [[ 9.94226782e-01 6.91502829e-02 8.20447657e-02 4.26473998e+01] [-6.92612637e-02 9.97597433e-01 -1.49603022e-03 -2.48133231e-01] [-8.19510986e-02 -4.19513084e-03 9.96627522e-01 -4.90667888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.786296756999995 meters 0.0712767285020026 Centerline is valid? [True, True] Translation: X:42.71, Y:-0.26, Z:-4.91 [[ 9.94662281e-01 6.34659084e-02 8.13573965e-02 4.27082744e+01] [-6.35556469e-02 9.97977186e-01 -1.48878897e-03 -2.58478193e-01] [-8.12873130e-02 -3.68987974e-03 9.96683880e-01 -4.91193923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.846296757 meters 0.0702517866442109 Centerline is valid? [True, True] Translation: X:42.77, Y:-0.26, Z:-4.92 [[ 9.94973521e-01 5.42140321e-02 8.41934170e-02 4.27671524e+01] [-5.42769083e-02 9.98524729e-01 -1.54364946e-03 -2.62535400e-01] [-8.41528964e-02 -3.03386804e-03 9.96448235e-01 -4.92101089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90629675699999 meters 0.06957543312685545 Centerline is valid? [True, True] Translation: X:42.83, Y:-0.26, Z:-4.93 [[ 9.94892125e-01 4.94815369e-02 8.79842992e-02 4.28266256e+01] [-4.95317977e-02 9.98771244e-01 -1.61325029e-03 -2.64137797e-01] [-8.79560141e-02 -2.75301050e-03 9.96120555e-01 -4.92823386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.966296756999995 meters 0.0688750842867099 Centerline is valid? [True, True] Translation: X:42.89, Y:-0.27, Z:-4.93 [[ 9.94635852e-01 4.76079093e-02 9.18314118e-02 4.28877147e+01] [-4.76548689e-02 9.98862444e-01 -1.68255661e-03 -2.70807315e-01] [-9.18070514e-02 -2.70268276e-03 9.95773147e-01 -4.93052208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.026296757 meters 0.06916266539357067 Centerline is valid? [True, True] Translation: X:42.95, Y:-0.27, Z:-4.94 [[ 9.94438775e-01 5.12127561e-02 9.20259545e-02 4.29487951e+01] [-5.12754209e-02 9.98683129e-01 -1.68483764e-03 -2.66494280e-01] [-9.19910534e-02 -3.04320167e-03 9.95755183e-01 -4.94045841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08629675699999 meters 0.06982638965313163 Centerline is valid? [True, True] Translation: X:43.01, Y:-0.26, Z:-4.95 [[ 9.94328654e-01 5.67542014e-02 8.99415817e-02 4.30087875e+01] [-5.68343403e-02 9.98382223e-01 -1.67189215e-03 -2.62637248e-01] [-8.98909632e-02 -3.44936018e-03 9.95945639e-01 -4.94867904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.146296756999995 meters 0.07343477891009687 Centerline is valid? [True, True] Translation: X:43.07, Y:-0.25, Z:-4.96 [[ 9.93434686e-01 6.95803004e-02 9.08080694e-02 4.30688177e+01] [-6.97152546e-02 9.97565502e-01 -1.68878468e-03 -2.47498610e-01] [-9.07045035e-02 -4.65301039e-03 9.95866980e-01 -4.95687921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.206296757 meters 0.07511066702899111 Centerline is valid? [True, True] Translation: X:43.13, Y:-0.24, Z:-4.97 [[ 9.93477956e-01 7.44644956e-02 8.63515498e-02 4.31295154e+01] [-7.46044681e-02 9.97211905e-01 -1.60954796e-03 -2.40292552e-01] [-8.62306476e-02 -4.84316102e-03 9.96263429e-01 -4.96726151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26629675699999 meters 0.07703067884424043 Centerline is valid? [True, True] Translation: X:43.19, Y:-0.23, Z:-4.98 [[ 9.93453007e-01 7.83157836e-02 8.31730818e-02 4.31899129e+01] [-7.84588159e-02 9.96916147e-01 -1.55245754e-03 -2.34149218e-01] [-8.30381702e-02 -4.98336790e-03 9.96533907e-01 -4.97854092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.326296756999994 meters 0.07382947600121392 Centerline is valid? [True, True] Translation: X:43.25, Y:-0.25, Z:-4.98 [[ 9.93663045e-01 7.54636135e-02 8.33006356e-02 4.32508618e+01] [-7.55968777e-02 9.97137245e-01 -1.55768261e-03 -2.53047254e-01] [-8.31797147e-02 -4.74945633e-03 9.96523245e-01 -4.97915339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.386296757 meters 0.07282504403471841 Centerline is valid? [True, True] Translation: X:43.31, Y:-0.26, Z:-4.99 [[ 9.93616555e-01 7.10518295e-02 8.76229322e-02 4.33111740e+01] [-7.11821104e-02 9.97461987e-01 -1.64084527e-03 -2.56561755e-01] [-8.75171291e-02 -4.60681421e-03 9.96152363e-01 -4.98684966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.446296757 meters 0.07222996062500334 Centerline is valid? [True, True] Translation: X:43.37, Y:-0.26, Z:-4.99 [[ 9.93694397e-01 6.67720825e-02 9.00718264e-02 4.33717749e+01] [-6.68922123e-02 9.97758780e-01 -1.68770896e-03 -2.63138384e-01] [-8.99826475e-02 -4.34803680e-03 9.95933842e-01 -4.99239089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.506296756999994 meters 0.07198358407245152 Centerline is valid? [True, True] Translation: X:43.43, Y:-0.27, Z:-5.00 [[ 9.93803520e-01 6.29592505e-02 9.16007493e-02 4.34322360e+01] [-6.30672565e-02 9.98007801e-01 -1.71790792e-03 -2.72005916e-01] [-9.15264206e-02 -4.06974501e-03 9.95794332e-01 -4.99669784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.566296756999996 meters 0.0716810446612903 Centerline is valid? [True, True] Translation: X:43.49, Y:-0.27, Z:-5.00 [[ 9.94165768e-01 5.80066760e-02 9.09376282e-02 4.34910185e+01] [-5.80922433e-02 9.98309759e-01 -1.70788603e-03 -2.73778372e-01] [-9.08829905e-02 -3.58484900e-03 9.95855125e-01 -5.00468142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.626296757 meters 0.0716273825122413 Centerline is valid? [True, True] Translation: X:43.55, Y:-0.28, Z:-5.01 [[ 9.94196727e-01 5.63418626e-02 9.16431245e-02 4.35523358e+01] [-5.64220227e-02 9.98405531e-01 -1.71793605e-03 -2.76426482e-01] [-9.15937941e-02 -3.46272405e-03 9.95790433e-01 -5.01184592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.686296756999994 meters 0.07199412641337925 Centerline is valid? [True, True] Translation: X:43.61, Y:-0.28, Z:-5.02 [[ 9.94116328e-01 5.78831879e-02 9.15546968e-02 4.36133856e+01] [-5.79696261e-02 9.98316870e-01 -1.71712852e-03 -2.79672852e-01] [-9.14999913e-02 -3.60036604e-03 9.95798568e-01 -5.01927422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.746296756999996 meters 0.07252992169067177 Centerline is valid? [True, True] Translation: X:43.68, Y:-0.28, Z:-5.03 [[ 9.93615223e-01 6.20667417e-02 9.42152211e-02 4.36752386e+01] [-6.21746798e-02 9.98063674e-01 -1.79219436e-03 -2.75325546e-01] [-9.41440253e-02 -4.07704960e-03 9.95550240e-01 -5.02795425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.806296757 meters 0.07495559744191263 Centerline is valid? [True, True] Translation: X:43.73, Y:-0.27, Z:-5.04 [[ 9.93523776e-01 6.83054673e-02 9.08012640e-02 4.37341165e+01] [-6.84310531e-02 9.97654343e-01 -1.73310166e-03 -2.68153302e-01] [-9.07066556e-02 -4.49174841e-03 9.95867525e-01 -5.03955200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86629675699999 meters 0.0758558218457279 Centerline is valid? [True, True] Translation: X:43.79, Y:-0.28, Z:-5.05 [[ 9.94001269e-01 6.94576732e-02 8.44814064e-02 4.37940114e+01] [-6.95697547e-02 9.97575774e-01 -1.62009136e-03 -2.76048802e-01] [-8.43891322e-02 -4.26697785e-03 9.96423739e-01 -5.04957423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.926296756999996 meters 0.075376466431863 Centerline is valid? [True, True] Translation: X:43.85, Y:-0.28, Z:-5.06 [[ 9.93968720e-01 6.69215791e-02 8.68774230e-02 4.38538107e+01] [-6.70302315e-02 9.97749549e-01 -1.66927154e-03 -2.83975128e-01] [-8.67936199e-02 -4.16421008e-03 9.96217610e-01 -5.05651033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.986296757 meters 0.07353318228083439 Centerline is valid? [True, True] Translation: X:43.91, Y:-0.29, Z:-5.06 [[ 9.93486320e-01 6.56548567e-02 9.31363116e-02 4.39148212e+01] [-6.57743754e-02 9.97832917e-01 -1.78915169e-03 -2.93903069e-01] [-9.30519440e-02 -4.34848500e-03 9.95651760e-01 -5.05812270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04629675699999 meters 0.07469642060653936 Centerline is valid? [True, True] Translation: X:43.97, Y:-0.30, Z:-5.06 [[ 9.93373585e-01 6.41484323e-02 9.53619355e-02 4.39748657e+01] [-6.42667107e-02 9.97931074e-01 -1.83365693e-03 -2.99857738e-01] [-9.52822649e-02 -4.30709156e-03 9.95440977e-01 -5.06495046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.106296756999996 meters 0.07428020897107937 Centerline is valid? [True, True] Translation: X:44.04, Y:-0.31, Z:-5.07 [[ 9.93897274e-01 6.29349601e-02 9.05947013e-02 4.40359362e+01] [-6.30369295e-02 9.98009681e-01 -1.73814913e-03 -3.11656638e-01] [-9.05237794e-02 -3.98327012e-03 9.95886328e-01 -5.07498347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.166296757 meters 0.07400552433215239 Centerline is valid? [True, True] Translation: X:44.10, Y:-0.32, Z:-5.08 [[ 9.93899114e-01 6.22017942e-02 9.10795661e-02 4.40975897e+01] [-6.22997697e-02 9.98055914e-01 -1.76969044e-03 -3.18617820e-01] [-9.10125775e-02 -3.91534223e-03 9.95842046e-01 -5.08307318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22629675699999 meters 0.07428190763758952 Centerline is valid? [True, True] Translation: X:44.16, Y:-0.32, Z:-5.09 [[ 9.93714126e-01 6.23223345e-02 9.29954987e-02 4.41583437e+01] [-6.24228230e-02 9.98048115e-01 -1.83070688e-03 -3.23001762e-01] [-9.29280761e-02 -3.98584227e-03 9.95664846e-01 -5.08809001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.286296756999995 meters 0.0746220649547045 Centerline is valid? [True, True] Translation: X:44.22, Y:-0.32, Z:-5.09 [[ 9.93381657e-01 6.55434566e-02 9.43235832e-02 4.42203083e+01] [-6.56589965e-02 9.97840346e-01 -1.88142392e-03 -3.23711069e-01] [-9.42431919e-02 -4.32421981e-03 9.95539814e-01 -5.09387131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.346296757 meters 0.07625199412392482 Centerline is valid? [True, True] Translation: X:44.28, Y:-0.32, Z:-5.11 [[ 9.93460328e-01 7.11390369e-02 8.93074097e-02 4.42799237e+01] [-7.12643605e-02 9.97455860e-01 -1.78858902e-03 -3.21125611e-01] [-8.92074377e-02 -4.58754320e-03 9.96002504e-01 -5.10563800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40629675699999 meters 0.07887315716950112 Centerline is valid? [True, True] Translation: X:44.34, Y:-0.32, Z:-5.12 [[ 9.93333047e-01 7.67747019e-02 8.59947863e-02 4.43384511e+01] [-7.69117130e-02 9.97036417e-01 -1.72367982e-03 -3.15293914e-01] [-8.58722686e-02 -4.90181820e-03 9.96294096e-01 -5.11901671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.466296756999995 meters 0.07702355740269984 Centerline is valid? [True, True] Translation: X:44.40, Y:-0.32, Z:-5.12 [[ 9.93123512e-01 7.82389301e-02 8.70882278e-02 4.43999863e+01] [-7.83856827e-02 9.96921593e-01 -1.73863039e-03 -3.23063397e-01] [-8.69561634e-02 -5.09979547e-03 9.96199085e-01 -5.12153873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.526296757 meters 0.07706349313615787 Centerline is valid? [True, True] Translation: X:44.46, Y:-0.33, Z:-5.12 [[ 9.92858221e-01 7.84906704e-02 8.98430123e-02 4.44610752e+01] [-7.86459687e-02 9.96900955e-01 -1.81569655e-03 -3.26990773e-01] [-8.97071000e-02 -5.26306149e-03 9.95954284e-01 -5.12487356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58629675699999 meters 0.07776864649722552 Centerline is valid? [True, True] Translation: X:44.52, Y:-0.33, Z:-5.13 [[ 9.92972428e-01 7.82944642e-02 8.87453312e-02 4.45219497e+01] [-7.84434615e-02 9.96916916e-01 -1.81284312e-03 -3.27198442e-01] [-8.86136574e-02 -5.16138774e-03 9.96052699e-01 -5.13455010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.646296756999995 meters 0.0770057923980422 Centerline is valid? [True, True] Translation: X:44.58, Y:-0.33, Z:-5.14 [[ 9.93384814e-01 7.41835612e-02 8.76550648e-02 4.45818445e+01] [-7.43104063e-02 9.97233499e-01 -1.81966970e-03 -3.33663623e-01] [-8.75475566e-02 -4.70605123e-03 9.96149225e-01 -5.14326857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.706296757 meters 0.07491529812789803 Centerline is valid? [True, True] Translation: X:44.64, Y:-0.34, Z:-5.15 [[ 9.93736188e-01 6.90017788e-02 8.79041655e-02 4.46419927e+01] [-6.91090317e-02 9.97607441e-01 -1.82633241e-03 -3.44100535e-01] [-8.78198698e-02 -4.26007916e-03 9.96127262e-01 -5.15007021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76629675699999 meters 0.0738618051638103 Centerline is valid? [True, True] Translation: X:44.70, Y:-0.35, Z:-5.16 [[ 9.93561338e-01 6.60722613e-02 9.20343680e-02 4.47030666e+01] [-6.61772455e-02 9.97806048e-01 -1.91395273e-03 -3.46686042e-01] [-9.19589082e-02 -4.18895152e-03 9.95753992e-01 -5.15505032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.826296756999994 meters 0.07331335703254292 Centerline is valid? [True, True] Translation: X:44.76, Y:-0.35, Z:-5.16 [[ 9.93254379e-01 6.53662907e-02 9.57757054e-02 4.47644485e+01] [-6.54766701e-02 9.97852110e-01 -1.99321703e-03 -3.47178364e-01] [-9.57002789e-02 -4.29130273e-03 9.95400945e-01 -5.15698478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.886296757 meters 0.07358719617502725 Centerline is valid? [True, True] Translation: X:44.83, Y:-0.34, Z:-5.16 [[ 9.93396356e-01 6.53502882e-02 9.43028113e-02 4.48260076e+01] [-6.54572736e-02 9.97853445e-01 -1.96169266e-03 -3.44620535e-01] [-9.42285822e-02 -4.22406658e-03 9.95541627e-01 -5.16460378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.946296757 meters 0.07437349348704239 Centerline is valid? [True, True] Translation: X:44.89, Y:-0.34, Z:-5.18 [[ 9.93976193e-01 6.44237353e-02 8.86617757e-02 4.48872184e+01] [-6.45123561e-02 9.97915159e-01 -1.86862840e-03 -3.40387028e-01] [-8.85973140e-02 -3.86240790e-03 9.96060037e-01 -5.17842608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.006296756999994 meters 0.07401866791365896 Centerline is valid? [True, True] Translation: X:44.95, Y:-0.34, Z:-5.18 [[ 9.94117356e-01 6.28135436e-02 8.82334500e-02 4.49492762e+01] [-6.28948411e-02 9.98018424e-01 -1.86120640e-03 -3.43053498e-01] [-8.81755177e-02 -3.69917124e-03 9.96098085e-01 -5.18429245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.066296756999996 meters 0.07411454873532611 Centerline is valid? [True, True] Translation: X:45.01, Y:-0.34, Z:-5.19 [[ 9.94130148e-01 6.61249306e-02 8.56314385e-02 4.50097519e+01] [-6.62114675e-02 9.97803931e-01 -1.83226874e-03 -3.39497611e-01] [-8.55645446e-02 -3.84826961e-03 9.96325198e-01 -5.19075269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.126296757 meters 0.07492479924596221 Centerline is valid? [True, True] Translation: X:45.07, Y:-0.34, Z:-5.20 [[ 9.94020950e-01 6.89915324e-02 8.46316647e-02 4.50703219e+01] [-6.90862696e-02 9.97609043e-01 -1.81229143e-03 -3.35402849e-01] [-8.45543469e-02 -4.04543036e-03 9.96410657e-01 -5.19852627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.186296756999994 meters 0.0745921374466729 Centerline is valid? [True, True] Translation: X:45.13, Y:-0.34, Z:-5.20 [[ 9.93932409e-01 7.10453832e-02 8.39697590e-02 4.51317300e+01] [-7.11458562e-02 9.97464300e-01 -1.79899515e-03 -3.41077623e-01] [-8.38846472e-02 -4.18602081e-03 9.96466679e-01 -5.20087836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.246296756999996 meters 0.0749719315534683 Centerline is valid? [True, True] Translation: X:45.19, Y:-0.34, Z:-5.21 [[ 9.93854186e-01 7.04407333e-02 8.53929754e-02 4.51925743e+01] [-7.05426612e-02 9.97507090e-01 -1.82698581e-03 -3.39700133e-01] [-8.53087926e-02 -4.20809023e-03 9.96345674e-01 -5.20896353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.306296757 meters 0.07533244155513005 Centerline is valid? [True, True] Translation: X:45.25, Y:-0.34, Z:-5.22 [[ 9.94104561e-01 6.71905336e-02 8.50973218e-02 4.52524008e+01] [-6.72777509e-02 9.97732578e-01 -1.84571321e-03 -3.39083464e-01] [-8.50283847e-02 -3.89032450e-03 9.96370935e-01 -5.21971423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36629675699999 meters 0.07398435409590466 Centerline is valid? [True, True] Translation: X:45.31, Y:-0.35, Z:-5.22 [[ 9.94648804e-01 5.95160996e-02 8.44487402e-02 4.53117032e+01] [-5.95740695e-02 9.98222200e-01 -1.83560847e-03 -3.51417930e-01] [-8.44078555e-02 -3.20516935e-03 9.96426134e-01 -5.22422877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.426296756999996 meters 0.07237285260960903 Centerline is valid? [True, True] Translation: X:45.37, Y:-0.36, Z:-5.23 [[ 9.94916817e-01 5.11615311e-02 8.67353753e-02 4.53718894e+01] [-5.11910784e-02 9.98687098e-01 -1.88500116e-03 -3.56892954e-01] [-8.67179399e-02 -2.56465805e-03 9.96229603e-01 -5.23138517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.486296757 meters 0.071596410803211 Centerline is valid? [True, True] Translation: X:45.43, Y:-0.36, Z:-5.24 [[ 9.94905137e-01 4.92281134e-02 8.79793248e-02 4.54330584e+01] [-4.92509821e-02 9.98784604e-01 -1.91211565e-03 -3.61660751e-01] [-8.79665249e-02 -2.43069447e-03 9.96120466e-01 -5.23553830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54629675699999 meters 0.07196087892228796 Centerline is valid? [True, True] Translation: X:45.49, Y:-0.36, Z:-5.24 [[ 9.94906298e-01 5.06944254e-02 8.71294007e-02 4.54933369e+01] [-5.07223892e-02 9.98710995e-01 -1.89437298e-03 -3.64139871e-01] [-8.71131246e-02 -2.53468777e-03 9.96195201e-01 -5.24278498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.606296756999996 meters 0.07249395515457675 Centerline is valid? [True, True] Translation: X:45.55, Y:-0.36, Z:-5.25 [[ 9.94778155e-01 5.50302147e-02 8.59540398e-02 4.55538043e+01] [-5.50724117e-02 9.98480589e-01 -1.88204153e-03 -3.59123014e-01] [-8.59270094e-02 -2.86148247e-03 9.96297326e-01 -5.25155259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.666296757 meters 0.07407864033841594 Centerline is valid? [True, True] Translation: X:45.61, Y:-0.35, Z:-5.26 [[ 9.94504417e-01 6.13628628e-02 8.48266709e-02 4.56133730e+01] [-6.14268381e-02 9.98109859e-01 -1.85810127e-03 -3.54031331e-01] [-8.47803549e-02 -3.36274425e-03 9.96393990e-01 -5.26108466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72629675699999 meters 0.07450182414983844 Centerline is valid? [True, True] Translation: X:45.67, Y:-0.35, Z:-5.27 [[ 9.94048789e-01 6.55867478e-02 8.69792162e-02 4.56742402e+01] [-6.56698132e-02 9.97839582e-01 -1.90913169e-03 -3.51698413e-01] [-8.69165184e-02 -3.81413884e-03 9.96208297e-01 -5.26716375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.786296756999995 meters 0.0771401600882305 Centerline is valid? [True, True] Translation: X:45.73, Y:-0.34, Z:-5.28 [[ 9.93881008e-01 7.32901842e-02 8.26383165e-02 4.57341573e+01] [-7.33912873e-02 9.97301567e-01 -1.81766671e-03 -3.42975861e-01] [-8.25485396e-02 -4.25838801e-03 9.96577947e-01 -5.27533097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.846296757 meters 0.07830490167492556 Centerline is valid? [True, True] Translation: X:45.79, Y:-0.34, Z:-5.28 [[ 9.93688338e-01 7.67282201e-02 8.18307173e-02 4.57944073e+01] [-7.68390128e-02 9.97041890e-01 -1.79906325e-03 -3.39278692e-01] [-8.17266919e-02 -4.50008337e-03 9.96644619e-01 -5.28320700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90629675699999 meters 0.0799415165625698 Centerline is valid? [True, True] Translation: X:45.85, Y:-0.33, Z:-5.29 [[ 9.93514749e-01 8.09848226e-02 7.98116626e-02 4.58548591e+01] [-8.11037775e-02 9.96704116e-01 -1.75546956e-03 -3.34087758e-01] [-7.96907790e-02 -4.72894242e-03 9.96808415e-01 -5.29293406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.966296756999995 meters 0.07791884324825502 Centerline is valid? [True, True] Translation: X:45.92, Y:-0.34, Z:-5.30 [[ 9.93323986e-01 8.29901896e-02 8.01254430e-02 4.59164676e+01] [-8.31169278e-02 9.96538251e-01 -1.75799737e-03 -3.38326887e-01] [-7.99939653e-02 -4.91351971e-03 9.96783238e-01 -5.29580147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.026296757 meters 0.07848735392077834 Centerline is valid? [True, True] Translation: X:45.98, Y:-0.34, Z:-5.30 [[ 9.93353253e-01 8.10572241e-02 8.17254011e-02 4.59763549e+01] [-8.11804285e-02 9.96697761e-01 -1.81964373e-03 -3.37281064e-01] [-8.16030195e-02 -4.82695406e-03 9.96653223e-01 -5.30263987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08629675699999 meters 0.07751850044755006 Centerline is valid? [True, True] Translation: X:46.04, Y:-0.34, Z:-5.31 [[ 9.93676397e-01 7.72180964e-02 8.15143190e-02 4.60364866e+01] [-7.73277355e-02 9.97004074e-01 -1.81576855e-03 -3.37531527e-01] [-8.14103184e-02 -4.49903135e-03 9.96670517e-01 -5.31008605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.146296756999995 meters 0.07645194105888686 Centerline is valid? [True, True] Translation: X:46.10, Y:-0.34, Z:-5.31 [[ 9.93814210e-01 7.48250229e-02 8.20641999e-02 4.60977612e+01] [-7.49279636e-02 9.97187272e-01 -1.82887977e-03 -3.41700137e-01] [-8.19702216e-02 -4.33133667e-03 9.96625367e-01 -5.31369364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.206296757 meters 0.07545605807025217 Centerline is valid? [True, True] Translation: X:46.16, Y:-0.35, Z:-5.32 [[ 9.93940638e-01 7.26799048e-02 8.24599330e-02 4.61585892e+01] [-7.27762586e-02 9.97346594e-01 -1.84058682e-03 -3.46658735e-01] [-8.23749069e-02 -4.17169136e-03 9.96592681e-01 -5.31833544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26629675699999 meters 0.0745427349841654 Centerline is valid? [True, True] Translation: X:46.22, Y:-0.35, Z:-5.33 [[ 9.94132660e-01 7.04720275e-02 8.20606341e-02 4.62196449e+01] [-7.05597176e-02 9.97505870e-01 -1.83451414e-03 -3.47118443e-01] [-8.19852462e-02 -3.96642474e-03 9.96625650e-01 -5.32561442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.326296756999994 meters 0.07511237291715657 Centerline is valid? [True, True] Translation: X:46.28, Y:-0.35, Z:-5.33 [[ 9.94025415e-01 7.11312080e-02 8.27878343e-02 4.62809938e+01] [-7.12230896e-02 9.97458702e-01 -1.84666182e-03 -3.45578495e-01] [-8.27088009e-02 -4.06077656e-03 9.96565484e-01 -5.33366822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.386296757 meters 0.07546827077963987 Centerline is valid? [True, True] Translation: X:46.34, Y:-0.34, Z:-5.34 [[ 9.94208753e-01 7.22329391e-02 7.95698300e-02 4.63413795e+01] [-7.23190503e-02 9.97379920e-01 -1.80282233e-03 -3.44131618e-01] [-7.94915739e-02 -3.96203280e-03 9.96827664e-01 -5.34230122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.446296757 meters 0.07667437143363522 Centerline is valid? [True, True] Translation: X:46.40, Y:-0.34, Z:-5.35 [[ 9.94096769e-01 7.56906359e-02 7.77337861e-02 4.64021014e+01] [-7.57832083e-02 9.97122760e-01 -1.76259619e-03 -3.40967815e-01] [-7.76435394e-02 -4.13872453e-03 9.96972593e-01 -5.35100629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.506296756999994 meters 0.07612055881694903 Centerline is valid? [True, True] Translation: X:46.46, Y:-0.34, Z:-5.36 [[ 9.93544613e-01 7.96266004e-02 8.08004152e-02 4.64643111e+01] [-7.97396759e-02 9.96814040e-01 -1.83152274e-03 -3.39231500e-01] [-8.06888262e-02 -4.62329936e-03 9.96728618e-01 -5.35606918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.566296756999996 meters 0.07634844327507186 Centerline is valid? [True, True] Translation: X:46.53, Y:-0.34, Z:-5.36 [[ 9.93567708e-01 7.94207265e-02 8.07190011e-02 4.65262685e+01] [-7.95329114e-02 9.96830562e-01 -1.82949376e-03 -3.41146522e-01] [-8.06084670e-02 -4.60209124e-03 9.96735219e-01 -5.36214681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.626296757 meters 0.07603912579424761 Centerline is valid? [True, True] Translation: X:46.59, Y:-0.35, Z:-5.37 [[ 9.93728526e-01 7.46028833e-02 8.32948108e-02 4.65858806e+01] [-7.47031410e-02 9.97203975e-01 -1.91668031e-03 -3.47654510e-01] [-8.32049063e-02 -4.31772410e-03 9.96523106e-01 -5.37028241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.686296756999994 meters 0.07583969390264961 Centerline is valid? [True, True] Translation: X:46.65, Y:-0.35, Z:-5.38 [[ 9.93866958e-01 7.12771198e-02 8.45460997e-02 4.66458781e+01] [-7.13683095e-02 9.97448130e-01 -1.94716561e-03 -3.53949541e-01] [-8.44691374e-02 -4.09868865e-03 9.96417666e-01 -5.37679837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.746296756999996 meters 0.07482705241939844 Centerline is valid? [True, True] Translation: X:46.71, Y:-0.36, Z:-5.39 [[ 9.94125323e-01 6.71096441e-02 8.49184157e-02 4.67064053e+01] [-6.71865401e-02 9.97738516e-01 -1.95523853e-03 -3.59793348e-01] [-8.48575894e-02 -3.76162241e-03 9.96385989e-01 -5.38505531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.806296757 meters 0.07304930784247828 Centerline is valid? [True, True] Translation: X:46.77, Y:-0.37, Z:-5.39 [[ 9.94008020e-01 6.57883423e-02 8.72923264e-02 4.67674023e+01] [-6.58644741e-02 9.97826552e-01 -2.01093536e-03 -3.68929831e-01] [-8.72348971e-02 -3.75057729e-03 9.96180709e-01 -5.38773058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86629675699999 meters 0.07584832952383282 Centerline is valid? [True, True] Translation: X:46.83, Y:-0.36, Z:-5.40 [[ 9.93932595e-01 6.75314965e-02 8.68187447e-02 4.68272684e+01] [-6.76133595e-02 9.97709592e-01 -2.00071982e-03 -3.64578944e-01] [-8.67550060e-02 -3.88152635e-03 9.96222115e-01 -5.39863538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.926296756999996 meters 0.0753722580917986 Centerline is valid? [True, True] Translation: X:46.89, Y:-0.36, Z:-5.40 [[ 9.93625062e-01 7.23373977e-02 8.64669727e-02 4.68876411e+01] [-7.24355364e-02 9.97371079e-01 -2.00613084e-03 -3.63297842e-01] [-8.63847761e-02 -4.26993966e-03 9.96252698e-01 -5.40427514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.986296757 meters 0.07668218760424388 Centerline is valid? [True, True] Translation: X:46.95, Y:-0.36, Z:-5.41 [[ 9.93392571e-01 7.68313722e-02 8.52533879e-02 4.69483361e+01] [-7.69431134e-02 9.97033520e-01 -1.97923146e-03 -3.61369408e-01] [-8.51525525e-02 -4.59350726e-03 9.96357337e-01 -5.41156289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04629675699999 meters 0.07761740578938461 Centerline is valid? [True, True] Translation: X:47.01, Y:-0.36, Z:-5.42 [[ 9.93456759e-01 7.80191957e-02 8.34066789e-02 4.70086701e+01] [-7.81301562e-02 9.96941284e-01 -1.93779973e-03 -3.64033236e-01] [-8.33027471e-02 -4.59145661e-03 9.96513708e-01 -5.41964707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.106296756999996 meters 0.0782330812162094 Centerline is valid? [True, True] Translation: X:47.07, Y:-0.36, Z:-5.43 [[ 9.93102222e-01 8.22479999e-02 8.35658023e-02 4.70695760e+01] [-8.23741990e-02 9.96599578e-01 -1.94244362e-03 -3.61484479e-01] [-8.34414054e-02 -4.95462095e-03 9.96500368e-01 -5.42777972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.166296757 meters 0.08062490217622444 Centerline is valid? [True, True] Translation: X:47.13, Y:-0.36, Z:-5.44 [[ 9.93012959e-01 8.28854381e-02 8.39956359e-02 4.71298616e+01] [-8.30154741e-02 9.96546352e-01 -1.94937864e-03 -3.60080348e-01] [-8.38671197e-02 -5.03717929e-03 9.96464216e-01 -5.43686824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22629675699999 meters 0.07715160346900665 Centerline is valid? [True, True] Translation: X:47.19, Y:-0.37, Z:-5.44 [[ 9.93210586e-01 8.06933160e-02 8.37933213e-02 4.71914346e+01] [-8.08130238e-02 9.96727336e-01 -1.96773636e-03 -3.72171291e-01] [-8.36778771e-02 -4.81721509e-03 9.96481213e-01 -5.43971349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.286296756999995 meters 0.07719752155654867 Centerline is valid? [True, True] Translation: X:47.25, Y:-0.38, Z:-5.45 [[ 9.93514235e-01 7.65333819e-02 8.40958209e-02 4.72511314e+01] [-7.66383912e-02 9.97056981e-01 -1.98357173e-03 -3.76600014e-01] [-8.40001347e-02 -4.47426167e-03 9.96455698e-01 -5.44644110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.346296757 meters 0.07486230851840811 Centerline is valid? [True, True] Translation: X:47.31, Y:-0.39, Z:-5.45 [[ 9.93678337e-01 7.26153441e-02 8.56176052e-02 4.73121975e+01] [-7.27097807e-02 9.97351097e-01 -2.01896741e-03 -3.88112791e-01] [-8.55374205e-02 -4.21903312e-03 9.96326026e-01 -5.44864709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40629675699999 meters 0.07576220808790596 Centerline is valid? [True, True] Translation: X:47.37, Y:-0.38, Z:-5.46 [[ 9.93616708e-01 7.31652481e-02 8.58643357e-02 4.73731967e+01] [-7.32627395e-02 9.97310630e-01 -2.01943647e-03 -3.83794117e-01] [-8.57811673e-02 -4.28411065e-03 9.96304792e-01 -5.45950999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.466296756999995 meters 0.07391592776010115 Centerline is valid? [True, True] Translation: X:47.44, Y:-0.39, Z:-5.46 [[ 9.93515403e-01 7.29176554e-02 8.72362258e-02 4.74356013e+01] [-7.30149591e-02 9.97328678e-01 -2.07920919e-03 -3.93006644e-01] [-8.71548008e-02 -4.30382310e-03 9.96185484e-01 -5.46263598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.526296757 meters 0.07571833132143505 Centerline is valid? [True, True] Translation: X:47.50, Y:-0.39, Z:-5.47 [[ 9.93691103e-01 7.25980086e-02 8.54840384e-02 4.74966236e+01] [-7.26896951e-02 9.97352511e-01 -2.04368914e-03 -3.88693486e-01] [-8.54060881e-02 -4.18301298e-03 9.96337444e-01 -5.47197837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58629675699999 meters 0.07369441515453821 Centerline is valid? [True, True] Translation: X:47.56, Y:-0.39, Z:-5.48 [[ 9.93880084e-01 7.30529026e-02 8.28592255e-02 4.75584650e+01] [-7.31395300e-02 9.97319726e-01 -1.99348376e-03 -3.94072513e-01] [-8.27827698e-02 -4.07900099e-03 9.96559268e-01 -5.47660828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.646296756999995 meters 0.07435665543476354 Centerline is valid? [True, True] Translation: X:47.62, Y:-0.39, Z:-5.48 [[ 9.93947953e-01 7.38533012e-02 8.13213159e-02 4.76204453e+01] [-7.39389202e-02 9.97260841e-01 -1.96217775e-03 -3.93287383e-01] [-8.12434772e-02 -4.06250773e-03 9.96686005e-01 -5.48481762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.706296757 meters 0.0740893430300358 Centerline is valid? [True, True] Translation: X:47.68, Y:-0.39, Z:-5.49 [[ 9.94003994e-01 7.24687281e-02 8.18800517e-02 4.76816950e+01] [-7.25502824e-02 9.97362785e-01 -1.98268157e-03 -3.94878289e-01] [-8.18077988e-02 -3.96962747e-03 9.96640219e-01 -5.49137916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76629675699999 meters 0.07401565925083517 Centerline is valid? [True, True] Translation: X:47.74, Y:-0.39, Z:-5.50 [[ 9.94225589e-01 7.11023292e-02 8.03737369e-02 4.77433127e+01] [-7.11767808e-02 9.97461826e-01 -1.94195625e-03 -3.94478393e-01] [-8.03078120e-02 -3.79000126e-03 9.96762906e-01 -5.49967536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.826296756999994 meters 0.07338140889120488 Centerline is valid? [True, True] Translation: X:47.81, Y:-0.40, Z:-5.50 [[ 9.94407741e-01 6.97766349e-02 7.92746227e-02 4.78052156e+01] [-6.98433544e-02 9.97556096e-01 -1.93422871e-03 -3.99739038e-01] [-7.92158471e-02 -3.61339356e-03 9.96850938e-01 -5.50478915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.886296757 meters 0.07265516368196846 Centerline is valid? [True, True] Translation: X:47.87, Y:-0.40, Z:-5.51 [[ 9.94176644e-01 6.97636085e-02 8.21330552e-02 4.78672144e+01] [-6.98330060e-02 9.97556628e-01 -2.03092997e-03 -3.99679789e-01] [-8.20740586e-02 -3.71649500e-03 9.96619304e-01 -5.50818029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.946296757 meters 0.07275577306983363 Centerline is valid? [True, True] Translation: X:47.93, Y:-0.40, Z:-5.51 [[ 9.93761861e-01 7.32303118e-02 8.41111477e-02 4.79290027e+01] [-7.33155585e-02 9.97306626e-01 -2.07902738e-03 -3.96630702e-01] [-8.40368527e-02 -4.10059765e-03 9.96454210e-01 -5.51127030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.006296756999994 meters 0.07344356647069344 Centerline is valid? [True, True] Translation: X:47.99, Y:-0.39, Z:-5.52 [[ 9.93467494e-01 7.67333479e-02 8.44649775e-02 4.79897652e+01] [-7.68297161e-02 9.97041988e-01 -2.11382539e-03 -3.93415352e-01] [-8.43773301e-02 -4.38940343e-03 9.96424207e-01 -5.51724659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.066296756999996 meters 0.0752146577918763 Centerline is valid? [True, True] Translation: X:48.05, Y:-0.38, Z:-5.53 [[ 9.93050357e-01 8.30243022e-02 8.34143453e-02 4.80500206e+01] [-8.31402075e-02 9.96535670e-01 -2.08915919e-03 -3.81493174e-01] [-8.32988215e-02 -4.86044570e-03 9.96512761e-01 -5.52771702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.126296757 meters 0.07789457657974064 Centerline is valid? [True, True] Translation: X:48.11, Y:-0.37, Z:-5.54 [[ 9.92777690e-01 8.78168196e-02 8.17353363e-02 4.81097324e+01] [-8.79442263e-02 9.96123297e-01 -2.04702349e-03 -3.68957086e-01] [-8.15982358e-02 -5.15591166e-03 9.96651968e-01 -5.53697034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.186296756999994 meters 0.0799983203574421 Centerline is valid? [True, True] Translation: X:48.17, Y:-0.36, Z:-5.54 [[ 9.92639953e-01 8.83249794e-02 8.28530085e-02 4.81706810e+01] [-8.84576282e-02 9.96077778e-01 -2.07564308e-03 -3.61221705e-01] [-8.27113717e-02 -5.26861437e-03 9.96559617e-01 -5.54475510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.246296756999996 meters 0.07540961936955197 Centerline is valid? [True, True] Translation: X:48.23, Y:-0.37, Z:-5.55 [[ 9.92826878e-01 8.76259659e-02 8.13417554e-02 4.82325680e+01] [-8.77508994e-02 9.96140351e-01 -2.04457209e-03 -3.67679081e-01] [-8.12069624e-02 -5.10790607e-03 9.96684172e-01 -5.54759723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.306296757 meters 0.07473894424176739 Centerline is valid? [True, True] Translation: X:48.29, Y:-0.37, Z:-5.55 [[ 9.92762398e-01 8.71919863e-02 8.25855818e-02 4.82947154e+01] [-8.73171384e-02 9.96178347e-01 -2.10202688e-03 -3.68004097e-01] [-8.24532483e-02 -5.12432343e-03 9.96581759e-01 -5.55488696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36629675699999 meters 0.07513186799283307 Centerline is valid? [True, True] Translation: X:48.35, Y:-0.36, Z:-5.56 [[ 9.92733537e-01 8.58401366e-02 8.43302815e-02 4.83547929e+01] [-8.59649742e-02 9.96295826e-01 -2.15648389e-03 -3.63545889e-01] [-8.42030203e-02 -5.10863660e-03 9.96435524e-01 -5.56114801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.426296756999996 meters 0.07542894876999365 Centerline is valid? [True, True] Translation: X:48.41, Y:-0.36, Z:-5.57 [[ 9.92752381e-01 8.33896538e-02 8.65382892e-02 4.84140451e+01] [-8.35117247e-02 9.96504333e-01 -2.21506272e-03 -3.60022487e-01] [-8.64204934e-02 -5.02795299e-03 9.96246063e-01 -5.56821575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.486296757 meters 0.07361399103063299 Centerline is valid? [True, True] Translation: X:48.48, Y:-0.36, Z:-5.57 [[ 9.92754835e-01 8.16731979e-02 8.81324331e-02 4.84759933e+01] [-8.17933001e-02 9.96646766e-01 -2.25381738e-03 -3.61611986e-01] [-8.80209809e-02 -4.97115445e-03 9.96106217e-01 -5.57205296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54629675699999 meters 0.07327852699307405 Centerline is valid? [True, True] Translation: X:48.54, Y:-0.36, Z:-5.58 [[ 9.92932035e-01 7.93591074e-02 8.82502454e-02 4.85371940e+01] [-7.94697689e-02 9.96834705e-01 -2.26439089e-03 -3.58885244e-01] [-8.81506074e-02 -4.76484035e-03 9.96095762e-01 -5.58007141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.606296756999996 meters 0.07249764141526233 Centerline is valid? [True, True] Translation: X:48.60, Y:-0.36, Z:-5.59 [[ 9.93331574e-01 7.67935669e-02 8.59949528e-02 4.85984920e+01] [-7.68891282e-02 9.97037210e-01 -2.20530312e-03 -3.61166995e-01] [-8.59095209e-02 -4.42147973e-03 9.96293132e-01 -5.58764789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.666296757 meters 0.07226721378620513 Centerline is valid? [True, True] Translation: X:48.66, Y:-0.36, Z:-5.60 [[ 9.93645534e-01 7.47706822e-02 8.41302433e-02 4.86604700e+01] [-7.48528465e-02 9.97192204e-01 -2.18167423e-03 -3.61787471e-01] [-8.40571481e-02 -4.12957733e-03 9.96452378e-01 -5.59613104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72629675699999 meters 0.07253380171550075 Centerline is valid? [True, True] Translation: X:48.72, Y:-0.36, Z:-5.60 [[ 9.93587032e-01 7.50463813e-02 8.45745314e-02 4.87226619e+01] [-7.51297166e-02 9.97171339e-01 -2.20147085e-03 -3.59037851e-01] [-8.45005111e-02 -4.16670769e-03 9.96414724e-01 -5.60347105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.786296756999995 meters 0.0727725694152593 Centerline is valid? [True, True] Translation: X:48.78, Y:-0.36, Z:-5.61 [[ 9.93535040e-01 7.52578884e-02 8.49963263e-02 4.87843529e+01] [-7.53410024e-02 9.97155325e-01 -2.23395925e-03 -3.58326397e-01] [-8.49226625e-02 -4.18419163e-03 9.96378760e-01 -5.61171387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.846296757 meters 0.07235923050196967 Centerline is valid? [True, True] Translation: X:48.85, Y:-0.36, Z:-5.62 [[ 9.93427224e-01 7.57051495e-02 8.58550036e-02 4.88465926e+01] [-7.57897977e-02 9.97121215e-01 -2.27782204e-03 -3.64104483e-01] [-8.57802884e-02 -4.24408292e-03 9.96305039e-01 -5.61622214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90629675699999 meters 0.07246568685088633 Centerline is valid? [True, True] Translation: X:48.91, Y:-0.37, Z:-5.62 [[ 9.93341445e-01 7.76967190e-02 8.50646397e-02 4.89076843e+01] [-7.77847263e-02 9.96967561e-01 -2.28433438e-03 -3.65059830e-01] [-8.49841716e-02 -4.34760570e-03 9.96372816e-01 -5.62445582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.966296756999995 meters 0.07450435254040319 Centerline is valid? [True, True] Translation: X:48.97, Y:-0.36, Z:-5.63 [[ 9.93291756e-01 7.88533941e-02 8.45791311e-02 4.89683099e+01] [-7.89447999e-02 9.96876408e-01 -2.26851855e-03 -3.60167137e-01] [-8.44938207e-02 -4.42378180e-03 9.96414183e-01 -5.63465598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.026296757 meters 0.07337031419243498 Centerline is valid? [True, True] Translation: X:49.03, Y:-0.37, Z:-5.64 [[ 9.93159081e-01 7.92312256e-02 8.57755992e-02 4.90302054e+01] [-7.93249646e-02 9.96846109e-01 -2.32035689e-03 -3.69851633e-01] [-8.56889170e-02 -4.49966285e-03 9.96311780e-01 -5.63750678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08629675699999 meters 0.0731577926811164 Centerline is valid? [True, True] Translation: X:49.09, Y:-0.38, Z:-5.64 [[ 9.93175277e-01 7.78533570e-02 8.68430987e-02 4.90916710e+01] [-7.79418368e-02 9.96955075e-01 -2.37663041e-03 -3.75470771e-01] [-8.67636966e-02 -4.40830006e-03 9.96219167e-01 -5.64430753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.146296756999995 meters 0.07355350775272712 Centerline is valid? [True, True] Translation: X:49.15, Y:-0.38, Z:-5.65 [[ 9.93224020e-01 7.65672008e-02 8.74271634e-02 4.91525989e+01] [-7.66515062e-02 9.97055063e-01 -2.39740145e-03 -3.78917378e-01] [-8.73532583e-02 -4.32026706e-03 9.96168030e-01 -5.65369164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.206296757 meters 0.07422795436326912 Centerline is valid? [True, True] Translation: X:49.21, Y:-0.38, Z:-5.66 [[ 9.93137705e-01 7.65807201e-02 8.83905701e-02 4.92136666e+01] [-7.66669807e-02 9.97053810e-01 -2.42366943e-03 -3.81880282e-01] [-8.83157610e-02 -4.36960064e-03 9.96082945e-01 -5.66128326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26629675699999 meters 0.07432521324546665 Centerline is valid? [True, True] Translation: X:49.27, Y:-0.39, Z:-5.67 [[ 9.92964428e-01 7.60391990e-02 9.07727099e-02 4.92743744e+01] [-7.61254401e-02 9.97095072e-01 -2.51679846e-03 -3.87550068e-01] [-9.07003971e-02 -4.41102115e-03 9.95868456e-01 -5.66773228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.326296756999994 meters 0.07384814669663127 Centerline is valid? [True, True] Translation: X:49.34, Y:-0.39, Z:-5.68 [[ 9.92894890e-01 7.72591628e-02 9.05028111e-02 4.93353385e+01] [-7.73500705e-02 9.97000841e-01 -2.50777428e-03 -3.92558032e-01] [-9.04251274e-02 -4.51044255e-03 9.95893043e-01 -5.67535756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.386296757 meters 0.07450651955940543 Centerline is valid? [True, True] Translation: X:49.40, Y:-0.40, Z:-5.68 [[ 9.93124369e-01 7.80248511e-02 8.72703314e-02 4.93960300e+01] [-7.81102986e-02 9.96941736e-01 -2.44057133e-03 -3.98431598e-01] [-8.71938609e-02 -4.39292078e-03 9.96181677e-01 -5.68458935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44629675699999 meters 0.07389231312055385 Centerline is valid? [True, True] Translation: X:49.46, Y:-0.41, Z:-5.69 [[ 9.93269242e-01 7.69901816e-02 8.65374140e-02 4.94579439e+01] [-7.70693831e-02 9.97022770e-01 -2.43035140e-03 -4.05375762e-01] [-8.64668854e-02 -4.25539182e-03 9.96245637e-01 -5.69249451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.506296756999994 meters 0.07476344540746857 Centerline is valid? [True, True] Translation: X:49.52, Y:-0.41, Z:-5.70 [[ 9.93508450e-01 7.62345973e-02 8.44348618e-02 4.95188542e+01] [-7.63070682e-02 9.97081541e-01 -2.37334077e-03 -4.08594142e-01] [-8.43693727e-02 -4.08504264e-03 9.96426175e-01 -5.70228143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.566296756999996 meters 0.07438535388573381 Centerline is valid? [True, True] Translation: X:49.58, Y:-0.42, Z:-5.71 [[ 9.93628397e-01 7.42461476e-02 8.47945699e-02 4.95802661e+01] [-7.43095724e-02 9.97232304e-01 -2.41236539e-03 -4.18165911e-01] [-8.47389932e-02 -3.90405349e-03 9.96395535e-01 -5.70831716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.626296757 meters 0.07506389265015159 Centerline is valid? [True, True] Translation: X:49.64, Y:-0.42, Z:-5.72 [[ 9.93431103e-01 7.32807019e-02 8.78896068e-02 4.96405479e+01] [-7.33446682e-02 9.97303505e-01 -2.50571480e-03 -4.19747041e-01] [-8.78362335e-02 -3.95697903e-03 9.96127069e-01 -5.71590969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.686296756999994 meters 0.07531186193981942 Centerline is valid? [True, True] Translation: X:49.70, Y:-0.42, Z:-5.72 [[ 9.93278886e-01 7.36889421e-02 8.92580164e-02 4.97024244e+01] [-7.37567485e-02 9.97273020e-01 -2.54288378e-03 -4.22846352e-01] [-8.92019939e-02 -4.05758830e-03 9.96005291e-01 -5.72278623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.746296756999996 meters 0.07386259306063728 Centerline is valid? [True, True] Translation: X:49.76, Y:-0.44, Z:-5.73 [[ 9.93406506e-01 7.42366189e-02 8.73638268e-02 4.97644314e+01] [-7.43019702e-02 9.97232634e-01 -2.50811350e-03 -4.39006617e-01] [-8.73082530e-02 -3.99972819e-03 9.96173314e-01 -5.72512808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.806296757 meters 0.07445750776339485 Centerline is valid? [True, True] Translation: X:49.83, Y:-0.44, Z:-5.73 [[ 9.93266230e-01 7.60349474e-02 8.74121453e-02 4.98261777e+01] [-7.61053746e-02 9.97096567e-01 -2.53153024e-03 -4.38456404e-01] [-8.73508348e-02 -4.13805057e-03 9.96169016e-01 -5.73497270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86629675699999 meters 0.07501938932285158 Centerline is valid? [True, True] Translation: X:49.89, Y:-0.44, Z:-5.74 [[ 9.92879017e-01 7.98512870e-02 8.84026507e-02 4.98871546e+01] [-7.99359232e-02 9.96796644e-01 -2.58809010e-03 -4.42855472e-01] [-8.83261278e-02 -4.49688714e-03 9.96081459e-01 -5.74134997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.926296756999996 meters 0.07641062213372948 Centerline is valid? [True, True] Translation: X:49.95, Y:-0.45, Z:-5.75 [[ 9.92687113e-01 8.34702395e-02 8.72067400e-02 4.99470771e+01] [-8.35661588e-02 9.96498952e-01 -2.55665101e-03 -4.45572286e-01] [-8.71148293e-02 -4.74957778e-03 9.96186954e-01 -5.74814519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.986296757 meters 0.07867482233646303 Centerline is valid? [True, True] Translation: X:50.01, Y:-0.44, Z:-5.76 [[ 9.92487005e-01 8.82812219e-02 8.47110986e-02 5.00066497e+01] [-8.83889697e-02 9.96082935e-01 -2.48509058e-03 -4.42057461e-01] [-8.45986666e-02 -5.02110662e-03 9.96402456e-01 -5.75878460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04629675699999 meters 0.07886329976118951 Centerline is valid? [True, True] Translation: X:50.07, Y:-0.45, Z:-5.77 [[ 9.92577196e-01 8.95586665e-02 8.22785236e-02 5.00668821e+01] [-8.96645845e-02 9.95969093e-01 -2.41426284e-03 -4.49977056e-01] [-8.21630847e-02 -4.98112740e-03 9.96606450e-01 -5.76616161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.106296756999996 meters 0.0789565211622202 Centerline is valid? [True, True] Translation: X:50.13, Y:-0.45, Z:-5.77 [[ 9.92604845e-01 8.86728591e-02 8.29020303e-02 5.01288484e+01] [-8.87773880e-02 9.96048524e-01 -2.43184613e-03 -4.51991318e-01] [-8.27900836e-02 -4.94596346e-03 9.96554735e-01 -5.77454134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.166296757 meters 0.07705987550594853 Centerline is valid? [True, True] Translation: X:50.19, Y:-0.46, Z:-5.77 [[ 9.92401873e-01 8.54444594e-02 8.85311667e-02 5.01904211e+01] [-8.55501684e-02 9.96330454e-01 -2.60664949e-03 -4.62147285e-01] [-8.84290213e-02 -4.98701239e-03 9.96069996e-01 -5.77448130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22629675699999 meters 0.07572111622950285 Centerline is valid? [True, True] Translation: X:50.25, Y:-0.47, Z:-5.78 [[ 9.92524162e-01 8.17528718e-02 9.06214972e-02 5.02511631e+01] [-8.18480566e-02 9.96641238e-01 -2.67165753e-03 -4.69495572e-01] [-9.05355369e-02 -4.76550878e-03 9.95881824e-01 -5.77949931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.286296756999995 meters 0.0751985966833274 Centerline is valid? [True, True] Translation: X:50.31, Y:-0.47, Z:-5.79 [[ 9.92768553e-01 7.75579440e-02 9.16262322e-02 5.03116190e+01] [-7.76372116e-02 9.96978009e-01 -2.70427398e-03 -4.74039701e-01] [-9.15590765e-02 -4.42888701e-03 9.95789797e-01 -5.78690264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.346296757 meters 0.07502726339619556 Centerline is valid? [True, True] Translation: X:50.37, Y:-0.48, Z:-5.79 [[ 9.92882158e-01 7.73773434e-02 9.05415201e-02 5.03740185e+01] [-7.74544082e-02 9.96992327e-01 -2.66747951e-03 -4.76398221e-01] [-9.04756033e-02 -4.36434704e-03 9.95889109e-01 -5.79449657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40629675699999 meters 0.07720379540754921 Centerline is valid? [True, True] Translation: X:50.43, Y:-0.47, Z:-5.80 [[ 9.92898799e-01 8.10874639e-02 8.70448016e-02 5.04334330e+01] [-8.11700821e-02 9.96696885e-01 -2.59574003e-03 -4.70299146e-01] [-8.69677646e-02 -4.48812653e-03 9.96201016e-01 -5.80482602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.466296756999995 meters 0.07711068499921339 Centerline is valid? [True, True] Translation: X:50.49, Y:-0.47, Z:-5.81 [[ 9.92605242e-01 8.36297937e-02 8.79823347e-02 5.04946670e+01] [-8.37244130e-02 9.96485501e-01 -2.62081723e-03 -4.72013758e-01] [-8.78922992e-02 -4.76483240e-03 9.96118587e-01 -5.81130360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.526296757 meters 0.0777038750342204 Centerline is valid? [True, True] Translation: X:50.56, Y:-0.47, Z:-5.82 [[ 9.92492253e-01 8.53350132e-02 8.76188536e-02 5.05562831e+01] [-8.54344456e-02 9.96340345e-01 -2.62148067e-03 -4.71121709e-01] [-8.75219029e-02 -4.88386893e-03 9.96150623e-01 -5.81939211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58629675699999 meters 0.07778770123819662 Centerline is valid? [True, True] Translation: X:50.62, Y:-0.48, Z:-5.83 [[ 9.92672527e-01 8.41227664e-02 8.67445332e-02 5.06181654e+01] [-8.42154815e-02 9.96444183e-01 -2.59666430e-03 -4.76617182e-01] [-8.66545241e-02 -4.72759532e-03 9.96227205e-01 -5.82650851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.646296756999995 meters 0.07785246704198431 Centerline is valid? [True, True] Translation: X:50.68, Y:-0.48, Z:-5.84 [[ 9.93077649e-01 8.11370874e-02 8.49326566e-02 5.06790713e+01] [-8.12129009e-02 9.96693469e-01 -2.56778119e-03 -4.79066447e-01] [-8.48601665e-02 -4.34762131e-03 9.96383385e-01 -5.83638472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.706296757 meters 0.07819873715171352 Centerline is valid? [True, True] Translation: X:50.74, Y:-0.48, Z:-5.84 [[ 9.93035451e-01 8.01065641e-02 8.63917300e-02 5.07391499e+01] [-8.01806782e-02 9.96776910e-01 -2.61735037e-03 -4.78543281e-01] [-8.63229486e-02 -4.32782580e-03 9.96257807e-01 -5.84402831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76629675699999 meters 0.07880082521903425 Centerline is valid? [True, True] Translation: X:50.80, Y:-0.48, Z:-5.85 [[ 9.92677219e-01 8.11825031e-02 8.94502090e-02 5.08008507e+01] [-8.12667112e-02 9.96688717e-01 -2.70622048e-03 -4.78801343e-01] [-8.93737118e-02 -4.58292088e-03 9.95987619e-01 -5.84874724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.826296756999994 meters 0.0758465186917557 Centerline is valid? [True, True] Translation: X:50.86, Y:-0.48, Z:-5.85 [[ 9.92310381e-01 8.03035616e-02 9.41883557e-02 5.08628416e+01] [-8.03905692e-02 9.96759290e-01 -2.87641395e-03 -4.84194000e-01] [-9.41141049e-02 -4.71756011e-03 9.95550240e-01 -5.84944337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.886296757 meters 0.07619430857275647 Centerline is valid? [True, True] Translation: X:50.92, Y:-0.48, Z:-5.86 [[ 9.92595352e-01 8.03006914e-02 9.11387210e-02 5.09247185e+01] [-8.03820477e-02 9.96760241e-01 -2.78355453e-03 -4.83089838e-01] [-9.10669749e-02 -4.56297373e-03 9.95834316e-01 -5.85616815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94629675699999 meters 0.0764693837045534 Centerline is valid? [True, True] Translation: X:50.99, Y:-0.48, Z:-5.86 [[ 9.92768575e-01 8.00843782e-02 8.94262250e-02 5.09864195e+01] [-8.01598644e-02 9.96778219e-01 -2.75276818e-03 -4.81036699e-01] [-8.93585671e-02 -4.43553232e-03 9.95989645e-01 -5.86458866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.006296756999994 meters 0.07595135133740356 Centerline is valid? [True, True] Translation: X:51.05, Y:-0.48, Z:-5.87 [[ 9.92866350e-01 7.99790764e-02 8.84293956e-02 5.10493305e+01] [-8.00506453e-02 9.96787025e-01 -2.74245433e-03 -4.80483948e-01] [-8.83646131e-02 -4.35593956e-03 9.96078672e-01 -5.87273773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.066296756999996 meters 0.07607816643207282 Centerline is valid? [True, True] Translation: X:51.11, Y:-0.48, Z:-5.88 [[ 9.93100491e-01 7.72502810e-02 8.82259013e-02 5.11091178e+01] [-7.73080011e-02 9.97003417e-01 -2.76767104e-03 -4.82221960e-01] [-8.81753284e-02 -4.07199262e-03 9.96096647e-01 -5.88482756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.126296757 meters 0.07494789941521594 Centerline is valid? [True, True] Translation: X:51.17, Y:-0.49, Z:-5.89 [[ 9.93369441e-01 7.37661661e-02 8.81799643e-02 5.11705207e+01] [-7.38099144e-02 9.97268484e-01 -2.76887381e-03 -4.90439924e-01] [-8.81433485e-02 -3.75804099e-03 9.96100711e-01 -5.89105901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.186296756999994 meters 0.0744842911754447 Centerline is valid? [True, True] Translation: X:51.23, Y:-0.49, Z:-5.90 [[ 9.93514433e-01 7.20322717e-02 8.79796804e-02 5.12319051e+01] [-7.20690935e-02 9.97395818e-01 -2.76202452e-03 -4.90656673e-01] [-8.79495201e-02 -3.59650458e-03 9.96118440e-01 -5.89919934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.246296756999996 meters 0.07498352946384154 Centerline is valid? [True, True] Translation: X:51.29, Y:-0.50, Z:-5.90 [[ 9.93237114e-01 7.31049956e-02 9.01980913e-02 5.12926028e+01] [-7.31460524e-02 9.97317154e-01 -2.85474020e-03 -4.95023181e-01] [-9.01647995e-02 -3.76220040e-03 9.95919753e-01 -5.90360204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.306296757 meters 0.07389272019844706 Centerline is valid? [True, True] Translation: X:51.35, Y:-0.50, Z:-5.91 [[ 9.93018674e-01 7.38765335e-02 9.19574355e-02 5.13545455e+01] [-7.39206721e-02 9.97259819e-01 -2.93060194e-03 -5.02103087e-01] [-9.19219582e-02 -3.88741298e-03 9.95758626e-01 -5.90579139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36629675699999 meters 0.07513415077188809 Centerline is valid? [True, True] Translation: X:51.41, Y:-0.50, Z:-5.92 [[ 9.92846218e-01 7.54121094e-02 9.25710582e-02 5.14145162e+01] [-7.54608772e-02 9.97144315e-01 -2.97835700e-03 -4.97278031e-01] [-9.25313086e-02 -4.02844277e-03 9.95701626e-01 -5.91710735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.426296756999996 meters 0.076321383326182 Centerline is valid? [True, True] Translation: X:51.47, Y:-0.50, Z:-5.93 [[ 9.93035886e-01 7.70461863e-02 8.91269533e-02 5.14742062e+01] [-7.70976345e-02 9.97019416e-01 -2.87035289e-03 -4.96172014e-01] [-8.90824527e-02 -4.02111385e-03 9.96016138e-01 -5.92572413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.486296757 meters 0.07679729478210172 Centerline is valid? [True, True] Translation: X:51.54, Y:-0.49, Z:-5.93 [[ 9.92959567e-01 7.60790743e-02 9.07924682e-02 5.15353822e+01] [-7.61280731e-02 9.97093748e-01 -2.92833578e-03 -4.94950034e-01] [-9.07513874e-02 -4.00413662e-03 9.95865529e-01 -5.93329730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54629675699999 meters 0.07640941184323943 Centerline is valid? [True, True] Translation: X:51.60, Y:-0.50, Z:-5.94 [[ 9.92833874e-01 7.71323780e-02 9.12770212e-02 5.15970974e+01] [-7.71864955e-02 9.97012331e-01 -2.94230245e-03 -4.95729714e-01] [-9.12312625e-02 -4.12413585e-03 9.95821193e-01 -5.93742110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.606296756999996 meters 0.07525082340006209 Centerline is valid? [True, True] Translation: X:51.66, Y:-0.50, Z:-5.94 [[ 9.92751100e-01 7.55577967e-02 9.34680337e-02 5.16582556e+01] [-7.56050695e-02 9.97133206e-01 -3.04031357e-03 -5.01865467e-01] [-9.34297995e-02 -4.04838255e-03 9.95617639e-01 -5.94311378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.666296757 meters 0.07551536061840104 Centerline is valid? [True, True] Translation: X:51.72, Y:-0.50, Z:-5.95 [[ 9.92700819e-01 7.54009657e-02 9.41263987e-02 5.17189913e+01] [-7.54478989e-02 9.97145034e-01 -3.06510770e-03 -5.01782868e-01] [-9.40887832e-02 -4.05890409e-03 9.95555536e-01 -5.95180158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72629675699999 meters 0.07538958305553592 Centerline is valid? [True, True] Translation: X:51.78, Y:-0.51, Z:-5.96 [[ 9.93132965e-01 7.17221505e-02 9.24275277e-02 5.17803269e+01] [-7.17501294e-02 9.97418052e-01 -3.02452018e-03 -5.08318019e-01] [-9.24058098e-02 -3.62793638e-03 9.95714821e-01 -5.95942465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.786296756999995 meters 0.0752953268057025 Centerline is valid? [True, True] Translation: X:51.84, Y:-0.51, Z:-5.97 [[ 9.93223243e-01 7.16523207e-02 9.15070180e-02 5.18425106e+01] [-7.16794712e-02 9.97423225e-01 -2.99399892e-03 -5.11259377e-01] [-9.14857520e-02 -3.58546535e-03 9.95799931e-01 -5.96799486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.846296757 meters 0.07705767599115536 Centerline is valid? [True, True] Translation: X:51.90, Y:-0.51, Z:-5.98 [[ 9.92713634e-01 7.45627770e-02 9.46574499e-02 5.19033020e+01] [-7.46023515e-02 9.97208464e-01 -3.12559394e-03 -5.05395535e-01] [-9.46262631e-02 -3.95884863e-03 9.95504996e-01 -5.97913125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90629675699999 meters 0.07616693716866382 Centerline is valid? [True, True] Translation: X:51.96, Y:-0.51, Z:-5.98 [[ 9.92489016e-01 7.69564960e-02 9.50960095e-02 5.19648874e+01] [-7.70050932e-02 9.97025679e-01 -3.16410193e-03 -5.12941058e-01] [-9.50566616e-02 -4.18254066e-03 9.95463077e-01 -5.98313427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.966296756999995 meters 0.0772344515749963 Centerline is valid? [True, True] Translation: X:52.02, Y:-0.51, Z:-5.99 [[ 9.92151787e-01 8.05097001e-02 9.56714189e-02 5.20243571e+01] [-8.05747341e-02 9.96743467e-01 -3.18957520e-03 -5.11029366e-01] [-9.56166535e-02 -4.54415640e-03 9.95407859e-01 -5.99172578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.026296757 meters 0.0768666112334415 Centerline is valid? [True, True] Translation: X:52.09, Y:-0.52, Z:-6.00 [[ 9.92169007e-01 8.24707203e-02 9.38042700e-02 5.20852409e+01] [-8.25411750e-02 9.96582723e-01 -3.13524466e-03 -5.15404966e-01] [-9.37422808e-02 -4.63202208e-03 9.95585722e-01 -5.99737239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08629675699999 meters 0.07570608656745015 Centerline is valid? [True, True] Translation: X:52.15, Y:-0.52, Z:-6.00 [[ 9.92182501e-01 8.24148553e-02 9.37106036e-02 5.21471723e+01] [-8.24850374e-02 9.96587385e-01 -3.13085733e-03 -5.22749335e-01] [-9.36488345e-02 -4.62334079e-03 9.95594556e-01 -6.00281151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.146296756999995 meters 0.07606317640278136 Centerline is valid? [True, True] Translation: X:52.21, Y:-0.53, Z:-6.01 [[ 9.92151262e-01 8.16836856e-02 9.46765501e-02 5.22080134e+01] [-8.17497385e-02 9.96647792e-01 -3.18725958e-03 -5.26460149e-01] [-9.46195217e-02 -4.57753959e-03 9.95502985e-01 -6.00991357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.206296757 meters 0.07540578748502438 Centerline is valid? [True, True] Translation: X:52.27, Y:-0.53, Z:-6.02 [[ 9.92098429e-01 8.05885972e-02 9.61570873e-02 5.22692972e+01] [-8.06492130e-02 9.96737208e-01 -3.26232688e-03 -5.31168843e-01] [-9.61062530e-02 -4.51844405e-03 9.95360825e-01 -6.01652969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26629675699999 meters 0.075588912191467 Centerline is valid? [True, True] Translation: X:52.33, Y:-0.54, Z:-6.03 [[ 9.92140474e-01 7.88624627e-02 9.71493283e-02 5.23289620e+01] [-7.89155521e-02 9.96875837e-01 -3.30182597e-03 -5.35527601e-01] [-9.71062080e-02 -4.39071770e-03 9.95264340e-01 -6.02590988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.326296756999994 meters 0.07492924087108987 Centerline is valid? [True, True] Translation: X:52.39, Y:-0.54, Z:-6.04 [[ 9.92322140e-01 7.91284267e-02 9.50550501e-02 5.23906100e+01] [-7.91806905e-02 9.96855054e-01 -3.22781227e-03 -5.40778542e-01] [-9.50115188e-02 -4.32349491e-03 9.95466784e-01 -6.03510258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.386296757 meters 0.07536517678329165 Centerline is valid? [True, True] Translation: X:52.45, Y:-0.54, Z:-6.04 [[ 9.92057521e-01 8.03827821e-02 9.67495953e-02 5.24507932e+01] [-8.04404843e-02 9.96753917e-01 -3.31025071e-03 -5.41021625e-01] [-9.67016253e-02 -4.49862519e-03 9.95303249e-01 -6.04424745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44629675699999 meters 0.07446234836220635 Centerline is valid? [True, True] Translation: X:52.51, Y:-0.55, Z:-6.05 [[ 9.91843063e-01 8.15060782e-02 9.80005015e-02 5.25130431e+01] [-8.15685859e-02 9.96662016e-01 -3.37524867e-03 -5.47642565e-01] [-9.79484806e-02 -4.64604535e-03 9.95180642e-01 -6.04734375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.506296756999994 meters 0.07541881327778267 Centerline is valid? [True, True] Translation: X:52.57, Y:-0.54, Z:-6.06 [[ 9.91806126e-01 8.23243557e-02 9.76898570e-02 5.25737891e+01] [-8.23879582e-02 9.96594569e-01 -3.38954384e-03 -5.44432256e-01] [-9.76362230e-02 -4.68669752e-03 9.95211135e-01 -6.05684619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.566296756999996 meters 0.07548175509785504 Centerline is valid? [True, True] Translation: X:52.63, Y:-0.54, Z:-6.07 [[ 9.91665786e-01 8.63585826e-02 9.56094328e-02 5.26333529e+01] [-8.64356858e-02 9.96251825e-01 -3.34259098e-03 -5.44519953e-01] [-9.55397333e-02 -4.94933378e-03 9.95413313e-01 -6.06940387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.626296757 meters 0.07637709056384151 Centerline is valid? [True, True] Translation: X:52.69, Y:-0.54, Z:-6.08 [[ 9.91434557e-01 8.78636047e-02 9.66307701e-02 5.26939833e+01] [-8.79496938e-02 9.96119196e-01 -3.37633201e-03 -5.43504641e-01] [-9.65524217e-02 -5.15123440e-03 9.95314571e-01 -6.07660220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.686296756999994 meters 0.07628820849576745 Centerline is valid? [True, True] Translation: X:52.76, Y:-0.55, Z:-6.08 [[ 9.91339994e-01 8.86938182e-02 9.68422622e-02 5.27552121e+01] [-8.87820998e-02 9.96045250e-01 -3.40564173e-03 -5.45391941e-01] [-9.67613346e-02 -5.22171053e-03 9.95293915e-01 -6.08309173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.746296756999996 meters 0.07732582842226961 Centerline is valid? [True, True] Translation: X:52.82, Y:-0.54, Z:-6.09 [[ 9.91278194e-01 9.01327638e-02 9.61437837e-02 5.28157535e+01] [-9.02242067e-02 9.95915659e-01 -3.40471547e-03 -5.42479954e-01] [-9.60579762e-02 -5.29947642e-03 9.95361633e-01 -6.08943913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.806296757 meters 0.07598510734174116 Centerline is valid? [True, True] Translation: X:52.88, Y:-0.55, Z:-6.09 [[ 9.90952663e-01 9.09653431e-02 9.86819487e-02 5.28774532e+01] [-9.10648536e-02 9.95838797e-01 -3.50478147e-03 -5.47559359e-01] [-9.85901267e-02 -5.51338469e-03 9.95112853e-01 -6.09271044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86629675699999 meters 0.07891256923950218 Centerline is valid? [True, True] Translation: X:52.94, Y:-0.54, Z:-6.10 [[ 9.91014018e-01 9.19035203e-02 9.71851749e-02 5.29380454e+01] [-9.20020925e-02 9.95752746e-01 -3.47603822e-03 -5.39429721e-01] [-9.70918649e-02 -5.49643684e-03 9.95260247e-01 -6.10166465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.926296756999996 meters 0.0770589182412331 Centerline is valid? [True, True] Translation: X:53.00, Y:-0.54, Z:-6.11 [[ 9.91176619e-01 9.22207793e-02 9.52062871e-02 5.29995908e+01] [-9.23147441e-02 9.95723981e-01 -3.42651292e-03 -5.43993671e-01] [-9.51151790e-02 -5.39266454e-03 9.95451667e-01 -6.10917488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.986296757 meters 0.07615732990309153 Centerline is valid? [True, True] Translation: X:53.06, Y:-0.55, Z:-6.12 [[ 9.91779800e-01 8.69632935e-02 9.38627399e-02 5.30604952e+01] [-8.70285881e-02 9.96199994e-01 -3.40536320e-03 -5.47861506e-01] [-9.38022026e-02 -4.79137129e-03 9.95579324e-01 -6.11664116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04629675699999 meters 0.07487510598396027 Centerline is valid? [True, True] Translation: X:53.12, Y:-0.56, Z:-6.12 [[ 9.92026600e-01 8.34077905e-02 9.44794471e-02 5.31205740e+01] [-8.34576890e-02 9.96505418e-01 -3.43003432e-03 -5.55389466e-01] [-9.44353725e-02 -4.48235103e-03 9.95520903e-01 -6.12115970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.106296756999996 meters 0.07417112788505076 Centerline is valid? [True, True] Translation: X:53.18, Y:-0.55, Z:-6.13 [[ 9.92350667e-01 8.14972270e-02 9.27273167e-02 5.31817481e+01] [-8.15374290e-02 9.96664612e-01 -3.36125431e-03 -5.53801461e-01] [-9.26919681e-02 -4.22520405e-03 9.95685867e-01 -6.13313671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.166296757 meters 0.07334347469246101 Centerline is valid? [True, True] Translation: X:53.24, Y:-0.56, Z:-6.14 [[ 9.92499669e-01 8.02162125e-02 9.22483988e-02 5.32432736e+01] [-8.02484183e-02 9.96769211e-01 -3.36615370e-03 -5.60843446e-01] [-9.22203838e-02 -4.06188166e-03 9.95730336e-01 -6.13925747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22629675699999 meters 0.07359551342917532 Centerline is valid? [True, True] Translation: X:53.30, Y:-0.56, Z:-6.15 [[ 9.92635006e-01 7.97819044e-02 9.11624487e-02 5.33049251e+01] [-7.98094910e-02 9.96804510e-01 -3.34861089e-03 -5.64284782e-01] [-9.11382986e-02 -3.95168023e-03 9.95830405e-01 -6.14533835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.286296756999995 meters 0.07374813414115529 Centerline is valid? [True, True] Translation: X:53.37, Y:-0.56, Z:-6.15 [[ 9.92727401e-01 7.94035464e-02 9.04841610e-02 5.33661391e+01] [-7.94269519e-02 9.96835067e-01 -3.34785553e-03 -5.63866421e-01] [-9.04636163e-02 -3.86337318e-03 9.95892268e-01 -6.15464661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.346296757 meters 0.07392718002696834 Centerline is valid? [True, True] Translation: X:53.43, Y:-0.57, Z:-6.16 [[ 9.92941461e-01 7.92891801e-02 8.82070320e-02 5.34279961e+01] [-7.93091279e-02 9.96844661e-01 -3.28403018e-03 -5.68490463e-01] [-8.81890970e-02 -3.73477306e-03 9.96096750e-01 -6.16143851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40629675699999 meters 0.07394049617804155 Centerline is valid? [True, True] Translation: X:53.49, Y:-0.57, Z:-6.17 [[ 9.93004252e-01 7.92179735e-02 8.75617973e-02 5.34899084e+01] [-7.92355706e-02 9.96850523e-01 -3.28019534e-03 -5.74659664e-01] [-8.75458739e-02 -3.68076105e-03 9.96153689e-01 -6.16770407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.466296756999995 meters 0.07566170293160786 Centerline is valid? [True, True] Translation: X:53.55, Y:-0.57, Z:-6.18 [[ 9.92891433e-01 8.18588575e-02 8.64044519e-02 5.35504778e+01] [-8.18835379e-02 9.96636558e-01 -3.26449310e-03 -5.70170633e-01] [-8.63810633e-02 -3.83381498e-03 9.96254794e-01 -6.17861093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.526296757 meters 0.07541525590276703 Centerline is valid? [True, True] Translation: X:53.61, Y:-0.57, Z:-6.18 [[ 9.92483189e-01 8.53741537e-02 8.76833737e-02 5.36114124e+01] [-8.54129400e-02 9.96340118e-01 -3.31633352e-03 -5.74189713e-01] [-8.76455921e-02 -4.19788947e-03 9.96142875e-01 -6.18217808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58629675699999 meters 0.07458528353966443 Centerline is valid? [True, True] Translation: X:53.67, Y:-0.58, Z:-6.19 [[ 9.91944089e-01 8.84395169e-02 9.06938561e-02 5.36730964e+01] [-8.84941713e-02 9.96070802e-01 -3.42636525e-03 -5.79145718e-01] [-9.06405280e-02 -4.62711489e-03 9.95872926e-01 -6.18604037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.646296756999995 meters 0.07501855165840045 Centerline is valid? [True, True] Translation: X:53.74, Y:-0.58, Z:-6.19 [[ 9.91761553e-01 9.00452619e-02 9.11091280e-02 5.37350288e+01] [-9.01050829e-02 9.95926237e-01 -3.46487691e-03 -5.76038903e-01] [-9.10499667e-02 -4.77306382e-03 9.95834887e-01 -6.19486089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.706296757 meters 0.07440777244921819 Centerline is valid? [True, True] Translation: X:53.80, Y:-0.58, Z:-6.20 [[ 9.92076099e-01 8.88792767e-02 8.88002726e-02 5.37963262e+01] [-8.89295062e-02 9.96032125e-01 -3.39838284e-03 -5.83027916e-01] [-8.87499700e-02 -4.52551000e-03 9.96043655e-01 -6.20044871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76629675699999 meters 0.07449664728556699 Centerline is valid? [True, True] Translation: X:53.86, Y:-0.59, Z:-6.21 [[ 9.92644716e-01 8.59266532e-02 8.52823393e-02 5.38564713e+01] [-8.59602629e-02 9.96293151e-01 -3.28479855e-03 -5.86031175e-01] [-8.52484623e-02 -4.07025438e-03 9.96351410e-01 -6.21113966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.826296756999994 meters 0.0737559745816111 Centerline is valid? [True, True] Translation: X:53.92, Y:-0.59, Z:-6.22 [[ 9.92600042e-01 8.46318625e-02 8.70781492e-02 5.39175786e+01] [-8.46597432e-02 9.96404189e-01 -3.37946531e-03 -5.87214668e-01] [-8.70510430e-02 -4.01755634e-03 9.96195751e-01 -6.21993994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.886296757 meters 0.07373862490669252 Centerline is valid? [True, True] Translation: X:53.98, Y:-0.59, Z:-6.22 [[ 9.92543828e-01 8.29667048e-02 8.92932038e-02 5.39780463e+01] [-8.29888624e-02 9.96544430e-01 -3.47086247e-03 -5.94550157e-01] [-8.92726110e-02 -3.96535829e-03 9.95999336e-01 -6.22426624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94629675699999 meters 0.07402004227083614 Centerline is valid? [True, True] Translation: X:54.04, Y:-0.60, Z:-6.23 [[ 9.92714841e-01 8.27779445e-02 8.75503028e-02 5.40393336e+01] [-8.27987101e-02 9.96560490e-01 -3.40056583e-03 -5.95813370e-01] [-8.75306645e-02 -3.87325998e-03 9.96154296e-01 -6.23204170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.006296756999994 meters 0.0743954028688762 Centerline is valid? [True, True] Translation: X:54.10, Y:-0.60, Z:-6.24 [[ 9.92731204e-01 8.41517701e-02 8.60420659e-02 5.41006493e+01] [-8.41751445e-02 9.96445300e-01 -3.36281142e-03 -5.96499763e-01] [-8.60191988e-02 -3.90423550e-03 9.96285830e-01 -6.23923662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.066296756999996 meters 0.07475242977369313 Centerline is valid? [True, True] Translation: X:54.16, Y:-0.60, Z:-6.25 [[ 9.92580894e-01 8.52455746e-02 8.66969520e-02 5.41623231e+01] [-8.52718027e-02 9.96351900e-01 -3.40759519e-03 -5.99021921e-01] [-8.66711553e-02 -4.01049151e-03 9.96228903e-01 -6.24608987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.126296757 meters 0.07408945410625369 Centerline is valid? [True, True] Translation: X:54.22, Y:-0.60, Z:-6.25 [[ 9.92263161e-01 8.56439547e-02 8.98828797e-02 5.42243854e+01] [-8.56718124e-02 9.96317069e-01 -3.55518690e-03 -6.03728344e-01] [-8.98563275e-02 -4.17274821e-03 9.95945997e-01 -6.25060756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.186296756999994 meters 0.07559755910427947 Centerline is valid? [True, True] Translation: X:54.29, Y:-0.60, Z:-6.26 [[ 9.92068004e-01 8.80155352e-02 8.97459802e-02 5.42850364e+01] [-8.80506741e-02 9.96109581e-01 -3.57521679e-03 -5.99910186e-01] [-8.97115053e-02 -4.35533586e-03 9.95958271e-01 -6.26133787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.246296756999996 meters 0.07503797617260478 Centerline is valid? [True, True] Translation: X:54.35, Y:-0.60, Z:-6.27 [[ 9.91949779e-01 9.05522002e-02 8.85208148e-02 5.43460710e+01] [-9.05953146e-02 9.95881502e-01 -3.53881514e-03 -6.01635563e-01] [-8.84766895e-02 -4.50924417e-03 9.96068041e-01 -6.26580252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.306296757 meters 0.07584588072392616 Centerline is valid? [True, True] Translation: X:54.41, Y:-0.60, Z:-6.27 [[ 9.91867423e-01 9.18794992e-02 8.80748153e-02 5.44064334e+01] [-9.19274826e-02 9.95759483e-01 -3.51981898e-03 -5.98703940e-01] [-8.80247318e-02 -4.60530227e-03 9.96107644e-01 -6.27364625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36629675699999 meters 0.07645050502861304 Centerline is valid? [True, True] Translation: X:54.47, Y:-0.60, Z:-6.28 [[ 9.92223333e-01 9.19315286e-02 8.39133552e-02 5.44670252e+01] [-9.19746503e-02 9.95755680e-01 -3.35998634e-03 -5.99043716e-01] [-8.38660887e-02 -4.38404465e-03 9.96467390e-01 -6.28435939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.426296756999996 meters 0.07581527681202704 Centerline is valid? [True, True] Translation: X:54.53, Y:-0.60, Z:-6.29 [[ 9.92346467e-01 9.09705726e-02 8.35035560e-02 5.45286548e+01] [-9.10083969e-02 9.95844452e-01 -3.36128163e-03 -6.00351437e-01] [-8.34623307e-02 -4.26396881e-03 9.96501810e-01 -6.29279484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.486296757 meters 0.07411034536681517 Centerline is valid? [True, True] Translation: X:54.59, Y:-0.61, Z:-6.30 [[ 9.92477587e-01 8.70443145e-02 8.60902291e-02 5.45893645e+01] [-8.70674909e-02 9.96196292e-01 -3.49273228e-03 -6.07796037e-01] [-8.60667895e-02 -4.02920174e-03 9.96281222e-01 -6.29541698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54629675699999 meters 0.07285671485756871 Centerline is valid? [True, True] Translation: X:54.65, Y:-0.62, Z:-6.30 [[ 9.92842714e-01 8.25907417e-02 8.62676922e-02 5.46500463e+01] [-8.25970007e-02 9.96576873e-01 -3.50296526e-03 -6.15228962e-01] [-8.62616995e-02 -3.64755910e-03 9.96265835e-01 -6.29901503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.606296756999996 meters 0.07360169687967356 Centerline is valid? [True, True] Translation: X:54.71, Y:-0.61, Z:-6.31 [[ 9.92756141e-01 8.35166043e-02 8.63725683e-02 5.47103531e+01] [-8.35267401e-02 9.96499379e-01 -3.50296548e-03 -6.11127413e-01] [-8.63627665e-02 -3.73682858e-03 9.96256748e-01 -6.30771543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.666296757 meters 0.07410494452856005 Centerline is valid? [True, True] Translation: X:54.77, Y:-0.61, Z:-6.32 [[ 9.92861777e-01 8.58584390e-02 8.27878081e-02 5.47711404e+01] [-8.58738616e-02 9.96300280e-01 -3.38107809e-03 -6.11180424e-01] [-8.27718105e-02 -3.75236557e-03 9.96561462e-01 -6.31610222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72629675699999 meters 0.07492207015278869 Centerline is valid? [True, True] Translation: X:54.83, Y:-0.61, Z:-6.32 [[ 9.92680517e-01 8.69507147e-02 8.38150604e-02 5.48334419e+01] [-8.69707753e-02 9.96204997e-01 -3.41874499e-03 -6.12805384e-01] [-8.37942444e-02 -3.89573924e-03 9.96475463e-01 -6.32473193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.786296756999995 meters 0.07508167290625029 Centerline is valid? [True, True] Translation: X:54.89, Y:-0.61, Z:-6.33 [[ 9.92823432e-01 8.58453651e-02 8.32598740e-02 5.48947570e+01] [-8.58593119e-02 9.96301402e-01 -3.41966568e-03 -6.13554777e-01] [-8.32454917e-02 -3.75351128e-03 9.96522001e-01 -6.33413141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.846296757 meters 0.07403632760225344 Centerline is valid? [True, True] Translation: X:54.95, Y:-0.62, Z:-6.34 [[ 9.93163140e-01 8.11950916e-02 8.38709336e-02 5.49546339e+01] [-8.11904868e-02 9.96692558e-01 -3.47134204e-03 -6.17237677e-01] [-8.38753913e-02 -3.36191296e-03 9.96470580e-01 -6.34300213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90629675699999 meters 0.07206048944628596 Centerline is valid? [True, True] Translation: X:55.02, Y:-0.63, Z:-6.34 [[ 9.93668389e-01 7.42124531e-02 8.43542761e-02 5.50154305e+01] [-7.41825871e-02 9.97238559e-01 -3.49274500e-03 -6.34398916e-01] [-8.43805420e-02 -2.78698814e-03 9.96429705e-01 -6.34414939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.966296756999995 meters 0.07074533545256356 Centerline is valid? [True, True] Translation: X:55.08, Y:-0.64, Z:-6.35 [[ 9.94018089e-01 6.62847434e-02 8.68007593e-02 5.50759822e+01] [-6.62228811e-02 9.97798379e-01 -3.59521974e-03 -6.40844261e-01] [-8.68479651e-02 -2.17448290e-03 9.96219204e-01 -6.35280538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.026296757 meters 0.0704744545666552 Centerline is valid? [True, True] Translation: X:55.13, Y:-0.65, Z:-6.36 [[ 9.94149675e-01 6.05104294e-02 8.94701662e-02 5.51348854e+01] [-6.04210374e-02 9.98166087e-01 -3.70965886e-03 -6.46859050e-01] [-8.95305587e-02 -1.71792411e-03 9.95982594e-01 -6.36202495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08629675699999 meters 0.06957825014844544 Centerline is valid? [True, True] Translation: X:55.20, Y:-0.66, Z:-6.36 [[ 9.93880675e-01 5.76176831e-02 9.42412156e-02 5.51960167e+01] [-5.75056059e-02 9.98337539e-01 -3.90684258e-03 -6.59808924e-01] [-9.43096464e-02 -1.53646285e-03 9.95541727e-01 -6.36130443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.146296756999995 meters 0.06995808149892528 Centerline is valid? [True, True] Translation: X:55.26, Y:-0.65, Z:-6.37 [[ 9.93863316e-01 6.03528496e-02 9.26997420e-02 5.52564714e+01] [-6.02563899e-02 9.98175540e-01 -3.84167974e-03 -6.51627161e-01] [-9.27624714e-02 -1.76764723e-03 9.95686697e-01 -6.37426724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.206296757 meters 0.07123544922759811 Centerline is valid? [True, True] Translation: X:55.32, Y:-0.65, Z:-6.38 [[ 9.93969652e-01 6.74272742e-02 8.64748125e-02 5.53172257e+01] [-6.73680019e-02 9.97721676e-01 -3.60687314e-03 -6.50512557e-01] [-8.65209965e-02 -2.24051289e-03 9.96247508e-01 -6.38278205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26629675699999 meters 0.07159368444394851 Centerline is valid? [True, True] Translation: X:55.38, Y:-0.65, Z:-6.39 [[ 9.93914410e-01 7.07613576e-02 8.44214237e-02 5.53778077e+01] [-7.07166664e-02 9.97490220e-01 -3.52337535e-03 -6.54047388e-01] [-8.44588633e-02 -2.46806813e-03 9.96423910e-01 -6.38903085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.326296756999994 meters 0.07300547862074468 Centerline is valid? [True, True] Translation: X:55.44, Y:-0.65, Z:-6.40 [[ 9.93621800e-01 7.66606699e-02 8.26974023e-02 5.54374445e+01] [-7.66379736e-02 9.97053005e-01 -3.45343352e-03 -6.46549220e-01] [-8.27184360e-02 -2.90635451e-03 9.96568720e-01 -6.39990438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.386296757 meters 0.07350745904546244 Centerline is valid? [True, True] Translation: X:55.50, Y:-0.65, Z:-6.41 [[ 9.93615328e-01 7.78224517e-02 8.16838202e-02 5.54986906e+01] [-7.78048160e-02 9.96962800e-01 -3.40375315e-03 -6.48424104e-01] [-8.17006185e-02 -2.97337330e-03 9.96652481e-01 -6.40679640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44629675699999 meters 0.07323036440027482 Centerline is valid? [True, True] Translation: X:55.56, Y:-0.66, Z:-6.41 [[ 9.93744826e-01 7.64519057e-02 8.14022534e-02 5.55603192e+01] [-7.64283987e-02 9.97069244e-01 -3.40921772e-03 -6.57576812e-01] [-8.14243244e-02 -2.83355141e-03 9.96675499e-01 -6.41068426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.506296756999994 meters 0.07316609598046116 Centerline is valid? [True, True] Translation: X:55.62, Y:-0.66, Z:-6.42 [[ 9.93965836e-01 7.29954065e-02 8.18754357e-02 5.56197588e+01] [-7.29579964e-02 9.97329038e-01 -3.45259412e-03 -6.63138332e-01] [-8.19087731e-02 -2.54170714e-03 9.96636590e-01 -6.41903031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.566296756999996 meters 0.07189382877617255 Centerline is valid? [True, True] Translation: X:55.68, Y:-0.67, Z:-6.42 [[ 9.93848924e-01 7.25161003e-02 8.37002457e-02 5.56825399e+01] [-7.24745915e-02 9.97363983e-01 -3.53824288e-03 -6.74826141e-01] [-8.37361900e-02 -2.54966224e-03 9.96484696e-01 -6.41712669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62629675699999 meters 0.07204938337974909 Centerline is valid? [True, True] Translation: X:55.74, Y:-0.68, Z:-6.42 [[ 9.93563460e-01 7.49257773e-02 8.49575090e-02 5.57440299e+01] [-7.48915406e-02 9.97185207e-01 -3.59448527e-03 -6.76721841e-01] [-8.49876908e-02 -2.79124951e-03 9.96378092e-01 -6.42402185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.686296756999994 meters 0.07315492773352676 Centerline is valid? [True, True] Translation: X:55.80, Y:-0.67, Z:-6.43 [[ 9.93326392e-01 8.01885584e-02 8.29003852e-02 5.58042037e+01] [-8.01719402e-02 9.96774782e-01 -3.53470917e-03 -6.71496771e-01] [-8.29164566e-02 -3.13516481e-03 9.96551570e-01 -6.43410311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.746296756999996 meters 0.07413163917988955 Centerline is valid? [True, True] Translation: X:55.86, Y:-0.67, Z:-6.44 [[ 9.92800396e-01 8.49905041e-02 8.44037219e-02 5.58648466e+01] [-8.49904725e-02 9.96375260e-01 -3.60008963e-03 -6.71041990e-01] [-8.44037538e-02 -3.59934180e-03 9.96425136e-01 -6.44148458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.806296757 meters 0.07389888764186843 Centerline is valid? [True, True] Translation: X:55.93, Y:-0.67, Z:-6.45 [[ 9.92545426e-01 8.68269459e-02 8.55257814e-02 5.59269624e+01] [-8.68341620e-02 9.96216120e-01 -3.64279594e-03 -6.69917641e-01] [-8.55184549e-02 -3.81091911e-03 9.96329298e-01 -6.44764746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86629675699999 meters 0.07501768472960275 Centerline is valid? [True, True] Translation: X:55.99, Y:-0.67, Z:-6.46 [[ 9.92780835e-01 8.76664164e-02 8.18584971e-02 5.59868594e+01] [-8.76736290e-02 9.96143058e-01 -3.51330161e-03 -6.70131096e-01] [-8.18507722e-02 -3.68889299e-03 9.96637769e-01 -6.45750693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.926296756999996 meters 0.07490517720686085 Centerline is valid? [True, True] Translation: X:56.05, Y:-0.67, Z:-6.46 [[ 9.92826949e-01 8.77450277e-02 8.12124290e-02 5.60479753e+01] [-8.77525817e-02 9.96136212e-01 -3.48310498e-03 -6.74290194e-01] [-8.12042665e-02 -3.66847983e-03 9.96690729e-01 -6.46423169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.986296757 meters 0.075242409722816 Centerline is valid? [True, True] Translation: X:56.11, Y:-0.68, Z:-6.47 [[ 9.93017045e-01 8.63315849e-02 8.03990455e-02 5.61088241e+01] [-8.63337879e-02 9.96260276e-01 -3.45533523e-03 -6.77034709e-01] [-8.03966799e-02 -3.50994736e-03 9.96756768e-01 -6.47328055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04629675699999 meters 0.07477624165555825 Centerline is valid? [True, True] Translation: X:56.17, Y:-0.68, Z:-6.48 [[ 9.92966300e-01 8.40602322e-02 8.33774771e-02 5.61689917e+01] [-8.40523125e-02 9.96454799e-01 -3.61138284e-03 -6.80034497e-01] [-8.33854609e-02 -3.42208830e-03 9.96511492e-01 -6.48084746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.106296756999996 meters 0.07406184934749897 Centerline is valid? [True, True] Translation: X:56.23, Y:-0.68, Z:-6.49 [[ 9.92945227e-01 8.39619258e-02 8.37267620e-02 5.62310319e+01] [-8.39540608e-02 9.96463047e-01 -3.62097397e-03 -6.84637828e-01] [-8.37346484e-02 -3.43377285e-03 9.96482171e-01 -6.48583967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.166296757 meters 0.07367342015330237 Centerline is valid? [True, True] Translation: X:56.29, Y:-0.69, Z:-6.49 [[ 9.92967628e-01 8.31355078e-02 8.42839048e-02 5.62929136e+01] [-8.31228160e-02 9.96532568e-01 -3.66589198e-03 -6.90959232e-01] [-8.42964219e-02 -3.36580344e-03 9.96435038e-01 -6.49106107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22629675699999 meters 0.07327233316791901 Centerline is valid? [True, True] Translation: X:56.35, Y:-0.69, Z:-6.50 [[ 9.92761274e-01 8.27782028e-02 8.70219655e-02 5.63542760e+01] [-8.27609307e-02 9.96562137e-01 -3.81255115e-03 -6.91004466e-01] [-8.70383920e-02 -3.41706572e-03 9.96199098e-01 -6.49796522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.286296756999995 meters 0.07352419572141107 Centerline is valid? [True, True] Translation: X:56.42, Y:-0.69, Z:-6.51 [[ 9.92614116e-01 8.42298464e-02 8.73072154e-02 5.64159052e+01] [-8.42181001e-02 9.96440005e-01 -3.82458166e-03 -6.88378617e-01] [-8.73185461e-02 -3.55651407e-03 9.96174093e-01 -6.50690123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.346296757 meters 0.07340681451214523 Centerline is valid? [True, True] Translation: X:56.48, Y:-0.69, Z:-6.51 [[ 9.92837529e-01 8.22600935e-02 8.66424777e-02 5.64778354e+01] [-8.22392342e-02 9.96605310e-01 -3.81623431e-03 -6.94510964e-01] [-8.66622772e-02 -3.33651037e-03 9.96232160e-01 -6.51272774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40629675699999 meters 0.07303797927375474 Centerline is valid? [True, True] Translation: X:56.54, Y:-0.70, Z:-6.52 [[ 9.93246559e-01 7.97895810e-02 8.42311994e-02 5.65394662e+01] [-7.97593448e-02 9.96807172e-01 -3.72939930e-03 -6.99533267e-01] [-8.42598309e-02 -3.01401225e-03 9.96439259e-01 -6.51999671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.466296756999995 meters 0.07287619365135509 Centerline is valid? [True, True] Translation: X:56.60, Y:-0.70, Z:-6.53 [[ 9.93364695e-01 7.82972639e-02 8.42384778e-02 5.66009603e+01] [-7.82599344e-02 9.96925934e-01 -3.75026976e-03 -7.02821588e-01] [-8.42731590e-02 -2.86711217e-03 9.96438565e-01 -6.52729974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.526296757 meters 0.07260739640751349 Centerline is valid? [True, True] Translation: X:56.66, Y:-0.71, Z:-6.53 [[ 9.93360184e-01 7.59057509e-02 8.64514974e-02 5.66621190e+01] [-7.58549964e-02 9.97111323e-01 -3.87674645e-03 -7.07347403e-01] [-8.64960343e-02 -2.70677245e-03 9.96248518e-01 -6.53196891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58629675699999 meters 0.0726889182014133 Centerline is valid? [True, True] Translation: X:56.72, Y:-0.71, Z:-6.54 [[ 9.93676677e-01 7.37158289e-02 8.46914322e-02 5.67225882e+01] [-7.36594005e-02 9.97276235e-01 -3.79514247e-03 -7.11236879e-01] [-8.47405148e-02 -2.46717557e-03 9.96399999e-01 -6.54093933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.646296756999995 meters 0.07264647793601467 Centerline is valid? [True, True] Translation: X:56.78, Y:-0.71, Z:-6.55 [[ 9.93896768e-01 7.00990124e-02 8.51782961e-02 5.67825475e+01] [-7.00265657e-02 9.97537729e-01 -3.84173301e-03 -7.14498236e-01] [-8.52378658e-02 -2.14645753e-03 9.96358319e-01 -6.55084965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.706296757 meters 0.07224775608946499 Centerline is valid? [True, True] Translation: X:56.84, Y:-0.72, Z:-6.56 [[ 9.93841690e-01 6.88916053e-02 8.67907944e-02 5.68442009e+01] [-6.88120331e-02 9.97621973e-01 -3.91184300e-03 -7.20861172e-01] [-8.68538967e-02 -2.08449836e-03 9.96218879e-01 -6.55572457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76629675699999 meters 0.07288604503415301 Centerline is valid? [True, True] Translation: X:56.91, Y:-0.72, Z:-6.56 [[ 9.93391597e-01 7.20681474e-02 8.93270292e-02 5.69071220e+01] [-7.19947442e-02 9.97396798e-01 -4.04766133e-03 -7.16837832e-01] [-8.93862003e-02 -2.41016387e-03 9.95994126e-01 -6.56405588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.826296756999994 meters 0.07309042111185436 Centerline is valid? [True, True] Translation: X:56.97, Y:-0.72, Z:-6.57 [[ 9.93006194e-01 7.58124316e-02 9.05051092e-02 5.69690740e+01] [-7.57498667e-02 9.97118294e-01 -4.13099003e-03 -7.18438220e-01] [-9.05574805e-02 -2.75365127e-03 9.95887423e-01 -6.56714361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.886296757 meters 0.07370855684679128 Centerline is valid? [True, True] Translation: X:57.03, Y:-0.72, Z:-6.57 [[ 9.92714871e-01 7.98370521e-02 9.02398502e-02 5.70294527e+01] [-7.97907399e-02 9.96803095e-01 -4.12640988e-03 -7.17514685e-01] [-9.02808024e-02 -3.10395597e-03 9.95911513e-01 -6.57379954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94629675699999 meters 0.07523855491342808 Centerline is valid? [True, True] Translation: X:57.09, Y:-0.71, Z:-6.58 [[ 9.92366485e-01 8.69614782e-02 8.74440460e-02 5.70905324e+01] [-8.69454060e-02 9.96205048e-01 -3.99977629e-03 -7.09299621e-01] [-8.74600265e-02 -3.63361414e-03 9.96161403e-01 -6.58363978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.006296756999994 meters 0.07575585919128278 Centerline is valid? [True, True] Translation: X:57.15, Y:-0.71, Z:-6.59 [[ 9.92179215e-01 9.15662936e-02 8.48293509e-02 5.71507924e+01] [-9.15677201e-02 9.95791284e-01 -3.88224643e-03 -7.07862505e-01] [-8.48278112e-02 -3.91574604e-03 9.96387931e-01 -6.59026809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.066296756999996 meters 0.07598347510430577 Centerline is valid? [True, True] Translation: X:57.21, Y:-0.71, Z:-6.60 [[ 9.92141445e-01 9.18991781e-02 8.49110965e-02 5.72133645e+01] [-9.19022328e-02 9.95760471e-01 -3.88117519e-03 -7.11430375e-01] [-8.49077903e-02 -3.95284459e-03 9.96380972e-01 -6.59557294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12629675699999 meters 0.0755999744948525 Centerline is valid? [True, True] Translation: X:57.27, Y:-0.71, Z:-6.60 [[ 9.92164931e-01 8.95040921e-02 8.71651712e-02 5.72732492e+01] [-8.94952396e-02 9.95979148e-01 -4.01732881e-03 -7.09606162e-01] [-8.71742603e-02 -3.81501512e-03 9.96185773e-01 -6.60154258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.186296756999994 meters 0.07607868545634185 Centerline is valid? [True, True] Translation: X:57.34, Y:-0.71, Z:-6.61 [[ 9.92342976e-01 8.98429239e-02 8.47565160e-02 5.73351318e+01] [-8.98358459e-02 9.95948929e-01 -3.90522482e-03 -7.07154910e-01] [-8.47640182e-02 -3.73885089e-03 9.96394040e-01 -6.61007111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.246296756999996 meters 0.07632233669994443 Centerline is valid? [True, True] Translation: X:57.40, Y:-0.71, Z:-6.62 [[ 9.92362335e-01 9.04349000e-02 8.38959157e-02 5.73965010e+01] [-9.04299676e-02 9.95895311e-01 -3.86668355e-03 -7.08901207e-01] [-8.39012322e-02 -3.74955382e-03 9.96467021e-01 -6.61592548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.306296757 meters 0.07519598384266725 Centerline is valid? [True, True] Translation: X:57.46, Y:-0.71, Z:-6.62 [[ 9.92018454e-01 9.10343691e-02 8.72475218e-02 5.74584840e+01] [-9.10296862e-02 9.95839982e-01 -4.04064044e-03 -7.08938242e-01] [-8.72524077e-02 -3.93372465e-03 9.96178470e-01 -6.62015598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36629675699999 meters 0.07522319355151012 Centerline is valid? [True, True] Translation: X:57.52, Y:-0.71, Z:-6.63 [[ 9.91861442e-01 9.27698031e-02 8.72046092e-02 5.75208725e+01] [-9.27694753e-02 9.95679315e-01 -4.06524973e-03 -7.06956410e-01] [-8.72049580e-02 -4.05776139e-03 9.96182127e-01 -6.62582961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.426296756999996 meters 0.07612664696336825 Centerline is valid? [True, True] Translation: X:57.58, Y:-0.70, Z:-6.63 [[ 9.91846071e-01 9.41013532e-02 8.59436294e-02 5.75810253e+01] [-9.41053835e-02 9.95554151e-01 -4.01353693e-03 -7.03584550e-01] [-8.59392162e-02 -4.10694737e-03 9.96291917e-01 -6.63470925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.486296757 meters 0.07602695776106952 Centerline is valid? [True, True] Translation: X:57.64, Y:-0.70, Z:-6.64 [[ 9.92009473e-01 9.51198286e-02 8.28819899e-02 5.76417591e+01] [-9.51268406e-02 9.95457624e-01 -3.87335778e-03 -7.00750037e-01] [-8.28739419e-02 -4.04189423e-03 9.96551842e-01 -6.64453256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54629675699999 meters 0.07601757837420559 Centerline is valid? [True, True] Translation: X:57.70, Y:-0.70, Z:-6.65 [[ 9.92048418e-01 9.65966583e-02 8.06785085e-02 5.77029561e+01] [-9.66079189e-02 9.95315364e-01 -3.77306204e-03 -7.02362556e-01] [-8.06650242e-02 -4.05112258e-03 9.96733035e-01 -6.65146558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.606296756999996 meters 0.07638290136469568 Centerline is valid? [True, True] Translation: X:57.76, Y:-0.71, Z:-6.66 [[ 9.91942200e-01 9.66797080e-02 8.18761597e-02 5.77632485e+01] [-9.66918695e-02 9.95307011e-01 -3.82584359e-03 -7.06349909e-01] [-8.18617972e-02 -4.12174324e-03 9.96635168e-01 -6.65789467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.666296757 meters 0.07548708303268817 Centerline is valid? [True, True] Translation: X:57.83, Y:-0.71, Z:-6.66 [[ 9.91697626e-01 9.83286801e-02 8.28691041e-02 5.78254691e+01] [-9.83453607e-02 9.95144740e-01 -3.89056903e-03 -7.08119752e-01] [-8.28493076e-02 -4.29152386e-03 9.96552846e-01 -6.66251986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72629675699999 meters 0.0755233030096982 Centerline is valid? [True, True] Translation: X:57.89, Y:-0.71, Z:-6.67 [[ 9.91340594e-01 1.00590392e-01 8.44120867e-02 5.78872183e+01] [-1.00614060e-01 9.94917551e-01 -3.98455555e-03 -7.08361673e-01] [-8.43838746e-02 -4.54299108e-03 9.96422964e-01 -6.66960746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.786296756999995 meters 0.0757977627728979 Centerline is valid? [True, True] Translation: X:57.95, Y:-0.71, Z:-6.68 [[ 9.91433686e-01 1.02078327e-01 8.14816614e-02 5.79478977e+01] [-1.02103152e-01 9.94766277e-01 -3.87293390e-03 -7.13991560e-01] [-8.14505516e-02 -4.47977736e-03 9.96667316e-01 -6.67663349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.846296757 meters 0.07618682700073436 Centerline is valid? [True, True] Translation: X:58.01, Y:-0.71, Z:-6.68 [[ 9.91355784e-01 1.01811359e-01 8.27535885e-02 5.80088822e+01] [-1.01836086e-01 9.94793417e-01 -3.93309148e-03 -7.14678340e-01] [-8.27231584e-02 -4.52820854e-03 9.96562278e-01 -6.68469740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90629675699999 meters 0.07587678860425856 Centerline is valid? [True, True] Translation: X:58.07, Y:-0.71, Z:-6.69 [[ 9.91516760e-01 1.00062196e-01 8.29582536e-02 5.80695574e+01] [-1.00079676e-01 9.94971553e-01 -3.95815739e-03 -7.11802968e-01] [-8.29371643e-02 -4.37785577e-03 9.96545163e-01 -6.69283247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.966296756999995 meters 0.07520882646934882 Centerline is valid? [True, True] Translation: X:58.13, Y:-0.72, Z:-6.70 [[ 9.92087358e-01 9.57791010e-02 8.11728897e-02 5.81308257e+01] [-9.57812984e-02 9.95394857e-01 -3.87579178e-03 -7.18227853e-01] [-8.11702967e-02 -3.92972074e-03 9.96692500e-01 -6.69730415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.026296757 meters 0.07480326860027335 Centerline is valid? [True, True] Translation: X:58.19, Y:-0.72, Z:-6.70 [[ 9.92598668e-01 9.19306232e-02 7.93514014e-02 5.81905512e+01] [-9.19201915e-02 9.95759157e-01 -3.79199690e-03 -7.22438866e-01] [-7.93634853e-02 -3.53006494e-03 9.96839494e-01 -6.70419066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08629675699999 meters 0.07499826114542467 Centerline is valid? [True, True] Translation: X:58.25, Y:-0.72, Z:-6.71 [[ 9.92565057e-01 9.24208669e-02 7.92022122e-02 5.82518828e+01] [-9.24125311e-02 9.95713637e-01 -3.77853444e-03 -7.16309844e-01] [-7.92119382e-02 -3.56883564e-03 9.96851409e-01 -6.71470388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.146296756999995 meters 0.07536943702980553 Centerline is valid? [True, True] Translation: X:58.31, Y:-0.72, Z:-6.72 [[ 9.92485483e-01 9.36228132e-02 7.87866471e-02 5.83134199e+01] [-9.36168095e-02 9.95601135e-01 -3.77798419e-03 -7.19753268e-01] [-7.87937808e-02 -3.62616007e-03 9.96884342e-01 -6.71889565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.206296757 meters 0.07560175291148263 Centerline is valid? [True, True] Translation: X:58.37, Y:-0.72, Z:-6.73 [[ 9.92635704e-01 9.38741352e-02 7.65637415e-02 5.83745717e+01] [-9.38679559e-02 9.95577827e-01 -3.68742436e-03 -7.21675182e-01] [-7.65713171e-02 -3.52661284e-03 9.97057870e-01 -6.72767927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26629675699999 meters 0.07467067421915188 Centerline is valid? [True, True] Translation: X:58.44, Y:-0.73, Z:-6.73 [[ 9.92764051e-01 9.49151142e-02 7.35571908e-02 5.84350403e+01] [-9.49105399e-02 9.95479420e-01 -3.56553514e-03 -7.26961824e-01] [-7.35630928e-02 -3.44161758e-03 9.97284627e-01 -6.73336464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.326296756999994 meters 0.07383265415945922 Centerline is valid? [True, True] Translation: X:58.50, Y:-0.74, Z:-6.74 [[ 9.92759177e-01 9.47479597e-02 7.38379319e-02 5.84974112e+01] [-9.47430095e-02 9.95495336e-01 -3.57756235e-03 -7.35038548e-01] [-7.38442835e-02 -3.44397003e-03 9.97263837e-01 -6.73674066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.386296757 meters 0.07283495872293749 Centerline is valid? [True, True] Translation: X:58.56, Y:-0.74, Z:-6.74 [[ 9.92560623e-01 9.47022183e-02 7.65173110e-02 5.85580041e+01] [-9.46960981e-02 9.95499290e-01 -3.71645257e-03 -7.40803331e-01] [-7.65248851e-02 -3.55708631e-03 9.97061327e-01 -6.74334059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44629675699999 meters 0.07354469229542394 Centerline is valid? [True, True] Translation: X:58.62, Y:-0.74, Z:-6.75 [[ 9.92701187e-01 9.44925294e-02 7.49367435e-02 5.86184298e+01] [-9.44864265e-02 9.95519515e-01 -3.63465587e-03 -7.42038996e-01] [-7.49444383e-02 -3.47237790e-03 9.97181665e-01 -6.75178497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.506296756999994 meters 0.07306608222593157 Centerline is valid? [True, True] Translation: X:58.68, Y:-0.75, Z:-6.76 [[ 9.92674093e-01 9.38634707e-02 7.60775458e-02 5.86801219e+01] [-9.38540218e-02 9.95579067e-01 -3.70740847e-03 -7.50670677e-01] [-7.60892023e-02 -3.45993530e-03 9.97095012e-01 -6.75668469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.566296756999996 meters 0.07264486714745268 Centerline is valid? [True, True] Translation: X:58.74, Y:-0.75, Z:-6.76 [[ 9.92286135e-01 9.45121805e-02 8.02226527e-02 5.87412954e+01] [-9.45015165e-02 9.95516928e-01 -3.93817734e-03 -7.51739424e-01] [-8.02352145e-02 -3.67336357e-03 9.96769189e-01 -6.76158662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62629675699999 meters 0.07245910467254442 Centerline is valid? [True, True] Translation: X:58.80, Y:-0.75, Z:-6.77 [[ 9.91974904e-01 9.46694754e-02 8.38062063e-02 5.88023271e+01] [-9.46581740e-02 9.95501320e-01 -4.11729189e-03 -7.53019389e-01] [-8.38189709e-02 -3.84869224e-03 9.96473566e-01 -6.76715339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.686296756999994 meters 0.07335950273139359 Centerline is valid? [True, True] Translation: X:58.86, Y:-0.76, Z:-6.78 [[ 9.91924074e-01 9.54513943e-02 8.35204286e-02 5.88627608e+01] [-9.54431701e-02 9.95426435e-01 -4.10035091e-03 -7.55957976e-01] [-8.35298268e-02 -3.90421770e-03 9.96497629e-01 -6.77606150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.746296756999996 meters 0.07291839011956794 Centerline is valid? [True, True] Translation: X:58.92, Y:-0.76, Z:-6.78 [[ 9.91963705e-01 9.56899385e-02 8.27734499e-02 5.89245282e+01] [-9.56811938e-02 9.95403662e-01 -4.08154679e-03 -7.58377696e-01] [-8.27835581e-02 -3.87111622e-03 9.96560032e-01 -6.78466233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.806296757 meters 0.07423251821933921 Centerline is valid? [True, True] Translation: X:58.99, Y:-0.75, Z:-6.80 [[ 9.91814741e-01 9.62843961e-02 8.38620010e-02 5.89853110e+01] [-9.62757077e-02 9.95346023e-01 -4.15712408e-03 -7.53478132e-01] [-8.38719754e-02 -3.95077655e-03 9.96468707e-01 -6.79589630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86629675699999 meters 0.07384895653691784 Centerline is valid? [True, True] Translation: X:59.05, Y:-0.76, Z:-6.80 [[ 9.91586455e-01 9.90451185e-02 8.33448706e-02 5.90465029e+01] [-9.90441706e-02 9.95074358e-01 -4.15622063e-03 -7.58991967e-01] [-8.33459969e-02 -4.13357150e-03 9.96512096e-01 -6.80090515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.926296756999996 meters 0.07449332503857108 Centerline is valid? [True, True] Translation: X:59.11, Y:-0.76, Z:-6.81 [[ 9.91356107e-01 1.01254505e-01 8.34301724e-02 5.91070955e+01] [-1.01261304e-01 9.94851162e-01 -4.16095807e-03 -7.61398289e-01] [-8.34219197e-02 -4.32325686e-03 9.96504939e-01 -6.80899195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.986296757 meters 0.0758144266301612 Centerline is valid? [True, True] Translation: X:59.17, Y:-0.76, Z:-6.82 [[ 9.91098494e-01 1.04280586e-01 8.27607092e-02 5.91664589e+01] [-1.04296673e-01 9.94537610e-01 -4.14071658e-03 -7.56359214e-01] [-8.27404344e-02 -4.52780868e-03 9.96560846e-01 -6.82059284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04629675699999 meters 0.07472822367009586 Centerline is valid? [True, True] Translation: X:59.23, Y:-0.77, Z:-6.82 [[ 9.90834778e-01 1.05036197e-01 8.49343243e-02 5.92281978e+01] [-1.05056570e-01 9.94457200e-01 -4.24209040e-03 -7.68187027e-01] [-8.49091233e-02 -4.71969805e-03 9.96377521e-01 -6.82286517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.106296756999996 meters 0.07383447582417269 Centerline is valid? [True, True] Translation: X:59.29, Y:-0.78, Z:-6.83 [[ 9.91433276e-01 1.00479744e-01 8.34498728e-02 5.92881109e+01] [-1.00480990e-01 9.94930132e-01 -4.19566540e-03 -7.77431982e-01] [-8.34483723e-02 -4.22540355e-03 9.96503144e-01 -6.83018542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.166296757 meters 0.07332816873090173 Centerline is valid? [True, True] Translation: X:59.35, Y:-0.78, Z:-6.84 [[ 9.92002326e-01 9.52081535e-02 8.28661177e-02 5.93486533e+01] [-9.51909228e-02 9.95450309e-01 -4.16779503e-03 -7.82755624e-01] [-8.28859105e-02 -3.75363985e-03 9.96551974e-01 -6.83850356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22629675699999 meters 0.07242529382151784 Centerline is valid? [True, True] Translation: X:59.41, Y:-0.80, Z:-6.84 [[ 9.92730086e-01 8.61800263e-02 8.40236815e-02 5.94079339e+01] [-8.61299234e-02 9.96274943e-01 -4.22779002e-03 -7.95716355e-01] [-8.40750395e-02 -3.03989890e-03 9.96454789e-01 -6.84475437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.286296756999995 meters 0.07139748754265456 Centerline is valid? [True, True] Translation: X:59.47, Y:-0.81, Z:-6.85 [[ 9.93194715e-01 7.93505951e-02 8.52510531e-02 5.94682336e+01] [-7.92738781e-02 9.96843642e-01 -4.29014625e-03 -8.05887323e-01] [-8.53223959e-02 -2.49723101e-03 9.96350266e-01 -6.84942624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.346296757 meters 0.0707806616932094 Centerline is valid? [True, True] Translation: X:59.53, Y:-0.81, Z:-6.86 [[ 9.93859891e-01 7.12383224e-02 8.46617919e-02 5.95277022e+01] [-7.11331106e-02 9.97457724e-01 -4.26248286e-03 -8.14657650e-01] [-8.47502104e-02 -1.78594586e-03 9.96400628e-01 -6.85672979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40629675699999 meters 0.07111842997475751 Centerline is valid? [True, True] Translation: X:59.59, Y:-0.82, Z:-6.86 [[ 9.94111119e-01 6.96106628e-02 8.30508220e-02 5.95901790e+01] [-6.95044482e-02 9.97572914e-01 -4.17294998e-03 -8.21385286e-01] [-8.31397323e-02 -1.62402558e-03 9.96536576e-01 -6.86460882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.466296756999995 meters 0.0714145013831884 Centerline is valid? [True, True] Translation: X:59.65, Y:-0.83, Z:-6.87 [[ 9.93974600e-01 6.97537070e-02 8.45512586e-02 5.96520537e+01] [-6.96416785e-02 9.97562901e-01 -4.27729718e-03 -8.26449991e-01] [-8.46435561e-02 -1.63676681e-03 9.96409950e-01 -6.87321120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.526296757 meters 0.07214448750911652 Centerline is valid? [True, True] Translation: X:59.71, Y:-0.83, Z:-6.88 [[ 9.93435106e-01 7.82621088e-02 8.34370011e-02 5.97125728e+01] [-7.81821850e-02 9.96930115e-01 -4.22984914e-03 -8.28522835e-01] [-8.35118961e-02 -2.32120643e-03 9.96504077e-01 -6.87772364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58629675699999 meters 0.07319108837822441 Centerline is valid? [True, True] Translation: X:59.77, Y:-0.83, Z:-6.89 [[ 9.93370259e-01 8.26064927e-02 7.99480795e-02 5.97725351e+01] [-8.25470279e-02 9.96578924e-01 -4.05421923e-03 -8.30018425e-01] [-8.00094759e-02 -2.57213555e-03 9.96790784e-01 -6.88709420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.646296756999995 meters 0.0746286615454333 Centerline is valid? [True, True] Translation: X:59.83, Y:-0.83, Z:-6.90 [[ 9.93322986e-01 8.76944153e-02 7.49608852e-02 5.98327561e+01] [-8.76565091e-02 9.96143505e-01 -3.80193951e-03 -8.34902206e-01] [-7.50052077e-02 -2.79425560e-03 9.97179227e-01 -6.89700276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.706296757 meters 0.07498031238115195 Centerline is valid? [True, True] Translation: X:59.89, Y:-0.84, Z:-6.91 [[ 9.93110559e-01 8.89387677e-02 7.62975293e-02 5.98945664e+01] [-8.89036329e-02 9.96032739e-01 -3.86366090e-03 -8.39525470e-01] [-7.63384663e-02 -2.94608510e-03 9.97077609e-01 -6.90532493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76629675699999 meters 0.07492898971107942 Centerline is valid? [True, True] Translation: X:59.95, Y:-0.85, Z:-6.91 [[ 9.92647164e-01 8.93077362e-02 8.17051836e-02 5.99548068e+01] [-8.92663163e-02 9.95999077e-01 -4.16702013e-03 -8.45855607e-01] [-8.17504345e-02 -3.15714005e-03 9.96647831e-01 -6.91077948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.826296756999994 meters 0.07513510854144094 Centerline is valid? [True, True] Translation: X:60.02, Y:-0.85, Z:-6.92 [[ 9.92524171e-01 8.95043108e-02 8.29743870e-02 6.00170526e+01] [-8.94623474e-02 9.95981218e-01 -4.23106839e-03 -8.52037917e-01] [-8.30196298e-02 -3.22364579e-03 9.96542698e-01 -6.91580632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.886296757 meters 0.07547786445908308 Centerline is valid? [True, True] Translation: X:60.08, Y:-0.86, Z:-6.92 [[ 9.92614195e-01 8.96845040e-02 8.16930232e-02 6.00784826e+01] [-8.96442628e-02 9.95965128e-01 -4.16768481e-03 -8.55753394e-01] [-8.17371791e-02 -3.18640774e-03 9.96648825e-01 -6.92402361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94629675699999 meters 0.07515752395630451 Centerline is valid? [True, True] Translation: X:60.14, Y:-0.86, Z:-6.93 [[ 9.92635517e-01 9.07731208e-02 8.02182747e-02 6.01401847e+01] [-9.07358789e-02 9.95866483e-01 -4.11692275e-03 -8.60340235e-01] [-8.02603970e-02 -3.19207192e-03 9.96768819e-01 -6.93158297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.006296756999994 meters 0.0757055685961978 Centerline is valid? [True, True] Translation: X:60.20, Y:-0.86, Z:-6.94 [[ 9.92483439e-01 9.19675762e-02 8.07377711e-02 6.02020678e+01] [-9.19337949e-02 9.95756500e-01 -4.14357362e-03 -8.64218941e-01] [-8.07762348e-02 -3.31010148e-03 9.96726765e-01 -6.93719112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.066296756999996 meters 0.0761233575248579 Centerline is valid? [True, True] Translation: X:60.26, Y:-0.87, Z:-6.95 [[ 9.92317016e-01 9.30784431e-02 8.15067063e-02 6.02644742e+01] [-9.30461967e-02 9.95652925e-01 -4.20210736e-03 -8.66401461e-01] [-8.15435162e-02 -3.41406639e-03 9.96663935e-01 -6.94503114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12629675699999 meters 0.07674191237734468 Centerline is valid? [True, True] Translation: X:60.32, Y:-0.87, Z:-6.95 [[ 9.92111932e-01 9.63232613e-02 8.02230840e-02 6.03247303e+01] [-9.63001560e-02 9.95343621e-01 -4.16600565e-03 -8.68641847e-01] [-8.02508182e-02 -3.59235159e-03 9.96768228e-01 -6.95211500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.186296756999994 meters 0.07796788198602098 Centerline is valid? [True, True] Translation: X:60.38, Y:-0.87, Z:-6.96 [[ 9.92144908e-01 9.98337868e-02 7.53770270e-02 6.03849248e+01] [-9.98233742e-02 9.94997470e-01 -3.91515677e-03 -8.71162780e-01] [-7.53908161e-02 -3.63998632e-03 9.97147419e-01 -6.96168279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.246296756999996 meters 0.07897269221969351 Centerline is valid? [True, True] Translation: X:60.45, Y:-0.88, Z:-6.97 [[ 9.91999427e-01 1.03456870e-01 7.23450890e-02 6.04455335e+01] [-1.03456703e-01 9.94626853e-01 -3.75963725e-03 -8.75035696e-01] [-7.23453285e-02 -3.75502637e-03 9.97372575e-01 -6.96947543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.306296757 meters 0.07792491022764104 Centerline is valid? [True, True] Translation: X:60.51, Y:-0.88, Z:-6.97 [[ 9.91901751e-01 1.02327359e-01 7.52331617e-02 6.05059624e+01] [-1.02323832e-01 9.94743451e-01 -3.91160180e-03 -8.83086063e-01] [-7.52379588e-02 -3.81822073e-03 9.97158298e-01 -6.97440096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36629675699999 meters 0.07807253535118608 Centerline is valid? [True, True] Translation: X:60.57, Y:-0.89, Z:-6.98 [[ 9.91986376e-01 9.95071744e-02 7.78546803e-02 6.05652456e+01] [-9.94945472e-02 9.95029862e-01 -4.05081247e-03 -8.92586621e-01] [-7.78708167e-02 -3.72776538e-03 9.96956488e-01 -6.97892212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.426296756999996 meters 0.0773268170957732 Centerline is valid? [True, True] Translation: X:60.63, Y:-0.90, Z:-6.99 [[ 9.92166662e-01 9.77002525e-02 7.78458442e-02 6.06263857e+01] [-9.76822356e-02 9.95209421e-01 -4.04843785e-03 -9.02259057e-01] [-7.78684509e-02 -3.58743102e-03 9.96957188e-01 -6.98540109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.486296757 meters 0.07778505173316354 Centerline is valid? [True, True] Translation: X:60.69, Y:-0.90, Z:-7.00 [[ 9.92330262e-01 9.79630934e-02 7.53915298e-02 6.06873947e+01] [-9.79466936e-02 9.95183927e-01 -3.92388650e-03 -9.01882148e-01] [-7.54128347e-02 -3.49055976e-03 9.97146288e-01 -6.99872051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54629675699999 meters 0.07801178206036377 Centerline is valid? [True, True] Translation: X:60.75, Y:-0.91, Z:-7.00 [[ 9.92425754e-01 9.59416721e-02 7.67223487e-02 6.07475855e+01] [-9.59181499e-02 9.95381187e-01 -4.00005055e-03 -9.11734996e-01] [-7.67517540e-02 -3.38931256e-03 9.97044473e-01 -7.00490311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.606296756999996 meters 0.07633664698569673 Centerline is valid? [True, True] Translation: X:60.81, Y:-0.92, Z:-7.01 [[ 9.92328101e-01 9.20166671e-02 8.25704143e-02 6.08077566e+01] [-9.19756626e-02 9.95751935e-01 -4.30831978e-03 -9.20981741e-01] [-8.26160870e-02 -3.31920178e-03 9.96575920e-01 -7.00745749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.666296757 meters 0.07709359692978003 Centerline is valid? [True, True] Translation: X:60.87, Y:-0.92, Z:-7.02 [[ 9.91947263e-01 9.44889411e-02 8.43354500e-02 6.08696347e+01] [-9.44553917e-02 9.95519386e-01 -4.39679029e-03 -9.16190355e-01] [-8.43730235e-02 -3.60455388e-03 9.96427719e-01 -7.01724399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72629675699999 meters 0.07795155501972051 Centerline is valid? [True, True] Translation: X:60.93, Y:-0.92, Z:-7.02 [[ 9.91934364e-01 9.61510848e-02 8.25904725e-02 6.09304633e+01] [-9.61230110e-02 9.95360065e-01 -4.32534473e-03 -9.24028255e-01] [-8.26231446e-02 -3.64838682e-03 9.96574185e-01 -7.02213933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.786296756999995 meters 0.07928506081315498 Centerline is valid? [True, True] Translation: X:60.99, Y:-0.92, Z:-7.03 [[ 9.91666063e-01 1.00092668e-01 8.11164446e-02 6.09911412e+01] [-1.00076762e-01 9.94970548e-01 -4.27198389e-03 -9.20168626e-01] [-8.11360676e-02 -3.88148965e-03 9.96695476e-01 -7.03360976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.846296757 meters 0.07892116089626537 Centerline is valid? [True, True] Translation: X:61.05, Y:-0.93, Z:-7.04 [[ 9.91365159e-01 1.05293817e-01 7.81558251e-02 6.10522172e+01] [-1.05295045e-01 9.94432504e-01 -4.11683886e-03 -9.25172669e-01] [-7.81541706e-02 -4.14813050e-03 9.96932655e-01 -7.03833317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90629675699999 meters 0.07958237922708959 Centerline is valid? [True, True] Translation: X:61.11, Y:-0.93, Z:-7.05 [[ 9.91364088e-01 1.05876348e-01 7.73785714e-02 6.11138400e+01] [-1.05879741e-01 9.94370611e-01 -4.07032916e-03 -9.28863653e-01] [-7.73739289e-02 -4.15764495e-03 9.96993475e-01 -7.04613338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.966296756999995 meters 0.07842238726449141 Centerline is valid? [True, True] Translation: X:61.17, Y:-0.94, Z:-7.05 [[ 9.91731251e-01 1.02725633e-01 7.69192461e-02 6.11743402e+01] [-1.02717534e-01 9.94702230e-01 -4.07215437e-03 -9.40240464e-01] [-7.69300602e-02 -3.86247255e-03 9.97029010e-01 -7.05250403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.026296757 meters 0.07722903847544259 Centerline is valid? [True, True] Translation: X:61.24, Y:-0.95, Z:-7.06 [[ 9.91935188e-01 9.78345716e-02 8.05790231e-02 6.12353085e+01] [-9.78093942e-02 9.95196010e-01 -4.26904468e-03 -9.48242661e-01] [-8.06095825e-02 -3.64676980e-03 9.96739081e-01 -7.05769465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08629675699999 meters 0.07692507020890281 Centerline is valid? [True, True] Translation: X:61.30, Y:-0.95, Z:-7.06 [[ 9.91997578e-01 9.52445473e-02 8.28811254e-02 6.12954690e+01] [-9.52086584e-02 9.95447639e-01 -4.39425992e-03 -9.53880328e-01] [-8.29223498e-02 -3.53190555e-03 9.96549753e-01 -7.06402766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.146296756999995 meters 0.07537505425290705 Centerline is valid? [True, True] Translation: X:61.36, Y:-0.97, Z:-7.07 [[ 9.92285336e-01 8.83434451e-02 8.69784275e-02 6.13553994e+01] [-8.82773795e-02 9.96085248e-01 -4.61324989e-03 -9.65657163e-01] [-8.70454790e-02 -3.10056743e-03 9.96199514e-01 -7.06787765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.206296757 meters 0.07483425448496474 Centerline is valid? [True, True] Translation: X:61.42, Y:-0.97, Z:-7.07 [[ 9.92337784e-01 8.63203226e-02 8.83997937e-02 6.14164622e+01] [-8.62441446e-02 9.96263002e-01 -4.68802467e-03 -9.69694759e-01] [-8.84741157e-02 -2.97186058e-03 9.96074043e-01 -7.07489584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26629675699999 meters 0.07514839358994395 Centerline is valid? [True, True] Translation: X:61.48, Y:-0.97, Z:-7.09 [[ 9.92747991e-01 8.54318783e-02 8.45743531e-02 6.14771213e+01] [-8.53585172e-02 9.96340186e-01 -4.48974202e-03 -9.71181557e-01] [-8.46483937e-02 -2.76195900e-03 9.96407056e-01 -7.08506480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.326296756999994 meters 0.075390931162393 Centerline is valid? [True, True] Translation: X:61.54, Y:-0.97, Z:-7.09 [[ 9.92596046e-01 8.77198039e-02 8.40138363e-02 6.15388163e+01] [-8.76545690e-02 9.96140893e-01 -4.47194418e-03 -9.72136707e-01] [-8.40818960e-02 -2.92536250e-03 9.96454553e-01 -7.09043425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.386296757 meters 0.07566403707603979 Centerline is valid? [True, True] Translation: X:61.60, Y:-0.97, Z:-7.10 [[ 9.92231535e-01 9.09559478e-02 8.48740021e-02 6.16007717e+01] [-9.09006696e-02 9.95849690e-01 -4.52366386e-03 -9.70433482e-01] [-8.49332028e-02 -3.22658169e-03 9.96381423e-01 -7.09826145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44629675699999 meters 0.07663960545443285 Centerline is valid? [True, True] Translation: X:61.66, Y:-0.97, Z:-7.11 [[ 9.91663078e-01 9.66935382e-02 8.51745219e-02 6.16617826e+01] [-9.66583513e-02 9.95307234e-01 -4.54666369e-03 -9.70719353e-01] [-8.52144508e-02 -3.72407035e-03 9.96355674e-01 -7.10523174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.506296756999994 meters 0.07694703757306427 Centerline is valid? [True, True] Translation: X:61.72, Y:-0.97, Z:-7.11 [[ 9.91763609e-01 9.79098493e-02 8.25748464e-02 6.17219516e+01] [-9.78806887e-02 9.95188381e-01 -4.41102104e-03 -9.71810578e-01] [-8.26094102e-02 -3.70779269e-03 9.96575104e-01 -7.11334389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.566296756999996 meters 0.07656708525041783 Centerline is valid? [True, True] Translation: X:61.78, Y:-0.98, Z:-7.12 [[ 9.92217103e-01 9.64659487e-02 7.87371670e-02 6.17832903e+01] [-9.64354109e-02 9.95330387e-01 -4.19910945e-03 -9.77621109e-01] [-7.87745660e-02 -3.42662284e-03 9.96886566e-01 -7.12246737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62629675699999 meters 0.07560932072941151 Centerline is valid? [True, True] Translation: X:61.84, Y:-0.99, Z:-7.13 [[ 9.92301674e-01 9.32079581e-02 8.15454710e-02 6.18438783e+01] [-9.31619163e-02 9.95641348e-01 -4.37757569e-03 -9.87241968e-01] [-8.15980675e-02 -3.25305666e-03 9.96660009e-01 -7.12532168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.686296756999994 meters 0.0746230562421979 Centerline is valid? [True, True] Translation: X:61.90, Y:-0.99, Z:-7.13 [[ 9.92279494e-01 8.86413483e-02 8.67416732e-02 6.19032693e+01] [-8.85717096e-02 9.96058908e-01 -4.65881489e-03 -9.94441310e-01] [-8.68127799e-02 -3.06001181e-03 9.96219944e-01 -7.13010009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.746296756999996 meters 0.07383123266455967 Centerline is valid? [True, True] Translation: X:61.96, Y:-1.00, Z:-7.14 [[ 9.92277633e-01 8.71626503e-02 8.82483499e-02 6.19639458e+01] [-8.70848203e-02 9.96189629e-01 -4.73899887e-03 -1.00000842e+00] [-8.83251546e-02 -2.98268910e-03 9.96087230e-01 -7.13522576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.806296757 meters 0.07402605003980464 Centerline is valid? [True, True] Translation: X:62.03, Y:-1.00, Z:-7.14 [[ 9.92306642e-01 8.81281521e-02 8.69537677e-02 6.20258391e+01] [-8.80565065e-02 9.96104549e-01 -4.66681288e-03 -1.00147746e+00] [-8.70263211e-02 -3.02593560e-03 9.96201417e-01 -7.14353171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86629675699999 meters 0.07395285347317299 Centerline is valid? [True, True] Translation: X:62.09, Y:-1.01, Z:-7.15 [[ 9.92361411e-01 8.81914011e-02 8.62618533e-02 6.20876831e+01] [-8.81193340e-02 9.96099070e-01 -4.65032883e-03 -1.01041141e+00] [-8.63354709e-02 -2.98653018e-03 9.96261646e-01 -7.14863006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.926296756999996 meters 0.07359863425403625 Centerline is valid? [True, True] Translation: X:62.15, Y:-1.01, Z:-7.16 [[ 9.92360537e-01 8.66078093e-02 8.78615467e-02 6.21486514e+01] [-8.65243896e-02 9.96238339e-01 -4.76465918e-03 -1.01312408e+00] [-8.79436980e-02 -2.87390694e-03 9.96121301e-01 -7.15597267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.986296757 meters 0.0738737772777616 Centerline is valid? [True, True] Translation: X:62.21, Y:-1.02, Z:-7.16 [[ 9.92493423e-01 8.58887644e-02 8.70627626e-02 6.22103145e+01] [-8.58043157e-02 9.96300834e-01 -4.71876283e-03 -1.01518460e+00] [-8.71459918e-02 -2.78701970e-03 9.96191653e-01 -7.16476338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.046296757 meters 0.0736700665701231 Centerline is valid? [True, True] Translation: X:62.27, Y:-1.02, Z:-7.17 [[ 9.92754234e-01 8.41224768e-02 8.58046599e-02 6.22711476e+01] [-8.40320991e-02 9.96452100e-01 -4.67103407e-03 -1.02295184e+00] [-8.58931725e-02 -2.57315683e-03 9.96301030e-01 -7.17273262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.106296757 meters 0.0737701209431455 Centerline is valid? [True, True] Translation: X:62.33, Y:-1.03, Z:-7.18 [[ 9.92799955e-01 8.39893875e-02 8.54051110e-02 6.23337953e+01] [-8.38976792e-02 9.96463437e-01 -4.66882758e-03 -1.02521672e+00] [-8.54952024e-02 -2.53007879e-03 9.96335370e-01 -7.18180518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.166296757 meters 0.07424574497040269 Centerline is valid? [True, True] Translation: X:62.39, Y:-1.03, Z:-7.19 [[ 9.92824380e-01 8.49595678e-02 8.41523767e-02 6.23947272e+01] [-8.48720221e-02 9.96381132e-01 -4.62372737e-03 -1.03082241e+00] [-8.42406703e-02 -2.55163312e-03 9.96442170e-01 -7.19045092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.226296757 meters 0.0739365089146323 Centerline is valid? [True, True] Translation: X:62.46, Y:-1.04, Z:-7.20 [[ 9.92715102e-01 8.62029177e-02 8.41770954e-02 6.24563428e+01] [-8.61181386e-02 9.96274106e-01 -4.64447048e-03 -1.03904249e+00] [-8.42638274e-02 -2.63853879e-03 9.96439986e-01 -7.19611138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28629675699999 meters 0.07399558142950577 Centerline is valid? [True, True] Translation: X:62.52, Y:-1.04, Z:-7.20 [[ 9.92222113e-01 8.70886979e-02 8.89428871e-02 6.25165600e+01] [-8.69950403e-02 9.96196514e-01 -4.93636445e-03 -1.04362090e+00] [-8.90344956e-02 -2.83962009e-03 9.96024495e-01 -7.20284084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34629675699999 meters 0.07414567021139766 Centerline is valid? [True, True] Translation: X:62.58, Y:-1.05, Z:-7.21 [[ 9.91950318e-01 8.92558056e-02 8.98218616e-02 6.25775637e+01] [-8.91692806e-02 9.96004017e-01 -4.98369378e-03 -1.04802476e+00] [-8.99077586e-02 -3.06577415e-03 9.95945378e-01 -7.21023773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40629675699999 meters 0.07476844555036358 Centerline is valid? [True, True] Translation: X:62.64, Y:-1.05, Z:-7.22 [[ 9.91546253e-01 9.17944553e-02 9.17049911e-02 6.26383386e+01] [-9.17131392e-02 9.95772360e-01 -5.10944742e-03 -1.04977773e+00] [-9.17863144e-02 -3.34429918e-03 9.95773111e-01 -7.21768853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.466296757 meters 0.07551394303920304 Centerline is valid? [True, True] Translation: X:62.70, Y:-1.05, Z:-7.22 [[ 9.91193290e-01 9.46364258e-02 9.26272595e-02 6.27004572e+01] [-9.45635807e-02 9.95505321e-01 -5.18506981e-03 -1.05348332e+00] [-9.27016261e-02 -3.61975892e-03 9.95687353e-01 -7.22356648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.526296757 meters 0.07678305009884036 Centerline is valid? [True, True] Translation: X:62.76, Y:-1.05, Z:-7.23 [[ 9.90942864e-01 9.80105290e-02 9.17942045e-02 6.27600430e+01] [-9.79527767e-02 9.95177764e-01 -5.14513907e-03 -1.05367653e+00] [-9.18558290e-02 -3.89295837e-03 9.95764707e-01 -7.23359780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.586296757 meters 0.07547463955272375 Centerline is valid? [True, True] Translation: X:62.82, Y:-1.06, Z:-7.24 [[ 9.90952890e-01 9.70206765e-02 9.27327224e-02 6.28219476e+01] [-9.69572485e-02 9.95274964e-01 -5.19972530e-03 -1.06388122e+00] [-9.27990379e-02 -3.83842679e-03 9.95677460e-01 -7.23983970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.646296757 meters 0.074585733101998 Centerline is valid? [True, True] Translation: X:62.88, Y:-1.07, Z:-7.24 [[ 9.91004220e-01 9.55431893e-02 9.37130479e-02 6.28832463e+01] [-9.54705090e-02 9.95418314e-01 -5.26888352e-03 -1.07355945e+00] [-9.37870901e-02 -3.72534658e-03 9.95585307e-01 -7.24467652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70629675699999 meters 0.0745716302831317 Centerline is valid? [True, True] Translation: X:62.94, Y:-1.08, Z:-7.25 [[ 9.90987808e-01 9.62093673e-02 9.32036617e-02 6.29449020e+01] [-9.61403254e-02 9.95353992e-01 -5.24107634e-03 -1.07962058e+00] [-9.32748774e-02 -3.76678761e-03 9.95633270e-01 -7.25099603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76629675699999 meters 0.07480132329129631 Centerline is valid? [True, True] Translation: X:63.01, Y:-1.08, Z:-7.26 [[ 9.90874902e-01 9.76968519e-02 9.28560928e-02 6.30065944e+01] [-9.76326677e-02 9.95208700e-01 -5.24464073e-03 -1.08316917e+00] [-9.29235763e-02 -3.86900519e-03 9.95665727e-01 -7.25868557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.826296757 meters 0.07426705503169749 Centerline is valid? [True, True] Translation: X:63.07, Y:-1.09, Z:-7.27 [[ 9.90669738e-01 9.64678264e-02 9.62674869e-02 6.30671011e+01] [-9.63903348e-02 9.95328602e-01 -5.46601047e-03 -1.08873146e+00] [-9.63450773e-02 -3.86424414e-03 9.95340491e-01 -7.26560564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.886296757 meters 0.07367173794444049 Centerline is valid? [True, True] Translation: X:63.13, Y:-1.10, Z:-7.27 [[ 9.90685385e-01 9.62306168e-02 9.63438481e-02 6.31282556e+01] [-9.61519280e-02 9.95351640e-01 -5.46991273e-03 -1.09554331e+00] [-9.64223803e-02 -3.84468415e-03 9.95333081e-01 -7.27157194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.946296757 meters 0.07499556799917118 Centerline is valid? [True, True] Translation: X:63.19, Y:-1.09, Z:-7.28 [[ 9.90687296e-01 9.80212678e-02 9.45013884e-02 6.31881824e+01] [-9.79512044e-02 9.95176617e-01 -5.39102955e-03 -1.09337670e+00] [-9.45740075e-02 -3.91570032e-03 9.95510133e-01 -7.28184995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.006296757 meters 0.07483252701139903 Centerline is valid? [True, True] Translation: X:63.25, Y:-1.10, Z:-7.29 [[ 9.90895510e-01 9.82968068e-02 9.19990541e-02 6.32493298e+01] [-9.82307855e-02 9.95149778e-01 -5.25658807e-03 -1.09873166e+00] [-9.20695441e-02 -3.82840984e-03 9.95745220e-01 -7.28934663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06629675699999 meters 0.07625879220066614 Centerline is valid? [True, True] Translation: X:63.31, Y:-1.10, Z:-7.30 [[ 9.90140837e-01 1.03785301e-01 9.40730215e-02 6.33097599e+01] [-1.03738268e-01 9.94589953e-01 -5.40348783e-03 -1.09638828e+00] [-9.41248846e-02 -4.40875832e-03 9.95550636e-01 -7.29524158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12629675699999 meters 0.07724594914552722 Centerline is valid? [True, True] Translation: X:63.37, Y:-1.09, Z:-7.30 [[ 9.89813027e-01 1.06834897e-01 9.41088492e-02 6.33707608e+01] [-1.06801423e-01 9.94265670e-01 -5.40683273e-03 -1.09408792e+00] [-9.41468364e-02 -4.69920553e-03 9.95547232e-01 -7.30317608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.186296757 meters 0.07767379612312568 Centerline is valid? [True, True] Translation: X:63.43, Y:-1.10, Z:-7.31 [[ 9.89982995e-01 1.07063653e-01 9.20382684e-02 6.34323575e+01] [-1.07032713e-01 9.94241445e-01 -5.28644161e-03 -1.09857070e+00] [-9.20742467e-02 -4.61761830e-03 9.95741438e-01 -7.31168907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.246296757 meters 0.07558211627076095 Centerline is valid? [True, True] Translation: X:63.49, Y:-1.11, Z:-7.32 [[ 9.89996289e-01 1.06144301e-01 9.29555568e-02 6.34940145e+01] [-1.06106680e-01 9.94340300e-01 -5.36102698e-03 -1.10679888e+00] [-9.29984987e-02 -4.55580868e-03 9.95655826e-01 -7.31677605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.306296757 meters 0.07600715375336482 Centerline is valid? [True, True] Translation: X:63.56, Y:-1.11, Z:-7.33 [[ 9.89965987e-01 1.06860448e-01 9.24564209e-02 6.35556873e+01] [-1.06824182e-01 9.94263503e-01 -5.35535354e-03 -1.10760864e+00] [-9.24983205e-02 -4.57496372e-03 9.95702330e-01 -7.32556204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.366296757 meters 0.0750953444265819 Centerline is valid? [True, True] Translation: X:63.62, Y:-1.11, Z:-7.33 [[ 9.90011808e-01 1.05371707e-01 9.36665535e-02 6.36170881e+01] [-1.05325289e-01 9.94422872e-01 -5.45291837e-03 -1.11494926e+00] [-9.37187465e-02 -4.46700323e-03 9.95588691e-01 -7.32912702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42629675699999 meters 0.07512963867854607 Centerline is valid? [True, True] Translation: X:63.68, Y:-1.12, Z:-7.34 [[ 9.90123041e-01 1.04008406e-01 9.40139104e-02 6.36781320e+01] [-1.03955211e-01 9.94566902e-01 -5.47651431e-03 -1.11658048e+00] [-9.40727271e-02 -4.35081288e-03 9.95555821e-01 -7.33745856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48629675699999 meters 0.07537802172071618 Centerline is valid? [True, True] Translation: X:63.74, Y:-1.12, Z:-7.35 [[ 9.90009936e-01 1.03986562e-01 9.52214364e-02 6.37403977e+01] [-1.03929310e-01 9.94569067e-01 -5.57404238e-03 -1.11725950e+00] [-9.52839206e-02 -4.37794082e-03 9.95440510e-01 -7.34517205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.546296757 meters 0.07573983975383417 Centerline is valid? [True, True] Translation: X:63.80, Y:-1.12, Z:-7.35 [[ 9.90077391e-01 1.03557867e-01 9.49869841e-02 6.38020681e+01] [-1.03498415e-01 9.94614046e-01 -5.56569088e-03 -1.11898210e+00] [-9.50517596e-02 -4.32053760e-03 9.95462956e-01 -7.35349957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.606296757 meters 0.07578250410639686 Centerline is valid? [True, True] Translation: X:63.86, Y:-1.12, Z:-7.36 [[ 9.90287743e-01 1.02723902e-01 9.36909065e-02 6.38637016e+01] [-1.02660224e-01 9.94701209e-01 -5.51204102e-03 -1.12460255e+00] [-9.37606763e-02 -4.15982279e-03 9.95586074e-01 -7.36102994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.666296757 meters 0.07565699759530202 Centerline is valid? [True, True] Translation: X:63.93, Y:-1.13, Z:-7.37 [[ 9.90015403e-01 1.03257832e-01 9.59547909e-02 6.39252465e+01] [-1.03191314e-01 9.94645374e-01 -5.66866409e-03 -1.12836324e+00] [-9.60263228e-02 -4.28963615e-03 9.95369552e-01 -7.36698322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.726296757 meters 0.07636402204600529 Centerline is valid? [True, True] Translation: X:63.99, Y:-1.13, Z:-7.38 [[ 9.89689223e-01 1.05930618e-01 9.64051188e-02 6.39866191e+01] [-1.05873527e-01 9.94363141e-01 -5.72182744e-03 -1.12965467e+00] [-9.64678135e-02 -4.54391897e-03 9.95325732e-01 -7.37500451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78629675699999 meters 0.07705771143105736 Centerline is valid? [True, True] Translation: X:64.05, Y:-1.13, Z:-7.38 [[ 9.89227111e-01 1.10797986e-01 9.56740741e-02 6.40470716e+01] [-1.10763887e-01 9.93830497e-01 -5.68363885e-03 -1.12817700e+00] [-9.57135484e-02 -4.97482274e-03 9.95396488e-01 -7.38291773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84629675699999 meters 0.07748915720880392 Centerline is valid? [True, True] Translation: X:64.11, Y:-1.13, Z:-7.39 [[ 9.89282628e-01 1.11971581e-01 9.37136394e-02 6.41089159e+01] [-1.11943817e-01 9.93698928e-01 -5.56980125e-03 -1.13068018e+00] [-9.37468024e-02 -4.98055485e-03 9.95583613e-01 -7.39162574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90629675699999 meters 0.07774546390760306 Centerline is valid? [True, True] Translation: X:64.17, Y:-1.14, Z:-7.40 [[ 9.89593337e-01 1.11490602e-01 9.09663255e-02 6.41692820e+01] [-1.11462131e-01 9.93753961e-01 -5.40909450e-03 -1.13877589e+00] [-9.10012095e-02 -4.78649660e-03 9.95839279e-01 -7.39811462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.966296757 meters 0.07790124527876988 Centerline is valid? [True, True] Translation: X:64.23, Y:-1.14, Z:-7.41 [[ 9.89456259e-01 1.11948351e-01 9.18905819e-02 6.42311904e+01] [-1.11919349e-01 9.93702156e-01 -5.48497012e-03 -1.13751383e+00] [-9.19259027e-02 -4.85719612e-03 9.95754004e-01 -7.40756670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.026296757 meters 0.07738542286072077 Centerline is valid? [True, True] Translation: X:64.29, Y:-1.14, Z:-7.41 [[ 9.89200513e-01 1.12642500e-01 9.37763936e-02 6.42927351e+01] [-1.12613257e-01 9.93622998e-01 -5.62068135e-03 -1.14106110e+00] [-9.38115090e-02 -5.00048427e-03 9.95577418e-01 -7.41247095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.086296757 meters 0.07790694872066556 Centerline is valid? [True, True] Translation: X:64.35, Y:-1.14, Z:-7.42 [[ 9.89257089e-01 1.11391608e-01 9.46695403e-02 6.43527622e+01] [-1.11353604e-01 9.93764498e-01 -5.70070459e-03 -1.14336573e+00] [-9.47142388e-02 -4.90233209e-03 9.95492431e-01 -7.41857017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.146296757 meters 0.07656084051083216 Centerline is valid? [True, True] Translation: X:64.41, Y:-1.15, Z:-7.43 [[ 9.89450716e-01 1.10463297e-01 9.37290821e-02 6.44141081e+01] [-1.10421259e-01 9.93868812e-01 -5.65066458e-03 -1.14940275e+00] [-9.37786025e-02 -4.75862915e-03 9.95581704e-01 -7.42541377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20629675699999 meters 0.07718134609403327 Centerline is valid? [True, True] Translation: X:64.48, Y:-1.15, Z:-7.43 [[ 9.89058135e-01 1.12952408e-01 9.48986743e-02 6.44758779e+01] [-1.12918126e-01 9.93587667e-01 -5.74853202e-03 -1.14528343e+00] [-9.49394629e-02 -5.03014812e-03 9.95470339e-01 -7.43393073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26629675699999 meters 0.07643081689987526 Centerline is valid? [True, True] Translation: X:64.54, Y:-1.15, Z:-7.44 [[ 9.88863155e-01 1.13918938e-01 9.57712756e-02 6.45377447e+01] [-1.13888211e-01 9.93476612e-01 -5.80492188e-03 -1.14989880e+00] [-9.58078130e-02 -5.16694590e-03 9.95386440e-01 -7.43962729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.326296757 meters 0.07577280108699516 Centerline is valid? [True, True] Translation: X:64.60, Y:-1.15, Z:-7.45 [[ 9.89242388e-01 1.12108167e-01 9.39747656e-02 6.45998640e+01] [-1.12068005e-01 9.93684068e-01 -5.72152205e-03 -1.15408882e+00] [-9.40226567e-02 -4.87159235e-03 9.95558139e-01 -7.44613875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.386296757 meters 0.07544479674929738 Centerline is valid? [True, True] Translation: X:64.66, Y:-1.16, Z:-7.46 [[ 9.90072582e-01 1.09044311e-01 8.86883358e-02 6.46597681e+01] [-1.08995413e-01 9.94027538e-01 -5.40858694e-03 -1.15901250e+00] [-8.87484237e-02 -4.31172815e-03 9.96044741e-01 -7.45625294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.446296757 meters 0.07465614221869069 Centerline is valid? [True, True] Translation: X:64.72, Y:-1.16, Z:-7.46 [[ 9.90267650e-01 1.06513958e-01 8.95810104e-02 6.47211106e+01] [-1.06451512e-01 9.94302749e-01 -5.48813451e-03 -1.16336019e+00] [-8.96552078e-02 -4.10131196e-03 9.95964419e-01 -7.46359622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.506296757 meters 0.0729537771682634 Centerline is valid? [True, True] Translation: X:64.78, Y:-1.17, Z:-7.47 [[ 9.90373191e-01 1.04354662e-01 9.09452947e-02 6.47818156e+01] [-1.04280774e-01 9.94532261e-01 -5.57692149e-03 -1.17123069e+00] [-9.10300074e-02 -3.96061220e-03 9.95840274e-01 -7.46727058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56629675699999 meters 0.07254762729360072 Centerline is valid? [True, True] Translation: X:64.84, Y:-1.18, Z:-7.47 [[ 9.91010673e-01 1.00215691e-01 8.86265217e-02 6.48423610e+01] [-1.00128721e-01 9.94959632e-01 -5.43782431e-03 -1.17890130e+00] [-8.87247668e-02 -3.48511838e-03 9.96050084e-01 -7.47402152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62629675699999 meters 0.07149732484128299 Centerline is valid? [True, True] Translation: X:64.90, Y:-1.18, Z:-7.48 [[ 9.91004285e-01 9.89166665e-02 9.01443293e-02 6.49030398e+01] [-9.88210589e-02 9.95089831e-01 -5.53419259e-03 -1.18218691e+00] [-9.02491293e-02 -3.42374951e-03 9.95913336e-01 -7.47933718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.686296757 meters 0.07164901143750117 Centerline is valid? [True, True] Translation: X:64.97, Y:-1.18, Z:-7.49 [[ 9.90788968e-01 9.95708377e-02 9.17761939e-02 6.49652615e+01] [-9.94746751e-02 9.95024149e-01 -5.63302297e-03 -1.18270258e+00] [-9.18804141e-02 -3.54827005e-03 9.95763727e-01 -7.48579413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.746296757 meters 0.07221002474871895 Centerline is valid? [True, True] Translation: X:65.03, Y:-1.18, Z:-7.49 [[ 9.90613354e-01 1.02258520e-01 9.07104098e-02 6.50260764e+01] [-1.02173262e-01 9.94750882e-01 -5.59534473e-03 -1.17805019e+00] [-9.08064318e-02 -3.72535522e-03 9.95861594e-01 -7.49376540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.806296757 meters 0.07163581315592775 Centerline is valid? [True, True] Translation: X:65.09, Y:-1.18, Z:-7.50 [[ 9.90551539e-01 1.02409727e-01 9.12134693e-02 6.50876537e+01] [-1.02324513e-01 9.94735181e-01 -5.62257063e-03 -1.17929343e+00] [-9.13090529e-02 -3.76392788e-03 9.95815490e-01 -7.49933874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.866296757 meters 0.07260578920438392 Centerline is valid? [True, True] Translation: X:65.15, Y:-1.18, Z:-7.51 [[ 9.90675696e-01 1.02356047e-01 8.99161047e-02 6.51486314e+01] [-1.02270928e-01 9.94741012e-01 -5.56557063e-03 -1.17666840e+00] [-9.00129068e-02 -3.68212795e-03 9.95933792e-01 -7.50869863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92629675699999 meters 0.07154791814428321 Centerline is valid? [True, True] Translation: X:65.21, Y:-1.18, Z:-7.52 [[ 9.90805871e-01 1.01213161e-01 8.97753996e-02 6.52101421e+01] [-1.01121767e-01 9.94858422e-01 -5.57753599e-03 -1.18084053e+00] [-8.98783324e-02 -3.55199159e-03 9.95946419e-01 -7.51610156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98629675699999 meters 0.07057585870946156 Centerline is valid? [True, True] Translation: X:65.27, Y:-1.19, Z:-7.52 [[ 9.91382563e-01 9.63595548e-02 8.87437296e-02 6.52692547e+01] [-9.62483599e-02 9.95341925e-01 -5.54133746e-03 -1.18829022e+00] [-8.88643154e-02 -3.04785309e-03 9.96039078e-01 -7.52483039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.046296757 meters 0.07052790626189177 Centerline is valid? [True, True] Translation: X:65.33, Y:-1.19, Z:-7.53 [[ 9.91497292e-01 9.49664060e-02 8.89634849e-02 6.53307267e+01] [-9.48494252e-02 9.95476153e-01 -5.55108908e-03 -1.19265186e+00] [-8.90881947e-02 -2.93424562e-03 9.96019419e-01 -7.53191488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.106296757 meters 0.07043127259772992 Centerline is valid? [True, True] Translation: X:65.39, Y:-1.20, Z:-7.54 [[ 9.91873521e-01 9.32215754e-02 8.65832355e-02 6.53926819e+01] [-9.31024664e-02 9.95641771e-01 -5.42164265e-03 -1.19697634e+00] [-8.67113001e-02 -2.68352899e-03 9.96229868e-01 -7.54040803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.166296757 meters 0.0698543217443579 Centerline is valid? [True, True] Translation: X:65.45, Y:-1.20, Z:-7.55 [[ 9.92328393e-01 9.04340154e-02 8.42973807e-02 6.54542211e+01] [-9.03090874e-02 9.95899673e-01 -5.30188269e-03 -1.20439863e+00] [-8.44312045e-02 -2.35161079e-03 9.96426536e-01 -7.54711457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.226296757 meters 0.06943863262760946 Centerline is valid? [True, True] Translation: X:65.51, Y:-1.21, Z:-7.55 [[ 9.92549608e-01 8.76228968e-02 8.46611066e-02 6.55134911e+01] [-8.74844196e-02 9.96151514e-01 -5.35139363e-03 -1.21358738e+00] [-8.48041942e-02 -2.09500412e-03 9.96395433e-01 -7.55284880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28629675699999 meters 0.06976245736034425 Centerline is valid? [True, True] Translation: X:65.58, Y:-1.21, Z:-7.56 [[ 9.92446365e-01 8.92537137e-02 8.41664293e-02 6.55750826e+01] [-8.91231170e-02 9.96006435e-01 -5.31518034e-03 -1.21369148e+00] [-8.43047048e-02 -2.22614312e-03 9.96437535e-01 -7.56207722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34629675699999 meters 0.06973636083305627 Centerline is valid? [True, True] Translation: X:65.64, Y:-1.22, Z:-7.57 [[ 9.92505052e-01 8.92245627e-02 8.35026915e-02 6.56367021e+01] [-8.90943281e-02 9.96009133e-01 -5.29214898e-03 -1.22176464e+00] [-8.36416331e-02 -2.18713159e-03 9.96493499e-01 -7.56865116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40629675699999 meters 0.06919629275070344 Centerline is valid? [True, True] Translation: X:65.70, Y:-1.23, Z:-7.57 [[ 9.92710228e-01 8.95628775e-02 8.06529205e-02 6.56986471e+01] [-8.94406752e-02 9.95978920e-01 -5.13391064e-03 -1.22920304e+00] [-8.07884164e-02 -2.11716606e-03 9.96729025e-01 -7.57327124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.466296757 meters 0.069094898021548 Centerline is valid? [True, True] Translation: X:65.76, Y:-1.23, Z:-7.58 [[ 9.92614795e-01 9.07953805e-02 8.04491605e-02 6.57598746e+01] [-9.06778651e-02 9.95867112e-01 -5.12053721e-03 -1.23252681e+00] [-8.05815942e-02 -2.21223713e-03 9.96745561e-01 -7.58077112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.526296757 meters 0.0697110801344687 Centerline is valid? [True, True] Translation: X:65.82, Y:-1.24, Z:-7.59 [[ 9.92263267e-01 9.28379192e-02 8.24301563e-02 6.58205542e+01] [-9.27197991e-02 9.95678304e-01 -5.26811183e-03 -1.23575935e+00] [-8.25629988e-02 -2.41555368e-03 9.96582920e-01 -7.58736480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.586296757 meters 0.07020126527566171 Centerline is valid? [True, True] Translation: X:65.88, Y:-1.24, Z:-7.60 [[ 9.91771802e-01 9.63244642e-02 8.43225349e-02 6.58819003e+01] [-9.62118250e-02 9.95346190e-01 -5.40796593e-03 -1.23782012e+00] [-8.44510333e-02 -2.74935686e-03 9.96423838e-01 -7.59534259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.646296757 meters 0.07191042369298518 Centerline is valid? [True, True] Translation: X:65.94, Y:-1.24, Z:-7.61 [[ 9.91360992e-01 1.01040943e-01 8.36308022e-02 6.59419745e+01] [-1.00944657e-01 9.94877442e-01 -5.38988192e-03 -1.23688097e+00] [-8.37469974e-02 -3.09876393e-03 9.96482232e-01 -7.60620719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70629675699999 meters 0.07333050013075575 Centerline is valid? [True, True] Translation: X:66.00, Y:-1.24, Z:-7.62 [[ 9.90823783e-01 1.04616802e-01 8.55777806e-02 6.60024775e+01] [-1.04529392e-01 9.94506511e-01 -5.51409327e-03 -1.24005024e+00] [-8.56845269e-02 -3.48189861e-03 9.96316234e-01 -7.61590598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76629675699999 meters 0.0721698643097252 Centerline is valid? [True, True] Translation: X:66.06, Y:-1.25, Z:-7.62 [[ 9.90906012e-01 1.05025928e-01 8.41120039e-02 6.60642190e+01] [-1.04942494e-01 9.94463495e-01 -5.42495220e-03 -1.24945391e+00] [-8.42160780e-02 -3.45130568e-03 9.96441539e-01 -7.62145971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.826296757 meters 0.07229353473611605 Centerline is valid? [True, True] Translation: X:66.12, Y:-1.26, Z:-7.63 [[ 9.90858793e-01 1.03641052e-01 8.63561535e-02 6.61245549e+01] [-1.03545481e-01 9.94608970e-01 -5.59739093e-03 -1.25579481e+00] [-8.64707243e-02 -3.39556546e-03 9.96248606e-01 -7.62837108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.886296757 meters 0.07128721874536038 Centerline is valid? [True, True] Translation: X:66.19, Y:-1.27, Z:-7.63 [[ 9.90742236e-01 1.02340043e-01 8.91983061e-02 6.61856054e+01] [-1.02232601e-01 9.94743704e-01 -5.78438580e-03 -1.26765676e+00] [-8.93214277e-02 -3.38813952e-03 9.95997090e-01 -7.63124809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.946296757 meters 0.07132855457251121 Centerline is valid? [True, True] Translation: X:66.25, Y:-1.27, Z:-7.64 [[ 9.90761569e-01 1.02679471e-01 8.85914163e-02 6.62473311e+01] [-1.02574865e-01 9.94708699e-01 -5.74467375e-03 -1.27093888e+00] [-8.87125125e-02 -3.39565059e-03 9.96051484e-01 -7.64040648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.006296757 meters 0.07140801035131605 Centerline is valid? [True, True] Translation: X:66.31, Y:-1.28, Z:-7.65 [[ 9.90831357e-01 1.02065937e-01 8.85198663e-02 6.63084459e+01] [-1.01957071e-01 9.94772110e-01 -5.76236787e-03 -1.27686322e+00] [-8.86452356e-02 -3.31569152e-03 9.96057744e-01 -7.64586664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06629675699999 meters 0.07071589864155786 Centerline is valid? [True, True] Translation: X:66.37, Y:-1.28, Z:-7.65 [[ 9.91118623e-01 9.95120234e-02 8.82112926e-02 6.63699801e+01] [-9.93914643e-02 9.95031686e-01 -5.76893404e-03 -1.28377555e+00] [-8.83471095e-02 -3.04975158e-03 9.96085080e-01 -7.64908130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12629675699999 meters 0.07106403097307437 Centerline is valid? [True, True] Translation: X:66.43, Y:-1.29, Z:-7.66 [[ 9.91390781e-01 9.78023916e-02 8.70575244e-02 6.64308025e+01] [-9.76783922e-02 9.95201747e-01 -5.69340192e-03 -1.28507689e+00] [-8.71966287e-02 -2.85925283e-03 9.96187017e-01 -7.65866754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.186296757 meters 0.07094102698624455 Centerline is valid? [True, True] Translation: X:66.49, Y:-1.29, Z:-7.67 [[ 9.91861656e-01 9.57674576e-02 8.38990405e-02 6.64917736e+01] [-9.56435522e-02 9.95400429e-01 -5.50419055e-03 -1.28893048e+00] [-8.40402633e-02 -2.56500670e-03 9.96459058e-01 -7.66866129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.246296757 meters 0.07073989814891725 Centerline is valid? [True, True] Translation: X:66.55, Y:-1.29, Z:-7.68 [[ 9.91994959e-01 9.38950100e-02 8.44377166e-02 6.65534257e+01] [-9.37609838e-02 9.95579209e-01 -5.56026929e-03 -1.29293938e+00] [-8.45865166e-02 -2.40120427e-03 9.96413245e-01 -7.67530905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.306296757 meters 0.0706140865759657 Centerline is valid? [True, True] Translation: X:66.61, Y:-1.29, Z:-7.68 [[ 9.91937881e-01 9.31432101e-02 8.59277723e-02 6.66143155e+01] [-9.29997543e-02 9.95649931e-01 -5.67978829e-03 -1.29278466e+00] [-8.60830143e-02 -2.35726454e-03 9.96285179e-01 -7.68325604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.366296757 meters 0.06977493646266078 Centerline is valid? [True, True] Translation: X:66.68, Y:-1.30, Z:-7.69 [[ 9.91884258e-01 9.27439313e-02 8.69723076e-02 6.66757971e+01] [-9.25938443e-02 9.95687261e-01 -5.76705889e-03 -1.29910452e+00] [-8.71320784e-02 -2.33284537e-03 9.96194037e-01 -7.68604613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42629675699999 meters 0.0695253923517791 Centerline is valid? [True, True] Translation: X:66.74, Y:-1.30, Z:-7.69 [[ 9.91840845e-01 9.14153961e-02 8.88536127e-02 6.67359389e+01] [-9.12509895e-02 9.95810334e-01 -5.91914699e-03 -1.30237038e+00] [-8.90224468e-02 -2.23712833e-03 9.96027108e-01 -7.69363738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48629675699999 meters 0.06962860305252755 Centerline is valid? [True, True] Translation: X:66.80, Y:-1.30, Z:-7.70 [[ 9.91605379e-01 9.26959353e-02 9.01456398e-02 6.67980087e+01] [-9.25322241e-02 9.95691597e-01 -6.00265002e-03 -1.30198956e+00] [-9.03136773e-02 -2.38911649e-03 9.95910504e-01 -7.70194075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.546296757 meters 0.06953671630968004 Centerline is valid? [True, True] Translation: X:66.86, Y:-1.31, Z:-7.71 [[ 9.91684223e-01 9.30257513e-02 8.89303730e-02 6.68590933e+01] [-9.28655040e-02 9.95660903e-01 -5.94676915e-03 -1.30621779e+00] [-8.90976982e-02 -2.36124676e-03 9.96020093e-01 -7.70829589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.606296757 meters 0.06982135972048116 Centerline is valid? [True, True] Translation: X:66.92, Y:-1.31, Z:-7.71 [[ 9.91479500e-01 9.49509049e-02 8.91780585e-02 6.69212862e+01] [-9.47957566e-02 9.95478763e-01 -5.98308501e-03 -1.30719469e+00] [-8.93429627e-02 -2.52159539e-03 9.95997729e-01 -7.71379854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.666296757 meters 0.0699580490737932 Centerline is valid? [True, True] Translation: X:66.98, Y:-1.31, Z:-7.72 [[ 9.91209970e-01 9.74589218e-02 8.94681761e-02 6.69834155e+01] [-9.73110098e-02 9.95235790e-01 -6.02408544e-03 -1.30648924e+00] [-8.96290318e-02 -2.73510502e-03 9.95971463e-01 -7.71953823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.726296757 meters 0.07051705217516233 Centerline is valid? [True, True] Translation: X:67.05, Y:-1.30, Z:-7.73 [[ 9.90963437e-01 1.00238681e-01 8.91272921e-02 6.70452993e+01] [-1.00100759e-01 9.94959050e-01 -6.02722149e-03 -1.30410991e+00] [-8.92821666e-02 -2.94895350e-03 9.96002007e-01 -7.72697599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78629675699999 meters 0.07056315323852293 Centerline is valid? [True, True] Translation: X:67.11, Y:-1.31, Z:-7.73 [[ 9.90877884e-01 1.01066168e-01 8.91439743e-02 6.71067365e+01] [-1.00931366e-01 9.94875116e-01 -6.03021375e-03 -1.30627385e+00] [-8.92965724e-02 -3.02221764e-03 9.96000496e-01 -7.73345907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84629675699999 meters 0.07105535747673711 Centerline is valid? [True, True] Translation: X:67.17, Y:-1.30, Z:-7.74 [[ 9.91043040e-01 9.95917242e-02 8.89673078e-02 6.71670317e+01] [-9.94495820e-02 9.95024270e-01 -6.04004572e-03 -1.30414012e+00] [-8.91261691e-02 -2.86181631e-03 9.96016233e-01 -7.74387635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90629675699999 meters 0.07064020176670387 Centerline is valid? [True, True] Translation: X:67.23, Y:-1.31, Z:-7.75 [[ 9.91082170e-01 9.93860644e-02 8.87611508e-02 6.72291334e+01] [-9.92420808e-02 9.95044959e-01 -6.04482324e-03 -1.30783139e+00] [-8.89221068e-02 -2.81792477e-03 9.96034597e-01 -7.74950284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.966296757 meters 0.07087064714579167 Centerline is valid? [True, True] Translation: X:67.29, Y:-1.31, Z:-7.76 [[ 9.91165113e-01 9.93074901e-02 8.79189467e-02 6.72901922e+01] [-9.91640325e-02 9.95052958e-01 -6.00874317e-03 -1.30880303e+00] [-8.80807212e-02 -2.76274069e-03 9.96109509e-01 -7.75689593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.026296757 meters 0.0710378580486519 Centerline is valid? [True, True] Translation: X:67.35, Y:-1.31, Z:-7.76 [[ 9.90844593e-01 1.02572362e-01 8.77832692e-02 6.73523247e+01] [-1.02440107e-01 9.94720944e-01 -6.02222713e-03 -1.30832048e+00] [-8.79375705e-02 -3.02543631e-03 9.96121393e-01 -7.76322405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.086296757 meters 0.07173698497750645 Centerline is valid? [True, True] Translation: X:67.41, Y:-1.31, Z:-7.77 [[ 9.90903724e-01 1.04388754e-01 8.49281874e-02 6.74134124e+01] [-1.04271031e-01 9.94531814e-01 -5.83297398e-03 -1.30944996e+00] [-8.50726811e-02 -3.07563406e-03 9.96370001e-01 -7.77088967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.146296757 meters 0.07153469870028879 Centerline is valid? [True, True] Translation: X:67.47, Y:-1.31, Z:-7.78 [[ 9.90761363e-01 1.05981348e-01 8.46160514e-02 6.74747040e+01] [-1.05870252e-01 9.94362968e-01 -5.81181636e-03 -1.31374161e+00] [-8.47550122e-02 -3.20019956e-03 9.96396681e-01 -7.77515585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20629675699999 meters 0.07234027684657719 Centerline is valid? [True, True] Translation: X:67.53, Y:-1.31, Z:-7.78 [[ 9.90828333e-01 1.06934119e-01 8.26093771e-02 6.75347392e+01] [-1.06830444e-01 9.94260989e-01 -5.68690923e-03 -1.31376834e+00] [-8.27434057e-02 -3.19044567e-03 9.96565778e-01 -7.78472971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26629675699999 meters 0.07219482859347875 Centerline is valid? [True, True] Translation: X:67.60, Y:-1.32, Z:-7.79 [[ 9.90845687e-01 1.08037133e-01 8.09493829e-02 6.75960659e+01] [-1.07941539e-01 9.94141645e-01 -5.56898137e-03 -1.31977068e+00] [-8.10768095e-02 -3.21979977e-03 9.96702656e-01 -7.78740203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.326296757 meters 0.07185092644934522 Centerline is valid? [True, True] Translation: X:67.66, Y:-1.32, Z:-7.79 [[ 9.90738953e-01 1.08634448e-01 8.14547931e-02 6.76587044e+01] [-1.08538297e-01 9.94076379e-01 -5.62053910e-03 -1.32463586e+00] [-8.15828700e-02 -3.27247750e-03 9.96661189e-01 -7.79254425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.386296757 meters 0.07189933826686823 Centerline is valid? [True, True] Translation: X:67.72, Y:-1.33, Z:-7.80 [[ 9.90846083e-01 1.08906228e-01 7.97713851e-02 6.77205621e+01] [-1.08813015e-01 9.94046867e-01 -5.52761614e-03 -1.32775003e+00] [-7.98984872e-02 -3.20314811e-03 9.96797859e-01 -7.79959883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.446296757 meters 0.07232042156496392 Centerline is valid? [True, True] Translation: X:67.78, Y:-1.33, Z:-7.81 [[ 9.91144310e-01 1.07417537e-01 7.80668243e-02 6.77818192e+01] [-1.07322208e-01 9.94209476e-01 -5.42788351e-03 -1.33314934e+00] [-7.81978264e-02 -2.99848809e-03 9.96933352e-01 -7.80823686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.506296757 meters 0.07199091858484227 Centerline is valid? [True, True] Translation: X:67.84, Y:-1.34, Z:-7.81 [[ 9.91044095e-01 1.06028661e-01 8.11758829e-02 6.78429018e+01] [-1.05918502e-01 9.94358625e-01 -5.67419642e-03 -1.33703230e+00] [-8.13195667e-02 -2.97464903e-03 9.96683641e-01 -7.81440256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56629675699999 meters 0.07225580590364929 Centerline is valid? [True, True] Translation: X:67.90, Y:-1.34, Z:-7.82 [[ 9.91043242e-01 1.05329266e-01 8.20916507e-02 6.79032557e+01] [-1.05214488e-01 9.94433015e-01 -5.73495953e-03 -1.33933723e+00] [-8.22387068e-02 -2.95363813e-03 9.96608284e-01 -7.82285458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62629675699999 meters 0.07249890991072298 Centerline is valid? [True, True] Translation: X:67.96, Y:-1.35, Z:-7.83 [[ 9.91259659e-01 1.05064637e-01 7.97854056e-02 6.79646283e+01] [-1.04954026e-01 9.94461362e-01 -5.59036410e-03 -1.34510368e+00] [-7.99308527e-02 -2.83229716e-03 9.96796387e-01 -7.83120993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.686296757 meters 0.0718530373405959 Centerline is valid? [True, True] Translation: X:68.03, Y:-1.36, Z:-7.83 [[ 9.91310422e-01 1.06054773e-01 7.78205165e-02 6.80257008e+01] [-1.05951198e-01 9.94356284e-01 -5.47032358e-03 -1.35521064e+00] [-7.79614735e-02 -2.82238814e-03 9.96952377e-01 -7.83441886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.746296757 meters 0.07247374780819896 Centerline is valid? [True, True] Translation: X:68.09, Y:-1.36, Z:-7.84 [[ 9.91088019e-01 1.08921698e-01 7.66850822e-02 6.80858486e+01] [-1.08827684e-01 9.94045874e-01 -5.41632465e-03 -1.35893748e+00] [-7.68184448e-02 -2.97740540e-03 9.97040652e-01 -7.84297186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.806296757 meters 0.07327578242758467 Centerline is valid? [True, True] Translation: X:68.15, Y:-1.36, Z:-7.85 [[ 9.90356315e-01 1.12954196e-01 8.02229334e-02 6.81468393e+01] [-1.12864958e-01 9.93594212e-01 -5.66061102e-03 -1.36224122e+00] [-8.03484321e-02 -3.44833617e-03 9.96760873e-01 -7.84977462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.866296757 meters 0.0744794382250253 Centerline is valid? [True, True] Translation: X:68.21, Y:-1.36, Z:-7.86 [[ 9.89567917e-01 1.16553043e-01 8.46801400e-02 6.82085404e+01] [-1.16465081e-01 9.93176694e-01 -5.99500356e-03 -1.36431533e+00] [-8.48010774e-02 -3.92981621e-03 9.96390151e-01 -7.85598101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92629675699999 meters 0.07571628887057699 Centerline is valid? [True, True] Translation: X:68.27, Y:-1.36, Z:-7.87 [[ 9.89019816e-01 1.21010184e-01 8.48312431e-02 6.82677190e+01] [-1.20935840e-01 9.92641988e-01 -6.03371267e-03 -1.36405511e+00] [-8.49371945e-02 -4.29167624e-03 9.96377064e-01 -7.86590678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98629675699999 meters 0.07639761667291006 Centerline is valid? [True, True] Translation: X:68.33, Y:-1.37, Z:-7.87 [[ 9.88812914e-01 1.22080712e-01 8.57048472e-02 6.83289472e+01] [-1.22008824e-01 9.92510295e-01 -6.09606214e-03 -1.37159165e+00] [-8.58071548e-02 -4.42888266e-03 9.96301921e-01 -7.87164811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.046296757 meters 0.07450426640792501 Centerline is valid? [True, True] Translation: X:68.39, Y:-1.38, Z:-7.88 [[ 9.88994076e-01 1.21083714e-01 8.50261840e-02 6.83907914e+01] [-1.21007350e-01 9.92633050e-01 -6.07041534e-03 -1.38344478e+00] [-8.51348287e-02 -4.28518835e-03 9.96360225e-01 -7.87569648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.106296757 meters 0.07387310373368268 Centerline is valid? [True, True] Translation: X:68.45, Y:-1.39, Z:-7.88 [[ 9.89081932e-01 1.18635313e-01 8.74219361e-02 6.84510810e+01] [-1.18543806e-01 9.92929115e-01 -6.25609328e-03 -1.39089495e+00] [-8.75459792e-02 -4.17554018e-03 9.96151729e-01 -7.88181748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.166296757 meters 0.07297904007213618 Centerline is valid? [True, True] Translation: X:68.51, Y:-1.40, Z:-7.89 [[ 9.89052891e-01 1.18333860e-01 8.81559759e-02 6.85129241e+01] [-1.18239827e-01 9.92965041e-01 -6.30635634e-03 -1.39880593e+00] [-8.82820577e-02 -4.18622740e-03 9.96086720e-01 -7.88660324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.226296757 meters 0.07342178836411799 Centerline is valid? [True, True] Translation: X:68.57, Y:-1.40, Z:-7.90 [[ 9.89445978e-01 1.15401505e-01 8.76307520e-02 6.85726887e+01] [-1.15294691e-01 9.93311376e-01 -6.29641092e-03 -1.40445260e+00] [-8.77712381e-02 -3.87340199e-03 9.96133127e-01 -7.89627164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28629675699999 meters 0.07287930321518657 Centerline is valid? [True, True] Translation: X:68.63, Y:-1.41, Z:-7.90 [[ 9.89718331e-01 1.13038119e-01 8.76356599e-02 6.86339213e+01] [-1.12921826e-01 9.93583906e-01 -6.29943210e-03 -1.41289979e+00] [-8.77854572e-02 -3.66131532e-03 9.96132676e-01 -7.90202407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34629675699999 meters 0.07288746393671165 Centerline is valid? [True, True] Translation: X:68.70, Y:-1.42, Z:-7.91 [[ 9.89545351e-01 1.12965626e-01 8.96591629e-02 6.86954094e+01] [-1.12843604e-01 9.93591859e-01 -6.44509972e-03 -1.41585967e+00] [-8.98126890e-02 -3.73974461e-03 9.95951653e-01 -7.90950810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40629675699999 meters 0.07254580981055583 Centerline is valid? [True, True] Translation: X:68.76, Y:-1.42, Z:-7.92 [[ 9.89615309e-01 1.13044660e-01 8.87831361e-02 6.87567961e+01] [-1.12923420e-01 9.93583060e-01 -6.40339891e-03 -1.42317691e+00] [-8.89372901e-02 -3.68879382e-03 9.96030397e-01 -7.91594086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.466296757 meters 0.07216853519980936 Centerline is valid? [True, True] Translation: X:68.82, Y:-1.43, Z:-7.92 [[ 9.89749180e-01 1.12075980e-01 8.85185571e-02 6.88176165e+01] [-1.11949651e-01 9.93693230e-01 -6.40620606e-03 -1.42907437e+00] [-8.86782728e-02 -3.56908434e-03 9.96053927e-01 -7.92481094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.526296757 meters 0.071648752585944 Centerline is valid? [True, True] Translation: X:68.88, Y:-1.44, Z:-7.93 [[ 9.89943410e-01 1.11138989e-01 8.75223968e-02 6.88784653e+01] [-1.11009970e-01 9.93798972e-01 -6.35522287e-03 -1.43732627e+00] [-8.76859810e-02 -3.42454767e-03 9.96142280e-01 -7.93235335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.586296757 meters 0.07156282692759854 Centerline is valid? [True, True] Translation: X:68.94, Y:-1.45, Z:-7.94 [[ 9.89887955e-01 1.09943661e-01 8.96338579e-02 6.89388911e+01] [-1.09800918e-01 9.93932104e-01 -6.53690278e-03 -1.44596415e+00] [-8.98086600e-02 -3.37107857e-03 9.95953332e-01 -7.93767836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64629675699999 meters 0.07125801173698183 Centerline is valid? [True, True] Translation: X:69.00, Y:-1.45, Z:-7.94 [[ 9.89728320e-01 1.08366226e-01 9.32449093e-02 6.89996142e+01] [-1.08204476e-01 9.94105377e-01 -6.80373926e-03 -1.45132665e+00] [-9.34325612e-02 -3.35566309e-03 9.95619956e-01 -7.94482773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70629675699999 meters 0.07264465285178262 Centerline is valid? [True, True] Translation: X:69.06, Y:-1.46, Z:-7.96 [[ 9.89896100e-01 1.07919466e-01 9.19733655e-02 6.90602455e+01] [-1.07760331e-01 9.94154263e-01 -6.70917985e-03 -1.45564318e+00] [-9.21597644e-02 -3.26968934e-03 9.95738865e-01 -7.95549029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76629675699999 meters 0.07227405945343941 Centerline is valid? [True, True] Translation: X:69.12, Y:-1.46, Z:-7.96 [[ 9.89633124e-01 1.07959078e-01 9.47159810e-02 6.91224680e+01] [-1.07787755e-01 9.94149718e-01 -6.93815473e-03 -1.46204805e+00] [-9.49109026e-02 -3.34299521e-03 9.95480158e-01 -7.96069712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.826296757 meters 0.07259155497142987 Centerline is valid? [True, True] Translation: X:69.18, Y:-1.47, Z:-7.97 [[ 9.89601818e-01 1.08352780e-01 9.45934280e-02 6.91844806e+01] [-1.08183270e-01 9.94106788e-01 -6.93360719e-03 -1.46637179e+00] [-9.47872445e-02 -3.37191610e-03 9.95491842e-01 -7.96798444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.886296757 meters 0.07288301295027586 Centerline is valid? [True, True] Translation: X:69.25, Y:-1.47, Z:-7.97 [[ 9.88992553e-01 1.11834051e-01 9.68858830e-02 6.92462465e+01] [-1.11669861e-01 9.93719764e-01 -7.13256912e-03 -1.47177714e+00] [-9.70750809e-02 -3.76517535e-03 9.95269939e-01 -7.97323481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.946296757 meters 0.07226688090693924 Centerline is valid? [True, True] Translation: X:69.31, Y:-1.48, Z:-7.98 [[ 9.88845221e-01 1.13903725e-01 9.59743244e-02 6.93072203e+01] [-1.13751970e-01 9.93484031e-01 -7.06897780e-03 -1.47791547e+00] [-9.61541415e-02 -3.92714356e-03 9.95358709e-01 -7.98103795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.006296757 meters 0.0732088594333355 Centerline is valid? [True, True] Translation: X:69.37, Y:-1.48, Z:-7.99 [[ 9.88511531e-01 1.17169941e-01 9.54785768e-02 6.93682562e+01] [-1.17032366e-01 9.93103014e-01 -7.05894582e-03 -1.47768435e+00] [-9.56471587e-02 -4.19623446e-03 9.95406456e-01 -7.99003801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06629675699999 meters 0.07402433641774094 Centerline is valid? [True, True] Translation: X:69.43, Y:-1.48, Z:-8.00 [[ 9.88193376e-01 1.19932449e-01 9.53418059e-02 6.94295654e+01] [-1.19808085e-01 9.92772048e-01 -7.04861038e-03 -1.47968258e+00] [-9.54980370e-02 -4.45732913e-03 9.95419639e-01 -7.99755518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12629675699999 meters 0.07564930466261836 Centerline is valid? [True, True] Translation: X:69.49, Y:-1.48, Z:-8.01 [[ 9.87988114e-01 1.22641728e-01 9.40132613e-02 6.94897593e+01] [-1.22530550e-01 9.92440223e-01 -6.97621447e-03 -1.47612757e+00] [-9.41581171e-02 -4.62707964e-03 9.95546503e-01 -8.00751355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.186296757 meters 0.07548305668866011 Centerline is valid? [True, True] Translation: X:69.55, Y:-1.48, Z:-8.01 [[ 9.87902616e-01 1.22295955e-01 9.53526097e-02 6.95512943e+01] [-1.22180246e-01 9.92482725e-01 -7.07310325e-03 -1.48079405e+00] [-9.55008298e-02 -4.66266806e-03 9.95418430e-01 -8.01482674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.246296757 meters 0.07462086585286791 Centerline is valid? [True, True] Translation: X:69.61, Y:-1.49, Z:-8.02 [[ 9.87965531e-01 1.21987326e-01 9.50957521e-02 6.96129555e+01] [-1.21868610e-01 9.92521011e-01 -7.07705140e-03 -1.48853999e+00] [-9.52478425e-02 -4.59730429e-03 9.95442973e-01 -8.02096636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.306296757 meters 0.07355487087231077 Centerline is valid? [True, True] Translation: X:69.67, Y:-1.50, Z:-8.03 [[ 9.88515429e-01 1.18243270e-01 9.41051269e-02 6.96735912e+01] [-1.18107496e-01 9.92975925e-01 -7.03083443e-03 -1.49749083e+00] [-9.42754743e-02 -4.16443260e-03 9.95537439e-01 -8.02704731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.366296757 meters 0.07396114212373349 Centerline is valid? [True, True] Translation: X:69.73, Y:-1.50, Z:-8.04 [[ 9.88848526e-01 1.15889964e-01 9.35313228e-02 6.97328663e+01] [-1.15744989e-01 9.93254354e-01 -6.99177066e-03 -1.50014929e+00] [-9.37106697e-02 -3.91197980e-03 9.95591787e-01 -8.03668367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42629675699999 meters 0.07335035213087743 Centerline is valid? [True, True] Translation: X:69.79, Y:-1.51, Z:-8.04 [[ 9.88935235e-01 1.12971557e-01 9.61484668e-02 6.97934241e+01] [-1.12804474e-01 9.93591197e-01 -7.18915045e-03 -1.50589212e+00] [-9.63444397e-02 -3.73637299e-03 9.95341041e-01 -8.04241480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48629675699999 meters 0.07332946170604346 Centerline is valid? [True, True] Translation: X:69.86, Y:-1.51, Z:-8.05 [[ 9.89151939e-01 1.13138946e-01 9.36910895e-02 6.98551208e+01] [-1.12981278e-01 9.93572440e-01 -7.00267466e-03 -1.50945579e+00] [-9.38811596e-02 -3.65862982e-03 9.95576688e-01 -8.04936500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.546296757 meters 0.07400672115480217 Centerline is valid? [True, True] Translation: X:69.92, Y:-1.51, Z:-8.06 [[ 9.89018292e-01 1.14376524e-01 9.35992972e-02 6.99153977e+01] [-1.14222483e-01 9.93430398e-01 -7.01919132e-03 -1.51041430e+00] [-9.37872178e-02 -3.74903549e-03 9.95585206e-01 -8.05757284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.606296757 meters 0.07434735058015177 Centerline is valid? [True, True] Translation: X:69.98, Y:-1.51, Z:-8.07 [[ 9.88756479e-01 1.16405555e-01 9.38635836e-02 6.99772904e+01] [-1.16257490e-01 9.93193995e-01 -7.06293098e-03 -1.50924694e+00] [-9.40469119e-02 -3.92882582e-03 9.95560015e-01 -8.06592425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.666296757 meters 0.07413017555882467 Centerline is valid? [True, True] Translation: X:70.04, Y:-1.51, Z:-8.07 [[ 9.88542044e-01 1.17879582e-01 9.42816622e-02 7.00388322e+01] [-1.17736583e-01 9.93019498e-01 -7.09746903e-03 -1.51394985e+00] [-9.44601756e-02 -4.08425421e-03 9.95520263e-01 -8.07156419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.726296757 meters 0.07411434912758706 Centerline is valid? [True, True] Translation: X:70.10, Y:-1.52, Z:-8.08 [[ 9.88574407e-01 1.17889301e-01 9.39295144e-02 7.01012040e+01] [-1.17745313e-01 9.93018494e-01 -7.09311422e-03 -1.51699839e+00] [-9.41099472e-02 -4.04768888e-03 9.95553582e-01 -8.08035950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78629675699999 meters 0.07399444708619876 Centerline is valid? [True, True] Translation: X:70.16, Y:-1.52, Z:-8.09 [[ 9.88782334e-01 1.16282017e-01 9.37442705e-02 7.01617578e+01] [-1.16128793e-01 9.93208738e-01 -7.10673442e-03 -1.51869226e+00] [-9.39340140e-02 -3.85939556e-03 9.95570945e-01 -8.08737355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84629675699999 meters 0.07297882797647307 Centerline is valid? [True, True] Translation: X:70.22, Y:-1.53, Z:-8.09 [[ 9.89226441e-01 1.12383422e-01 9.38137205e-02 7.02222891e+01] [-1.12210118e-01 9.93658870e-01 -7.13720929e-03 -1.52632462e+00] [-9.40209395e-02 -3.46653249e-03 9.95564185e-01 -8.09316238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90629675699999 meters 0.07227061670143778 Centerline is valid? [True, True] Translation: X:70.28, Y:-1.53, Z:-8.10 [[ 9.89846540e-01 1.08046444e-01 9.23568844e-02 7.02816664e+01] [-1.07859366e-01 9.94141310e-01 -7.02939965e-03 -1.53319477e+00] [-9.25752957e-02 -3.00352809e-03 9.95701157e-01 -8.10241345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.966296757 meters 0.07156318399924455 Centerline is valid? [True, True] Translation: X:70.34, Y:-1.54, Z:-8.11 [[ 9.90550052e-01 1.03106885e-01 9.04409416e-02 7.03419152e+01] [-1.02906841e-01 9.94667172e-01 -6.88467714e-03 -1.53770348e+00] [-9.06684933e-02 -2.48737429e-03 9.95878023e-01 -8.11209371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.026296757 meters 0.07009014949244724 Centerline is valid? [True, True] Translation: X:70.40, Y:-1.55, Z:-8.11 [[ 9.90760455e-01 9.88936288e-02 9.28104018e-02 7.04023711e+01] [-9.86642116e-02 9.95095679e-01 -7.06842676e-03 -1.54719469e+00] [-9.30542522e-02 -2.15394741e-03 9.95658710e-01 -8.11413170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.086296757 meters 0.06930285859626435 Centerline is valid? [True, True] Translation: X:70.46, Y:-1.55, Z:-8.12 [[ 9.91000961e-01 9.71651125e-02 9.20653862e-02 7.04639713e+01] [-9.69321885e-02 9.95266310e-01 -7.00883367e-03 -1.55431445e+00] [-9.23105913e-02 -1.97833847e-03 9.95728297e-01 -8.11835490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14629675699999 meters 0.06964752115976625 Centerline is valid? [True, True] Translation: X:70.52, Y:-1.55, Z:-8.13 [[ 9.90934436e-01 1.00046538e-01 8.96640089e-02 7.05237325e+01] [-9.98348854e-02 9.94980414e-01 -6.85357982e-03 -1.55250687e+00] [-8.98996096e-02 -2.16014780e-03 9.95948490e-01 -8.12722030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20629675699999 meters 0.06966296431690269 Centerline is valid? [True, True] Translation: X:70.59, Y:-1.55, Z:-8.13 [[ 9.90674492e-01 1.03581182e-01 8.85154722e-02 7.05850133e+01] [-1.03389063e-01 9.94617986e-01 -6.76490255e-03 -1.55476253e+00] [-8.87397973e-02 -2.44971535e-03 9.96051830e-01 -8.13323747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26629675699999 meters 0.07010239420039532 Centerline is valid? [True, True] Translation: X:70.65, Y:-1.56, Z:-8.14 [[ 9.90350693e-01 1.08773506e-01 8.58710047e-02 7.06458144e+01] [-1.08611855e-01 9.94062549e-01 -6.56616106e-03 -1.55567416e+00] [-8.60753742e-02 -2.82380692e-03 9.96284626e-01 -8.14167520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.326296757 meters 0.07130101592760356 Centerline is valid? [True, True] Translation: X:70.71, Y:-1.56, Z:-8.15 [[ 9.90023581e-01 1.13566061e-01 8.34029933e-02 7.07054870e+01] [-1.13430349e-01 9.93525470e-01 -6.37930873e-03 -1.55554826e+00] [-8.35874711e-02 -3.14476457e-03 9.96495482e-01 -8.15207916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.386296757 meters 0.0710784412409568 Centerline is valid? [True, True] Translation: X:70.77, Y:-1.56, Z:-8.16 [[ 9.89960131e-01 1.13918605e-01 8.36749103e-02 7.07675718e+01] [-1.13783943e-01 9.93484955e-01 -6.39203896e-03 -1.56244675e+00] [-8.38579367e-02 -3.19299751e-03 9.96472604e-01 -8.15911421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.446296757 meters 0.07063557831873161 Centerline is valid? [True, True] Translation: X:70.83, Y:-1.57, Z:-8.17 [[ 9.90472197e-01 1.08710113e-01 8.45395646e-02 7.08260968e+01] [-1.08551106e-01 9.94069691e-01 -6.48897777e-03 -1.57139545e+00] [-8.47436364e-02 -2.74971121e-03 9.96398994e-01 -8.16799285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.506296757 meters 0.06890281525726975 Centerline is valid? [True, True] Translation: X:70.89, Y:-1.59, Z:-8.17 [[ 9.91013126e-01 1.01388528e-01 8.72545106e-02 7.08858402e+01] [-1.01190842e-01 9.94844491e-01 -6.69725730e-03 -1.58862011e+00] [-8.74836942e-02 -2.19228746e-03 9.96163539e-01 -8.17126117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56629675699999 meters 0.06845345469603685 Centerline is valid? [True, True] Translation: X:70.95, Y:-1.60, Z:-8.18 [[ 9.91612491e-01 9.50628459e-02 8.75655312e-02 7.09455188e+01] [-9.48389909e-02 9.95469925e-01 -6.72269100e-03 -1.59979584e+00] [-8.78079309e-02 -1.63832225e-03 9.96136077e-01 -8.17985477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62629675699999 meters 0.0683641956289054 Centerline is valid? [True, True] Translation: X:71.01, Y:-1.61, Z:-8.19 [[ 9.92051293e-01 9.16730719e-02 8.61990686e-02 7.10065375e+01] [-9.14436116e-02 9.95788284e-01 -6.61512634e-03 -1.61204337e+00] [-8.64424515e-02 -1.31980951e-03 9.96255971e-01 -8.18816276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.686296757 meters 0.06857672766759101 Centerline is valid? [True, True] Translation: X:71.07, Y:-1.62, Z:-8.20 [[ 9.92155567e-01 9.05009807e-02 8.62374869e-02 7.10662048e+01] [-9.02649593e-02 9.95895648e-01 -6.64039461e-03 -1.62104210e+00] [-8.64845001e-02 -1.19591877e-03 9.96252479e-01 -8.19649038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.746296757 meters 0.06860943377930645 Centerline is valid? [True, True] Translation: X:71.13, Y:-1.63, Z:-8.20 [[ 9.92057139e-01 9.22523607e-02 8.55110197e-02 7.11282786e+01] [-9.20261339e-02 9.95734771e-01 -6.59213487e-03 -1.62756907e+00] [-8.57544356e-02 -1.32947409e-03 9.96315417e-01 -8.20094718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.806296757 meters 0.0694236331994281 Centerline is valid? [True, True] Translation: X:71.19, Y:-1.63, Z:-8.21 [[ 9.92038996e-01 9.69056713e-02 8.04233856e-02 7.11881198e+01] [-9.67188404e-02 9.95292279e-01 -6.22462088e-03 -1.63215275e+00] [-8.06479758e-02 -1.60338995e-03 9.96741357e-01 -8.20885525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.866296757 meters 0.07014126874350703 Centerline is valid? [True, True] Translation: X:71.25, Y:-1.64, Z:-8.22 [[ 9.91840033e-01 9.97182051e-02 7.94331717e-02 7.12495706e+01] [-9.95448599e-02 9.95014075e-01 -6.14907513e-03 -1.63561270e+00] [-7.96502986e-02 -1.80826507e-03 9.96821228e-01 -8.21778004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92629675699999 meters 0.07111930764512087 Centerline is valid? [True, True] Translation: X:71.31, Y:-1.64, Z:-8.23 [[ 9.91306313e-01 1.05292189e-01 7.89008730e-02 7.13088461e+01] [-1.05138356e-01 9.94438815e-01 -6.11302964e-03 -1.63881368e+00] [-7.91057450e-02 -2.23562323e-03 9.96863723e-01 -8.22776298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98629675699999 meters 0.07142256046401675 Centerline is valid? [True, True] Translation: X:71.37, Y:-1.64, Z:-8.23 [[ 9.91016096e-01 1.08046660e-01 7.88226915e-02 7.13699125e+01] [-1.07901730e-01 9.94142800e-01 -6.10811290e-03 -1.64364718e+00] [-7.90209725e-02 -2.45186659e-03 9.96869938e-01 -8.23426309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.046296757 meters 0.07157005402099323 Centerline is valid? [True, True] Translation: X:71.43, Y:-1.65, Z:-8.24 [[ 9.90789122e-01 1.08647988e-01 8.08240716e-02 7.14301655e+01] [-1.08495852e-01 9.94077035e-01 -6.28475736e-03 -1.65182399e+00] [-8.10281797e-02 -2.54220730e-03 9.96708569e-01 -8.24315484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.106296757 meters 0.07021386122682487 Centerline is valid? [True, True] Translation: X:71.49, Y:-1.67, Z:-8.25 [[ 9.91260905e-01 1.05861194e-01 7.87097549e-02 7.14911569e+01] [-1.05707662e-01 9.94378377e-01 -6.12643022e-03 -1.66655478e+00] [-7.89158296e-02 -2.24733341e-03 9.96878750e-01 -8.24580208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.166296757 meters 0.07135134349158732 Centerline is valid? [True, True] Translation: X:71.55, Y:-1.67, Z:-8.26 [[ 9.91356723e-01 1.04499041e-01 7.93208542e-02 7.15510803e+01] [-1.04337057e-01 9.94522697e-01 -6.19540104e-03 -1.66867967e+00] [-7.95338034e-02 -2.13425204e-03 9.96829885e-01 -8.25864843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.226296757 meters 0.06968880694228592 Centerline is valid? [True, True] Translation: X:71.61, Y:-1.68, Z:-8.26 [[ 9.91899015e-01 9.95510344e-02 7.89046030e-02 7.16122128e+01] [-9.93732151e-02 9.95030998e-01 -6.18685110e-03 -1.68399974e+00] [-7.91284333e-02 -1.70427257e-03 9.96862973e-01 -8.25872912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28629675699999 meters 0.06941732506682838 Centerline is valid? [True, True] Translation: X:71.67, Y:-1.69, Z:-8.27 [[ 9.92322270e-01 9.44979699e-02 7.97912711e-02 7.16717579e+01] [-9.42994014e-02 9.95524191e-01 -6.26157566e-03 -1.69220692e+00] [-8.00258469e-02 -1.31076813e-03 9.96791927e-01 -8.26566281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34629675699999 meters 0.06847496338445735 Centerline is valid? [True, True] Translation: X:71.73, Y:-1.70, Z:-8.27 [[ 9.92393525e-01 9.05236605e-02 8.34299643e-02 7.17322445e+01] [-9.02915317e-02 9.95893779e-01 -6.55902109e-03 -1.70216526e+00] [-8.36811290e-02 -1.02388921e-03 9.96492057e-01 -8.27103251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40629675699999 meters 0.0683236779823356 Centerline is valid? [True, True] Translation: X:71.79, Y:-1.71, Z:-8.28 [[ 9.92578884e-01 8.87592944e-02 8.31200755e-02 7.17932799e+01] [-8.85231426e-02 9.96052719e-01 -6.52952353e-03 -1.70960182e+00] [-8.33715331e-02 -8.76983111e-04 9.96518148e-01 -8.27911594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.466296757 meters 0.06895753500814185 Centerline is valid? [True, True] Translation: X:71.85, Y:-1.71, Z:-8.29 [[ 9.92589687e-01 9.09083657e-02 8.06311531e-02 7.18545792e+01] [-9.06912421e-02 9.95858759e-01 -6.35859160e-03 -1.71376489e+00] [-8.08752892e-02 -1.00106698e-03 9.96723726e-01 -8.28732783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.526296757 meters 0.06911510397680087 Centerline is valid? [True, True] Translation: X:71.92, Y:-1.72, Z:-8.29 [[ 9.92385737e-01 9.34271519e-02 8.02615483e-02 7.19160559e+01] [-9.32202625e-02 9.95625394e-01 -6.32913266e-03 -1.71863179e+00] [-8.05017485e-02 -1.20106163e-03 9.96753744e-01 -8.29319312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.586296757 meters 0.07019192741024957 Centerline is valid? [True, True] Translation: X:71.98, Y:-1.72, Z:-8.30 [[ 9.91363128e-01 1.03059925e-01 8.11036423e-02 7.19755284e+01] [-1.02878505e-01 9.94673187e-01 -6.42372681e-03 -1.71617853e+00] [-8.13336472e-02 -1.97557557e-03 9.96684973e-01 -8.30331918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64629675699999 meters 0.07138897612023562 Centerline is valid? [True, True] Translation: X:72.04, Y:-1.72, Z:-8.31 [[ 9.90522198e-01 1.10884143e-01 8.10585155e-02 7.20365741e+01] [-1.10729127e-01 9.93829893e-01 -6.41903191e-03 -1.71552298e+00] [-8.12701446e-02 -2.61734508e-03 9.96688674e-01 -8.31123668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70629675699999 meters 0.07223823984855926 Centerline is valid? [True, True] Translation: X:72.10, Y:-1.72, Z:-8.32 [[ 9.90216513e-01 1.14430535e-01 7.98555574e-02 7.20966975e+01] [-1.14291321e-01 9.93427130e-01 -6.32698747e-03 -1.71917407e+00] [-8.00546777e-02 -2.86170964e-03 9.96786366e-01 -8.31915402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76629675699999 meters 0.07292397330848076 Centerline is valid? [True, True] Translation: X:72.16, Y:-1.72, Z:-8.33 [[ 9.89885690e-01 1.17150162e-01 8.00134972e-02 7.21582261e+01] [-1.17019280e-01 9.93109412e-01 -6.33914683e-03 -1.72439140e+00] [-8.02047892e-02 -3.08809113e-03 9.96773623e-01 -8.32565302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.826296757 meters 0.07301610707940294 Centerline is valid? [True, True] Translation: X:72.22, Y:-1.73, Z:-8.33 [[ 9.89486117e-01 1.17512896e-01 8.43086241e-02 7.22193510e+01] [-1.17368299e-01 9.93065944e-01 -6.68678024e-03 -1.72970475e+00] [-8.45098063e-02 -3.27868357e-03 9.96417253e-01 -8.33010876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.886296757 meters 0.07302576497658772 Centerline is valid? [True, True] Translation: X:72.28, Y:-1.74, Z:-8.34 [[ 9.89560499e-01 1.17239743e-01 8.38144477e-02 7.22815280e+01] [-1.17096236e-01 9.93098354e-01 -6.64307937e-03 -1.73699165e+00] [-8.40148230e-02 -3.24062741e-03 9.96459235e-01 -8.33725762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.946296757 meters 0.07258965506445347 Centerline is valid? [True, True] Translation: X:72.34, Y:-1.75, Z:-8.35 [[ 9.89904707e-01 1.15052450e-01 8.27744216e-02 7.23431556e+01] [-1.14902452e-01 9.93354924e-01 -6.58947762e-03 -1.74574147e+00] [-8.29825148e-02 -2.98802905e-03 9.96546524e-01 -8.34501024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.006296757 meters 0.07180277187924024 Centerline is valid? [True, True] Translation: X:72.40, Y:-1.75, Z:-8.35 [[ 9.89900501e-01 1.11931338e-01 8.69963962e-02 7.24036157e+01] [-1.11752763e-01 9.93711838e-01 -6.93568355e-03 -1.75484059e+00] [-8.72256691e-02 -2.85645104e-03 9.96184483e-01 -8.34989937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06629675699999 meters 0.07151499310907064 Centerline is valid? [True, True] Translation: X:72.47, Y:-1.76, Z:-8.36 [[ 9.89529898e-01 1.12394775e-01 9.05427826e-02 7.24650667e+01] [-1.12203550e-01 9.93659046e-01 -7.21557408e-03 -1.75964689e+00] [-9.07796478e-02 -3.01919531e-03 9.95866427e-01 -8.35529624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12629675699999 meters 0.07278134454749269 Centerline is valid? [True, True] Translation: X:72.53, Y:-1.76, Z:-8.36 [[ 9.88727338e-01 1.18662364e-01 9.13098805e-02 7.25257505e+01] [-1.18491941e-01 9.92928146e-01 -7.30456304e-03 -1.75552662e+00] [-9.15309271e-02 -3.59726384e-03 9.95795737e-01 -8.36284677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.186296757 meters 0.07321983343365905 Centerline is valid? [True, True] Translation: X:72.59, Y:-1.76, Z:-8.37 [[ 9.88399125e-01 1.22720773e-01 8.94806267e-02 7.25864888e+01] [-1.22573308e-01 9.92433619e-01 -7.16211242e-03 -1.75855426e+00] [-8.96825222e-02 -3.88891076e-03 9.95962811e-01 -8.36965779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.246296757 meters 0.07457054036203462 Centerline is valid? [True, True] Translation: X:72.65, Y:-1.76, Z:-8.38 [[ 9.87888812e-01 1.27759269e-01 8.80526226e-02 7.26470410e+01] [-1.27636257e-01 9.91795994e-01 -7.04919869e-03 -1.75810038e+00] [-8.82308388e-02 -4.27488268e-03 9.96090882e-01 -8.37823510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.306296757 meters 0.0762242497365803 Centerline is valid? [True, True] Translation: X:72.71, Y:-1.76, Z:-8.39 [[ 9.87489748e-01 1.31822427e-01 8.65265596e-02 7.27076788e+01] [-1.31718954e-01 9.91262883e-01 -6.92922507e-03 -1.75708062e+00] [-8.66839942e-02 -4.55464920e-03 9.96225447e-01 -8.38795354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.366296757 meters 0.07625677437817047 Centerline is valid? [True, True] Translation: X:72.77, Y:-1.76, Z:-8.39 [[ 9.87545929e-01 1.32213899e-01 8.52790884e-02 7.27685412e+01] [-1.32115184e-01 9.91210873e-01 -6.82514182e-03 -1.76371922e+00] [-8.54319383e-02 -4.52652146e-03 9.96333726e-01 -8.39499958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42629675699999 meters 0.07523036628430613 Centerline is valid? [True, True] Translation: X:72.83, Y:-1.77, Z:-8.40 [[ 9.87903514e-01 1.31139318e-01 8.27594496e-02 7.28303565e+01] [-1.31041173e-01 9.91354688e-01 -6.64024573e-03 -1.77170081e+00] [-8.29147656e-02 -4.28497321e-03 9.96547430e-01 -8.40178424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48629675699999 meters 0.07457646939017364 Centerline is valid? [True, True] Translation: X:72.89, Y:-1.78, Z:-8.41 [[ 9.88191177e-01 1.28431929e-01 8.35669670e-02 7.28912241e+01] [-1.28319580e-01 9.91709990e-01 -6.73652826e-03 -1.77913003e+00] [-8.37393814e-02 -4.06630029e-03 9.96479393e-01 -8.40735084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.546296757 meters 0.07366761458720647 Centerline is valid? [True, True] Translation: X:72.95, Y:-1.79, Z:-8.41 [[ 9.88552004e-01 1.23953870e-01 8.60254245e-02 7.29511310e+01] [-1.23817282e-01 9.92280749e-01 -6.94232715e-03 -1.78673273e+00] [-8.62219010e-02 -3.78858286e-03 9.96268754e-01 -8.41238530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.606296757 meters 0.07273934523935545 Centerline is valid? [True, True] Translation: X:73.01, Y:-1.80, Z:-8.42 [[ 9.89310313e-01 1.17970065e-01 8.57214625e-02 7.30113915e+01] [-1.17812035e-01 9.93011817e-01 -6.91784482e-03 -1.79546378e+00] [-8.59385238e-02 -3.25512469e-03 9.96295124e-01 -8.42018153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.666296757 meters 0.07194204604676378 Centerline is valid? [True, True] Translation: X:73.07, Y:-1.80, Z:-8.43 [[ 9.89583729e-01 1.13564997e-01 8.84705302e-02 7.30720465e+01] [-1.13378902e-01 9.93526151e-01 -7.14223333e-03 -1.80163933e+00] [-8.87088931e-02 -2.96285372e-03 9.96053188e-01 -8.42747951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.726296757 meters 0.07217520237099735 Centerline is valid? [True, True] Translation: X:73.13, Y:-1.80, Z:-8.43 [[ 9.88975579e-01 1.16159628e-01 9.18381459e-02 7.31345786e+01] [-1.15970556e-01 9.93225004e-01 -7.41085535e-03 -1.80238894e+00] [-9.20767851e-02 -3.32136589e-03 9.95746370e-01 -8.43296596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78629675699999 meters 0.07336113556585881 Centerline is valid? [True, True] Translation: X:73.20, Y:-1.80, Z:-8.44 [[ 9.88458530e-01 1.21671213e-01 9.02543618e-02 7.31950781e+01] [-1.21508732e-01 9.92563421e-01 -7.31325204e-03 -1.79964816e+00] [-9.04729903e-02 -3.73784669e-03 9.95891895e-01 -8.44236061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84629675699999 meters 0.07580189472353135 Centerline is valid? [True, True] Translation: X:73.26, Y:-1.79, Z:-8.45 [[ 9.87959657e-01 1.28178056e-01 8.66377653e-02 7.32559710e+01] [-1.28053073e-01 9.91742459e-01 -7.02176124e-03 -1.79431364e+00] [-8.68223862e-02 -4.15701529e-03 9.96215134e-01 -8.45393352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90629675699999 meters 0.07759700044891552 Centerline is valid? [True, True] Translation: X:73.32, Y:-1.79, Z:-8.46 [[ 9.87390755e-01 1.31972138e-01 8.74234058e-02 7.33165095e+01] [-1.31859408e-01 9.91243082e-01 -7.08859327e-03 -1.79275190e+00] [-8.75933431e-02 -4.52838706e-03 9.96146023e-01 -8.46172017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.966296757 meters 0.07873832284566544 Centerline is valid? [True, True] Translation: X:73.38, Y:-1.79, Z:-8.47 [[ 9.86957146e-01 1.33576638e-01 8.98491749e-02 7.33775650e+01] [-1.33464315e-01 9.91026850e-01 -7.28415974e-03 -1.79268284e+00] [-9.00159383e-02 -4.80250503e-03 9.95928746e-01 -8.46657281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.026296757 meters 0.07675837593694655 Centerline is valid? [True, True] Translation: X:73.44, Y:-1.80, Z:-8.47 [[ 9.86755871e-01 1.35642440e-01 8.89605470e-02 7.34375986e+01] [-1.35539573e-01 9.90745595e-01 -7.22433861e-03 -1.80287849e+00] [-8.91171969e-02 -4.92901599e-03 9.96008951e-01 -8.47007785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.086296757 meters 0.07696072602682151 Centerline is valid? [True, True] Translation: X:73.50, Y:-1.81, Z:-8.48 [[ 9.86484810e-01 1.36698766e-01 9.03391758e-02 7.34998836e+01] [-1.36596761e-01 9.90599539e-01 -7.34016277e-03 -1.80721817e+00] [-9.04933371e-02 -5.09907976e-03 9.95884007e-01 -8.47617600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14629675699999 meters 0.07594474842053714 Centerline is valid? [True, True] Translation: X:73.56, Y:-1.81, Z:-8.48 [[ 9.86408088e-01 1.36692195e-01 9.11829361e-02 7.35621376e+01] [-1.36585469e-01 9.90600357e-01 -7.43917674e-03 -1.81143699e+00] [-9.13427265e-02 -5.11620001e-03 9.95806372e-01 -8.48163225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20629675699999 meters 0.07747263660103135 Centerline is valid? [True, True] Translation: X:73.62, Y:-1.81, Z:-8.49 [[ 9.86425584e-01 1.36803728e-01 9.08256945e-02 7.36240801e+01] [-1.36697422e-01 9.90585061e-01 -7.41965197e-03 -1.80806422e+00] [-9.09856122e-02 -5.09670374e-03 9.95839165e-01 -8.49277782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26629675699999 meters 0.07719192949757964 Centerline is valid? [True, True] Translation: X:73.69, Y:-1.81, Z:-8.50 [[ 9.86460363e-01 1.36052439e-01 9.15733914e-02 7.36857108e+01] [-1.35938780e-01 9.90688800e-01 -7.50665449e-03 -1.81094146e+00] [-9.17420319e-02 -5.04335795e-03 9.95770036e-01 -8.49912353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.326296757 meters 0.07611799314655261 Centerline is valid? [True, True] Translation: X:73.75, Y:-1.81, Z:-8.51 [[ 9.86920106e-01 1.33644486e-01 9.01546164e-02 7.37471751e+01] [-1.33521872e-01 9.91018111e-01 -7.41710670e-03 -1.81447213e+00] [-9.03361131e-02 -4.71752141e-03 9.95900161e-01 -8.50524672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.386296757 meters 0.07661453196145204 Centerline is valid? [True, True] Translation: X:73.81, Y:-1.81, Z:-8.51 [[ 9.87123469e-01 1.32226727e-01 9.00186043e-02 7.38076285e+01] [-1.32098549e-01 9.91208916e-01 -7.40661518e-03 -1.81490525e+00] [-9.02065957e-02 -4.58008331e-03 9.95912543e-01 -8.51311606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.446296757 meters 0.07493774884454332 Centerline is valid? [True, True] Translation: X:73.87, Y:-1.82, Z:-8.52 [[ 9.87337227e-01 1.31005787e-01 8.94577210e-02 7.38697343e+01] [-1.30872167e-01 9.91371760e-01 -7.38310207e-03 -1.82338624e+00] [-8.96530874e-02 -4.41791424e-03 9.95963255e-01 -8.51620316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.506296757 meters 0.07507589939908686 Centerline is valid? [True, True] Translation: X:73.93, Y:-1.82, Z:-8.52 [[ 9.87179102e-01 1.32437992e-01 8.90932014e-02 7.39309778e+01] [-1.32310379e-01 9.91180989e-01 -7.36283684e-03 -1.81915547e+00] [-8.92826068e-02 -4.51951656e-03 9.95996079e-01 -8.52487740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56629675699999 meters 0.07440662317456981 Centerline is valid? [True, True] Translation: X:73.99, Y:-1.82, Z:-8.53 [[ 9.87182725e-01 1.33641053e-01 8.72372434e-02 7.39920362e+01] [-1.33521642e-01 9.91019532e-01 -7.22896737e-03 -1.82441270e+00] [-8.74198989e-02 -4.51174828e-03 9.96161335e-01 -8.53245145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62629675699999 meters 0.07576943325494455 Centerline is valid? [True, True] Translation: X:74.05, Y:-1.82, Z:-8.54 [[ 9.86842606e-01 1.37374962e-01 8.52630707e-02 7.40527530e+01] [-1.37272560e-01 9.90507933e-01 -7.09074810e-03 -1.82139241e+00] [-8.54278392e-02 -4.70682768e-03 9.96333242e-01 -8.54125644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.686296757 meters 0.07648758666760208 Centerline is valid? [True, True] Translation: X:74.11, Y:-1.82, Z:-8.55 [[ 9.86515774e-01 1.39974300e-01 8.48164024e-02 7.41140338e+01] [-1.39882391e-01 9.90142991e-01 -7.05508965e-03 -1.82198473e+00] [-8.49678976e-02 -4.90436391e-03 9.96371619e-01 -8.54765993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.746296757 meters 0.07774823929469749 Centerline is valid? [True, True] Translation: X:74.17, Y:-1.82, Z:-8.56 [[ 9.86431230e-01 1.41706742e-01 8.29013102e-02 7.41745358e+01] [-1.41624781e-01 9.89896375e-01 -6.89836460e-03 -1.82084036e+00] [-8.30412512e-02 -4.93611764e-03 9.96533886e-01 -8.55604359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.806296757 meters 0.07549590823546047 Centerline is valid? [True, True] Translation: X:74.24, Y:-1.83, Z:-8.56 [[ 9.86641655e-01 1.40149448e-01 8.30444295e-02 7.42350881e+01] [-1.40061396e-01 9.90118680e-01 -6.91411475e-03 -1.83442401e+00] [-8.31928502e-02 -4.80956511e-03 9.96521860e-01 -8.55695694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.866296757 meters 0.07441113723563765 Centerline is valid? [True, True] Translation: X:74.30, Y:-1.84, Z:-8.56 [[ 9.86857121e-01 1.36913266e-01 8.58357727e-02 7.42952533e+01] [-1.36806742e-01 9.90571952e-01 -7.15008587e-03 -1.83977703e+00] [-8.60054505e-02 -4.68679928e-03 9.96283643e-01 -8.56361377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92629675699999 meters 0.07425502044376799 Centerline is valid? [True, True] Translation: X:74.35, Y:-1.85, Z:-8.57 [[ 9.87668161e-01 1.31764520e-01 8.45559883e-02 7.43545700e+01] [-1.31642123e-01 9.91272266e-01 -7.04599169e-03 -1.84670552e+00] [-8.47464178e-02 -4.17202816e-03 9.96393817e-01 -8.57119649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98629675699999 meters 0.07143628012504342 Centerline is valid? [True, True] Translation: X:74.42, Y:-1.86, Z:-8.57 [[ 9.88767038e-01 1.23338395e-01 8.44238430e-02 7.44151538e+01] [-1.23185779e-01 9.92358694e-01 -7.03463717e-03 -1.86218567e+00] [-8.46463755e-02 -3.44419952e-03 9.96405103e-01 -8.57379478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.046296757 meters 0.07137687942723796 Centerline is valid? [True, True] Translation: X:74.48, Y:-1.87, Z:-8.58 [[ 9.89370222e-01 1.18614868e-01 8.41253702e-02 7.44755616e+01] [-1.18445927e-01 9.92935730e-01 -7.01414439e-03 -1.86541993e+00] [-8.43630677e-02 -3.02472185e-03 9.96430491e-01 -8.58278421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.106296757 meters 0.07089980945198905 Centerline is valid? [True, True] Translation: X:74.54, Y:-1.87, Z:-8.59 [[ 9.89722484e-01 1.15094773e-01 8.48681202e-02 7.45361892e+01] [-1.14909703e-01 9.93350719e-01 -7.07873197e-03 -1.87387457e+00] [-8.51185333e-02 -2.74619028e-03 9.96367048e-01 -8.58957837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.166296757 meters 0.07002033131878561 Centerline is valid? [True, True] Translation: X:74.60, Y:-1.88, Z:-8.59 [[ 9.89638198e-01 1.12612155e-01 8.90771543e-02 7.45971641e+01] [-1.12397929e-01 9.93635471e-01 -7.43342256e-03 -1.88300350e+00] [-8.93473139e-02 -2.65568876e-03 9.95996990e-01 -8.59243631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.226296757 meters 0.07157329836903982 Centerline is valid? [True, True] Translation: X:74.66, Y:-1.88, Z:-8.60 [[ 9.89364576e-01 1.17295991e-01 8.60196819e-02 7.46572921e+01] [-1.17113617e-01 9.93092560e-01 -7.18104879e-03 -1.87517735e+00] [-8.62678144e-02 -2.96940081e-03 9.96267558e-01 -8.60417705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28629675699999 meters 0.07179693389728954 Centerline is valid? [True, True] Translation: X:74.72, Y:-1.88, Z:-8.61 [[ 9.89196305e-01 1.19790399e-01 8.45040234e-02 7.47180024e+01] [-1.19623543e-01 9.92794266e-01 -7.05356277e-03 -1.88322432e+00] [-8.47400590e-02 -3.13131242e-03 9.96398172e-01 -8.60947848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34629675699999 meters 0.07266750449562481 Centerline is valid? [True, True] Translation: X:74.78, Y:-1.88, Z:-8.62 [[ 9.88725292e-01 1.24471085e-01 8.32420984e-02 7.47789206e+01] [-1.24325454e-01 9.92217146e-01 -6.95109294e-03 -1.88151599e+00] [-8.34594473e-02 -3.47639027e-03 9.96505111e-01 -8.61953114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40629675699999 meters 0.07464250970493518 Centerline is valid? [True, True] Translation: X:74.84, Y:-1.88, Z:-8.63 [[ 9.87597219e-01 1.32114660e-01 8.48377836e-02 7.48404200e+01] [-1.31991183e-01 9.91225551e-01 -7.08766113e-03 -1.87643911e+00] [-8.50297627e-02 -4.19808497e-03 9.96369568e-01 -8.62721360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.466296757 meters 0.0750022123378021 Centerline is valid? [True, True] Translation: X:74.90, Y:-1.88, Z:-8.63 [[ 9.87369056e-01 1.33401852e-01 8.54768598e-02 7.49016472e+01] [-1.33281611e-01 9.91052505e-01 -7.13761832e-03 -1.88169703e+00] [-8.56642275e-02 -4.34503008e-03 9.96314589e-01 -8.63170491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.526296757 meters 0.0741246437940542 Centerline is valid? [True, True] Translation: X:74.96, Y:-1.89, Z:-8.64 [[ 9.87368704e-01 1.33421887e-01 8.54496464e-02 7.49628830e+01] [-1.33300207e-01 9.91049886e-01 -7.15384013e-03 -1.88763827e+00] [-8.56393412e-02 -4.32697770e-03 9.96316807e-01 -8.63792640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.586296757 meters 0.07490101746252488 Centerline is valid? [True, True] Translation: X:75.02, Y:-1.89, Z:-8.65 [[ 9.87391401e-01 1.32302925e-01 8.69146599e-02 7.50230911e+01] [-1.32170341e-01 9.91200108e-01 -7.30389240e-03 -1.88918180e+00] [-8.71161466e-02 -4.27573968e-03 9.96188986e-01 -8.64635360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64629675699999 meters 0.07290365187745246 Centerline is valid? [True, True] Translation: X:75.08, Y:-1.90, Z:-8.65 [[ 9.87376614e-01 1.28696524e-01 9.23289055e-02 7.50837948e+01] [-1.28530929e-01 9.91675120e-01 -7.76254782e-03 -1.90105402e+00] [-9.25592914e-02 -4.20256181e-03 9.95698306e-01 -8.64772169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70629675699999 meters 0.07258090618498357 Centerline is valid? [True, True] Translation: X:75.14, Y:-1.91, Z:-8.66 [[ 9.88042579e-01 1.24012915e-01 9.16114577e-02 7.51428806e+01] [-1.23829581e-01 9.92273587e-01 -7.70471910e-03 -1.90687401e+00] [-9.18591145e-02 -3.73161794e-03 9.95765022e-01 -8.65598129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76629675699999 meters 0.07179616849503699 Centerline is valid? [True, True] Translation: X:75.20, Y:-1.91, Z:-8.66 [[ 9.88529734e-01 1.20741792e-01 9.07214653e-02 7.52035841e+01] [-1.20548259e-01 9.92678146e-01 -7.62994431e-03 -1.91462726e+00] [-9.09784691e-02 -3.39388788e-03 9.95847076e-01 -8.66150867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.826296757 meters 0.07183083823015676 Centerline is valid? [True, True] Translation: X:75.27, Y:-1.92, Z:-8.67 [[ 9.88557119e-01 1.20730576e-01 9.04375505e-02 7.52653142e+01] [-1.20538435e-01 9.92679541e-01 -7.60353697e-03 -1.92019388e+00] [-9.06934856e-02 -3.38467021e-03 9.95873102e-01 -8.66963758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.886296757 meters 0.07220441796174805 Centerline is valid? [True, True] Translation: X:75.33, Y:-1.92, Z:-8.68 [[ 9.88198132e-01 1.24146450e-01 8.97335510e-02 7.53256255e+01] [-1.23968597e-01 9.92257233e-01 -7.57439686e-03 -1.92166717e+00] [-8.99790995e-02 -3.63913755e-03 9.95937005e-01 -8.67711244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.946296757 meters 0.07213900992450187 Centerline is valid? [True, True] Translation: X:75.39, Y:-1.93, Z:-8.68 [[ 9.87683858e-01 1.27168342e-01 9.11526705e-02 7.53871808e+01] [-1.26997309e-01 9.91873191e-01 -7.69782794e-03 -1.92689331e+00] [-9.13908102e-02 -3.97312344e-03 9.95807177e-01 -8.68326771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.006296757 meters 0.0730553450291245 Centerline is valid? [True, True] Translation: X:75.45, Y:-1.93, Z:-8.69 [[ 9.87300592e-01 1.30581798e-01 9.04761539e-02 7.54472653e+01] [-1.30426905e-01 9.91428431e-01 -7.64782513e-03 -1.92789285e+00] [-9.06992981e-02 -4.24982248e-03 9.95869257e-01 -8.69248853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06629675699999 meters 0.07554965244441154 Centerline is valid? [True, True] Translation: X:75.51, Y:-1.93, Z:-8.70 [[ 9.86612179e-01 1.35371872e-01 9.09442902e-02 7.55065563e+01] [-1.35235296e-01 9.90783661e-01 -7.69096329e-03 -1.92668150e+00] [-9.11472569e-02 -4.71087994e-03 9.95826283e-01 -8.70151795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12629675699999 meters 0.07524365543949654 Centerline is valid? [True, True] Translation: X:75.57, Y:-1.93, Z:-8.71 [[ 9.86306455e-01 1.37010673e-01 9.18022466e-02 7.55682438e+01] [-1.36878410e-01 9.90557419e-01 -7.76538837e-03 -1.93304504e+00] [-9.19993375e-02 -4.90669284e-03 9.95746979e-01 -8.70620792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.186296757 meters 0.07419216347692598 Centerline is valid? [True, True] Translation: X:75.63, Y:-1.94, Z:-8.71 [[ 9.86555130e-01 1.34971084e-01 9.21508676e-02 7.56284042e+01] [-1.34826440e-01 9.90838355e-01 -7.82207137e-03 -1.94307666e+00] [-9.23623676e-02 -4.70746884e-03 9.95714333e-01 -8.71282760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.246296757 meters 0.0743198182788641 Centerline is valid? [True, True] Translation: X:75.69, Y:-1.95, Z:-8.72 [[ 9.86904342e-01 1.33397160e-01 9.06918843e-02 7.56900695e+01] [-1.33250245e-01 9.91052511e-01 -7.70018616e-03 -1.95290893e+00] [-9.09076027e-02 -4.48536868e-03 9.95849230e-01 -8.71951080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.306296757 meters 0.07401849120056786 Centerline is valid? [True, True] Translation: X:75.75, Y:-1.96, Z:-8.73 [[ 9.87323576e-01 1.28620771e-01 9.29992096e-02 7.57494623e+01] [-1.28444250e-01 9.91685215e-01 -7.90631150e-03 -1.95855804e+00] [-9.32428570e-02 -4.13912598e-03 9.95634791e-01 -8.72682434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.366296757 meters 0.07300190689976904 Centerline is valid? [True, True] Translation: X:75.81, Y:-1.97, Z:-8.73 [[ 9.87638012e-01 1.24741925e-01 9.49242256e-02 7.58095217e+01] [-1.24540183e-01 9.92181746e-01 -8.07003522e-03 -1.97268276e+00] [-9.51887556e-02 -3.85160687e-03 9.95451790e-01 -8.73045532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42629675699999 meters 0.07343630860244597 Centerline is valid? [True, True] Translation: X:75.87, Y:-1.98, Z:-8.74 [[ 9.87820788e-01 1.24621306e-01 9.31644796e-02 7.58690469e+01] [-1.24426435e-01 9.92197224e-01 -7.92035182e-03 -1.97817282e+00] [-9.34245826e-02 -3.76823585e-03 9.95619228e-01 -8.74124753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48629675699999 meters 0.07390506095113243 Centerline is valid? [True, True] Translation: X:75.93, Y:-1.98, Z:-8.75 [[ 9.87425212e-01 1.27610315e-01 9.33116230e-02 7.59299453e+01] [-1.27426520e-01 9.91816153e-01 -7.94984533e-03 -1.98029859e+00] [-9.35624572e-02 -4.04049770e-03 9.95605213e-01 -8.74992940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.546296757 meters 0.07463510632176645 Centerline is valid? [True, True] Translation: X:75.99, Y:-1.99, Z:-8.76 [[ 9.86955455e-01 1.30103260e-01 9.48265331e-02 7.59902311e+01] [-1.29922612e-01 9.91491026e-01 -8.10304977e-03 -1.98686398e+00] [-9.50738898e-02 -4.32276171e-03 9.95460833e-01 -8.75504559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.606296757 meters 0.07621441097958831 Centerline is valid? [True, True] Translation: X:76.05, Y:-1.99, Z:-8.77 [[ 9.86748441e-01 1.34153811e-01 9.12703055e-02 7.60506991e+01] [-1.34002491e-01 9.90950204e-01 -7.81193579e-03 -1.98745973e+00] [-9.14923288e-02 -4.52203280e-03 9.95795514e-01 -8.76508279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.666296757 meters 0.07689640308789181 Centerline is valid? [True, True] Translation: X:76.11, Y:-1.99, Z:-8.78 [[ 9.86772852e-01 1.35641682e-01 8.87731557e-02 7.61104565e+01] [-1.35504153e-01 9.90747614e-01 -7.60199119e-03 -1.99129916e+00] [-8.89829391e-02 -4.52769277e-03 9.96022859e-01 -8.77591267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.726296757 meters 0.0750965818733667 Centerline is valid? [True, True] Translation: X:76.17, Y:-2.01, Z:-8.78 [[ 9.87553973e-01 1.28714343e-01 9.03867681e-02 7.61704915e+01] [-1.28542795e-01 9.91673750e-01 -7.74103050e-03 -2.00944610e+00] [-9.06305669e-02 -3.97388239e-03 9.95876653e-01 -8.78182686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78629675699999 meters 0.07293913412403133 Centerline is valid? [True, True] Translation: X:76.23, Y:-2.03, Z:-8.79 [[ 9.88596150e-01 1.17844887e-01 9.37562472e-02 7.62306063e+01] [-1.17611099e-01 9.93027227e-01 -8.03468419e-03 -2.02646955e+00] [-9.40493526e-02 -3.08371740e-03 9.95562760e-01 -8.78620428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84629675699999 meters 0.07162300984356233 Centerline is valid? [True, True] Translation: X:76.29, Y:-2.04, Z:-8.79 [[ 9.89593822e-01 1.09019403e-01 9.39086651e-02 7.62898753e+01] [-1.08744964e-01 9.94037085e-01 -8.05020992e-03 -2.04446630e+00] [-9.42263249e-02 -2.24565642e-03 9.95548269e-01 -8.79246715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90629675699999 meters 0.07125001308429249 Centerline is valid? [True, True] Translation: X:76.35, Y:-2.06, Z:-8.80 [[ 9.90307576e-01 1.03451045e-01 9.26757089e-02 7.63499094e+01] [-1.03159253e-01 9.94633109e-01 -7.94647087e-03 -2.05657503e+00] [-9.30003992e-02 -1.69090664e-03 9.95664636e-01 -8.80036036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.966296757 meters 0.07098828061748053 Centerline is valid? [True, True] Translation: X:76.41, Y:-2.07, Z:-8.81 [[ 9.90494631e-01 1.01017924e-01 9.33582643e-02 7.64112674e+01] [-1.00711138e-01 9.94883513e-01 -8.00384605e-03 -2.06515101e+00] [-9.36891299e-02 -1.47445052e-03 9.95600408e-01 -8.80713353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.026296757 meters 0.07092130670257886 Centerline is valid? [True, True] Translation: X:76.47, Y:-2.07, Z:-8.81 [[ 9.90519027e-01 1.00375239e-01 9.37916285e-02 7.64728919e+01] [-1.00060536e-01 9.94948672e-01 -8.06410835e-03 -2.07485240e+00] [-9.41272930e-02 -1.39718786e-03 9.95559190e-01 -8.81233542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.086296757 meters 0.07122166786192871 Centerline is valid? [True, True] Translation: X:76.53, Y:-2.07, Z:-8.82 [[ 9.90312652e-01 1.03048424e-01 9.30691824e-02 7.65329591e+01] [-1.02747788e-01 9.94675035e-01 -8.02907480e-03 -2.07490227e+00] [-9.34009758e-02 -1.61135831e-03 9.95627270e-01 -8.82215057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14629675699999 meters 0.07204089382075128 Centerline is valid? [True, True] Translation: X:76.59, Y:-2.07, Z:-8.83 [[ 9.89733764e-01 1.09925132e-01 9.13429936e-02 7.65943374e+01] [-1.09664459e-01 9.93937403e-01 -7.88328138e-03 -2.07200051e+00] [-9.16557885e-02 -2.21473019e-03 9.95788286e-01 -8.83041937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20629675699999 meters 0.07250617983272624 Centerline is valid? [True, True] Translation: X:76.66, Y:-2.07, Z:-8.84 [[ 9.89147943e-01 1.15022438e-01 9.14121718e-02 7.66555003e+01] [-1.14782768e-01 9.93359263e-01 -7.89244085e-03 -2.07347021e+00] [-9.17129354e-02 -2.68575047e-03 9.95781866e-01 -8.83584903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26629675699999 meters 0.07448254605937715 Centerline is valid? [True, True] Translation: X:76.72, Y:-2.06, Z:-8.84 [[ 9.88065895e-01 1.24957120e-01 9.00638957e-02 7.67169285e+01] [-1.24765232e-01 9.92155792e-01 -7.77959108e-03 -2.06369377e+00] [-9.03295310e-02 -3.55009418e-03 9.95905604e-01 -8.84284341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.326296757 meters 0.07513083608692557 Centerline is valid? [True, True] Translation: X:76.78, Y:-2.06, Z:-8.85 [[ 9.87718877e-01 1.28404260e-01 8.90155394e-02 7.67775998e+01] [-1.28230702e-01 9.91714555e-01 -7.68953499e-03 -2.06447730e+00] [-8.92653751e-02 -3.81942628e-03 9.96000555e-01 -8.85115820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.386296757 meters 0.07636428065570752 Centerline is valid? [True, True] Translation: X:76.84, Y:-2.07, Z:-8.86 [[ 9.87564807e-01 1.30287604e-01 8.79823379e-02 7.68384380e+01] [-1.30125573e-01 9.91468399e-01 -7.59931103e-03 -2.06592802e+00] [-8.82218037e-02 -3.94394003e-03 9.96093047e-01 -8.85985783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.446296757 meters 0.07502163723463737 Centerline is valid? [True, True] Translation: X:76.90, Y:-2.07, Z:-8.86 [[ 9.87502074e-01 1.30703319e-01 8.80698396e-02 7.69004288e+01] [-1.30541031e-01 9.91413588e-01 -7.62471070e-03 -2.07237470e+00] [-8.83102107e-02 -3.96731005e-03 9.96085120e-01 -8.86498283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.506296757 meters 0.07441601712174925 Centerline is valid? [True, True] Translation: X:76.96, Y:-2.08, Z:-8.87 [[ 9.88234919e-01 1.26301812e-01 8.62531027e-02 7.69606681e+01] [-1.26126784e-01 9.91985795e-01 -7.49783204e-03 -2.08047158e+00] [-8.65088424e-02 -3.46920700e-03 9.96245043e-01 -8.87123760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56629675699999 meters 0.07286117667398116 Centerline is valid? [True, True] Translation: X:77.02, Y:-2.09, Z:-8.88 [[ 9.89045299e-01 1.18487603e-01 8.80345637e-02 7.70212045e+01] [-1.18274143e-01 9.92951469e-01 -7.65556697e-03 -2.09283198e+00] [-8.83211391e-02 -2.84051002e-03 9.96088002e-01 -8.87652700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62629675699999 meters 0.07125717196085139 Centerline is valid? [True, True] Translation: X:77.08, Y:-2.10, Z:-8.88 [[ 9.89432101e-01 1.11912242e-01 9.21941809e-02 7.70812311e+01] [-1.11649209e-01 9.93715301e-01 -8.02215375e-03 -2.10242622e+00] [-9.25125454e-02 -2.35603094e-03 9.95708732e-01 -8.88231228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.686296757 meters 0.07085316921817644 Centerline is valid? [True, True] Translation: X:77.14, Y:-2.11, Z:-8.89 [[ 9.89908281e-01 1.06951521e-01 9.29675618e-02 7.71415684e+01] [-1.06662046e-01 9.94262409e-01 -8.09135880e-03 -2.10729533e+00] [-9.32995351e-02 -1.90640730e-03 9.95636260e-01 -8.88974468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.746296757 meters 0.07075955281568755 Centerline is valid? [True, True] Translation: X:77.20, Y:-2.12, Z:-8.90 [[ 9.90196875e-01 1.03995950e-01 9.32469395e-02 7.72023927e+01] [-1.03691752e-01 9.94576379e-01 -8.11465850e-03 -2.11548463e+00] [-9.35850950e-02 -1.63382900e-03 9.95609944e-01 -8.89766035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.806296757 meters 0.0708857702965906 Centerline is valid? [True, True] Translation: X:77.26, Y:-2.12, Z:-8.91 [[ 9.89978512e-01 1.05407496e-01 9.39776845e-02 7.72642715e+01] [-1.05102779e-01 9.94427556e-01 -8.20009643e-03 -2.11587023e+00] [-9.43183507e-02 -1.75939650e-03 9.95540533e-01 -8.90591706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.866296757 meters 0.07051271187531616 Centerline is valid? [True, True] Translation: X:77.33, Y:-2.12, Z:-8.91 [[ 9.89737749e-01 1.08734041e-01 9.27151397e-02 7.73262955e+01] [-1.08449568e-01 9.94068820e-01 -8.11613334e-03 -2.11893194e+00] [-9.30477295e-02 -2.02207333e-03 9.95659596e-01 -8.90949725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92629675699999 meters 0.07151227169388934 Centerline is valid? [True, True] Translation: X:77.39, Y:-2.12, Z:-8.92 [[ 9.89268799e-01 1.15972675e-01 8.88683404e-02 7.73868319e+01] [-1.15739802e-01 9.93249047e-01 -7.78651600e-03 -2.11597969e+00] [-8.91714175e-02 -2.58264676e-03 9.96012946e-01 -8.91836625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98629675699999 meters 0.07320220586356685 Centerline is valid? [True, True] Translation: X:77.45, Y:-2.12, Z:-8.93 [[ 9.88259255e-01 1.24615119e-01 8.84008851e-02 7.74471790e+01] [-1.24418910e-01 9.92199529e-01 -7.74792284e-03 -2.11549243e+00] [-8.86768249e-02 -3.34178531e-03 9.96054844e-01 -8.92710152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.046296757 meters 0.07421106007308591 Centerline is valid? [True, True] Translation: X:77.51, Y:-2.12, Z:-8.94 [[ 9.87642818e-01 1.29709445e-01 8.79609218e-02 7.75062577e+01] [-1.29535360e-01 9.91544838e-01 -7.70867556e-03 -2.11710768e+00] [-8.82170861e-02 -3.78063166e-03 9.96094098e-01 -8.93704379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.106296757 meters 0.07438620603674376 Centerline is valid? [True, True] Translation: X:77.57, Y:-2.12, Z:-8.95 [[ 9.87645994e-01 1.29057625e-01 8.88792484e-02 7.75676388e+01] [-1.28877141e-01 9.91629966e-01 -7.79053290e-03 -2.12421917e+00] [-8.91407538e-02 -3.76021479e-03 9.96011941e-01 -8.94600136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.166296757 meters 0.07387089577456295 Centerline is valid? [True, True] Translation: X:77.63, Y:-2.14, Z:-8.95 [[ 9.88243536e-01 1.25119123e-01 8.78630646e-02 7.76284036e+01] [-1.24924943e-01 9.92136104e-01 -7.72716503e-03 -2.13786545e+00] [-8.81389348e-02 -3.33996741e-03 9.96102592e-01 -8.95177108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.226296757 meters 0.073305470195697 Centerline is valid? [True, True] Translation: X:77.69, Y:-2.15, Z:-8.96 [[ 9.88969064e-01 1.18711443e-01 8.85877161e-02 7.76874016e+01] [-1.18487896e-01 9.92924887e-01 -7.79659184e-03 -2.14898195e+00] [-8.88864927e-02 -2.78598397e-03 9.96037866e-01 -8.95981603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28629675699999 meters 0.07218589644531617 Centerline is valid? [True, True] Translation: X:77.75, Y:-2.16, Z:-8.96 [[ 9.89220502e-01 1.15673920e-01 8.97905433e-02 7.77478124e+01] [-1.15431800e-01 9.93283974e-01 -7.90226111e-03 -2.16341253e+00] [-9.01015933e-02 -2.54760533e-03 9.95929321e-01 -8.96280190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34629675699999 meters 0.07190321335174187 Centerline is valid? [True, True] Translation: X:77.81, Y:-2.17, Z:-8.97 [[ 9.89023443e-01 1.15216988e-01 9.25077029e-02 7.78095469e+01] [-1.14958088e-01 9.93336988e-01 -8.14041862e-03 -2.16906052e+00] [-9.28292375e-02 -2.58344382e-03 9.95678692e-01 -8.96916539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40629675699999 meters 0.07242598203605051 Centerline is valid? [True, True] Translation: X:77.87, Y:-2.17, Z:-8.98 [[ 9.89026590e-01 1.18271985e-01 8.85332846e-02 7.78695936e+01] [-1.18044792e-01 9.92977510e-01 -7.81607640e-03 -2.17161264e+00] [-8.88359834e-02 -2.72058578e-03 9.96042553e-01 -8.97766650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.466296757 meters 0.07300798055732272 Centerline is valid? [True, True] Translation: X:77.93, Y:-2.18, Z:-8.98 [[ 9.89097451e-01 1.20275268e-01 8.49711317e-02 7.79296802e+01] [-1.20073305e-01 9.92736681e-01 -7.50220499e-03 -2.17904299e+00] [-8.52562890e-02 -2.78235275e-03 9.96355169e-01 -8.98466314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.526296757 meters 0.07381533162539827 Centerline is valid? [True, True] Translation: X:77.99, Y:-2.18, Z:-8.99 [[ 9.88829962e-01 1.23906905e-01 8.28395111e-02 7.79898234e+01] [-1.23727289e-01 9.92289273e-01 -7.31826971e-03 -2.18040562e+00] [-8.31075423e-02 -3.01298378e-03 9.96536030e-01 -8.99497284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.586296757 meters 0.074941183047202 Centerline is valid? [True, True] Translation: X:78.05, Y:-2.18, Z:-9.00 [[ 9.88509890e-01 1.27374266e-01 8.13879270e-02 7.80504025e+01] [-1.27212530e-01 9.91849416e-01 -7.19083735e-03 -2.18333749e+00] [-8.16404955e-02 -3.24535024e-03 9.96656559e-01 -9.00461699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64629675699999 meters 0.07675076529701025 Centerline is valid? [True, True] Translation: X:78.11, Y:-2.18, Z:-9.01 [[ 9.87595064e-01 1.32769024e-01 8.38354085e-02 7.81105439e+01] [-1.32616549e-01 9.91139721e-01 -7.40981579e-03 -2.18426568e+00] [-8.40763974e-02 -3.80006503e-03 9.96452066e-01 -9.01229016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70629675699999 meters 0.07793564864509928 Centerline is valid? [True, True] Translation: X:78.17, Y:-2.19, Z:-9.02 [[ 9.87081824e-01 1.36904063e-01 8.32270982e-02 7.81705380e+01] [-1.36768049e-01 9.90575754e-01 -7.36045982e-03 -2.19050405e+00] [-8.34504224e-02 -4.11743175e-03 9.96503424e-01 -9.01882247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76629675699999 meters 0.07663714856525086 Centerline is valid? [True, True] Translation: X:78.23, Y:-2.20, Z:-9.03 [[ 9.86838159e-01 1.38647174e-01 8.32310632e-02 7.82313603e+01] [-1.38517343e-01 9.90332655e-01 -7.36053593e-03 -2.20286977e+00] [-8.34469574e-02 -4.26528797e-03 9.96503092e-01 -9.02501427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.826296757 meters 0.07715757872102819 Centerline is valid? [True, True] Translation: X:78.29, Y:-2.21, Z:-9.03 [[ 9.86766784e-01 1.38997638e-01 8.34923392e-02 7.82931625e+01] [-1.38868272e-01 9.90283338e-01 -7.38326961e-03 -2.21050089e+00] [-8.37073294e-02 -4.30887169e-03 9.96481067e-01 -9.03249298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.886296757 meters 0.07578563675082453 Centerline is valid? [True, True] Translation: X:78.35, Y:-2.23, Z:-9.03 [[ 9.87078494e-01 1.36676406e-01 8.36397478e-02 7.83535064e+01] [-1.36535636e-01 9.90607313e-01 -7.42776732e-03 -2.22645478e+00] [-8.38693463e-02 -4.08801680e-03 9.96468374e-01 -9.03462819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.946296757 meters 0.0748957528687646 Centerline is valid? [True, True] Translation: X:78.41, Y:-2.23, Z:-9.04 [[ 9.87608441e-01 1.30610631e-01 8.70082222e-02 7.84125430e+01] [-1.30434494e-01 9.91426786e-01 -7.73111561e-03 -2.23359268e+00] [-8.72720480e-02 -3.71355839e-03 9.96177594e-01 -9.04240844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.006296757 meters 0.07376338652589307 Centerline is valid? [True, True] Translation: X:78.47, Y:-2.25, Z:-9.05 [[ 9.88224607e-01 1.23937522e-01 8.97307981e-02 7.84723005e+01] [-1.23722770e-01 9.92284791e-01 -7.97310489e-03 -2.24773325e+00] [-9.00266731e-02 -3.22252442e-03 9.95934141e-01 -9.04677222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06629675699999 meters 0.07316892281165871 Centerline is valid? [True, True] Translation: X:78.53, Y:-2.26, Z:-9.05 [[ 9.88570799e-01 1.19747448e-01 9.15877947e-02 7.85326505e+01] [-1.19505570e-01 9.92800157e-01 -8.14047329e-03 -2.25777422e+00] [-9.19031778e-02 -2.89781744e-03 9.95763731e-01 -9.05299758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12629675699999 meters 0.07293320656800002 Centerline is valid? [True, True] Translation: X:78.59, Y:-2.26, Z:-9.06 [[ 9.88739080e-01 1.19382023e-01 9.02383786e-02 7.85948396e+01] [-1.19146065e-01 9.92844374e-01 -8.01654010e-03 -2.26421131e+00] [-9.05496973e-02 -2.82528124e-03 9.95887931e-01 -9.06095530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.186296757 meters 0.07433706605731923 Centerline is valid? [True, True] Translation: X:78.66, Y:-2.27, Z:-9.07 [[ 9.88504644e-01 1.21923083e-01 8.94054344e-02 7.86554487e+01] [-1.21699410e-01 9.92535009e-01 -7.96927059e-03 -2.26540373e+00] [-8.97096617e-02 -3.00292764e-03 9.95963433e-01 -9.07148199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.246296757 meters 0.07415745024653374 Centerline is valid? [True, True] Translation: X:78.72, Y:-2.27, Z:-9.08 [[ 9.88421683e-01 1.23613845e-01 8.79897394e-02 7.87172259e+01] [-1.23401761e-01 9.92325610e-01 -7.86691501e-03 -2.27079713e+00] [-8.82869315e-02 -3.08225939e-03 9.96090316e-01 -9.07872474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.306296757 meters 0.07441619744503564 Centerline is valid? [True, True] Translation: X:78.78, Y:-2.27, Z:-9.09 [[ 9.87942224e-01 1.27109239e-01 8.83934632e-02 7.87783225e+01] [-1.26908947e-01 9.91882869e-01 -7.90522306e-03 -2.27439417e+00] [-8.86807888e-02 -3.40801765e-03 9.96054267e-01 -9.08790215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.366296757 meters 0.07421787064704471 Centerline is valid? [True, True] Translation: X:78.84, Y:-2.28, Z:-9.09 [[ 9.87969511e-01 1.28632323e-01 8.58485362e-02 7.88393072e+01] [-1.28447536e-01 9.91686444e-01 -7.69590347e-03 -2.28196638e+00] [-8.61247715e-02 -3.42371493e-03 9.96278476e-01 -9.09492770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42629675699999 meters 0.07463306339923542 Centerline is valid? [True, True] Translation: X:78.90, Y:-2.28, Z:-9.10 [[ 9.87732104e-01 1.29236020e-01 8.76546720e-02 7.89007048e+01] [-1.29043947e-01 9.91607580e-01 -7.87828368e-03 -2.28454581e+00] [-8.79371952e-02 -3.52967111e-03 9.96119767e-01 -9.10345984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48629675699999 meters 0.07372383106159411 Centerline is valid? [True, True] Translation: X:78.96, Y:-2.30, Z:-9.11 [[ 9.87885812e-01 1.26655091e-01 8.96666629e-02 7.89612912e+01] [-1.26440985e-01 9.91941166e-01 -8.08710287e-03 -2.29614358e+00] [-8.99683269e-02 -3.34840699e-03 9.95938998e-01 -9.10613649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.546296757 meters 0.07232720954177813 Centerline is valid? [True, True] Translation: X:79.02, Y:-2.31, Z:-9.11 [[ 9.88557158e-01 1.20785884e-01 9.03632375e-02 7.90217960e+01] [-1.20543671e-01 9.92674542e-01 -8.15335550e-03 -2.30743074e+00] [-9.06860956e-02 -2.83265838e-03 9.95875498e-01 -9.10993769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.606296757 meters 0.07205013674773106 Centerline is valid? [True, True] Translation: X:79.08, Y:-2.32, Z:-9.12 [[ 9.89106627e-01 1.16568672e-01 8.98878457e-02 7.90811839e+01] [-1.16311363e-01 9.93179661e-01 -8.11338716e-03 -2.31623154e+00] [-9.02205469e-02 -2.42997282e-03 9.95918846e-01 -9.11601007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.666296757 meters 0.07200800677283026 Centerline is valid? [True, True] Translation: X:79.14, Y:-2.32, Z:-9.12 [[ 9.89434914e-01 1.14404063e-01 8.90520166e-02 7.91428513e+01] [-1.14143140e-01 9.93431830e-01 -8.03383787e-03 -2.32339455e+00] [-8.93862115e-02 -2.21571711e-03 9.95994576e-01 -9.12264394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.726296757 meters 0.0727783057634535 Centerline is valid? [True, True] Translation: X:79.20, Y:-2.33, Z:-9.13 [[ 9.89770633e-01 1.14552667e-01 8.50398818e-02 7.92025382e+01] [-1.14313283e-01 9.93414947e-01 -7.69522906e-03 -2.32731460e+00] [-8.53613987e-02 -2.10467631e-03 9.96347832e-01 -9.13306164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78629675699999 meters 0.07228190204217264 Centerline is valid? [True, True] Translation: X:79.26, Y:-2.33, Z:-9.14 [[ 9.89796689e-01 1.14366974e-01 8.49865298e-02 7.92641333e+01] [-1.14126642e-01 9.93436392e-01 -7.69700325e-03 -2.33436919e+00] [-8.53089946e-02 -2.08075894e-03 9.96352370e-01 -9.13863612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84629675699999 meters 0.07213298475581911 Centerline is valid? [True, True] Translation: X:79.33, Y:-2.34, Z:-9.14 [[ 9.89715808e-01 1.14096261e-01 8.62824565e-02 7.93263985e+01] [-1.13845240e-01 9.93467557e-01 -7.84052496e-03 -2.33962740e+00] [-8.66133959e-02 -2.06295545e-03 9.96239863e-01 -9.14408399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90629675699999 meters 0.07203888087176018 Centerline is valid? [True, True] Translation: X:79.39, Y:-2.35, Z:-9.15 [[ 9.89526234e-01 1.14741086e-01 8.75917571e-02 7.93876604e+01] [-1.14484585e-01 9.93393109e-01 -7.96312066e-03 -2.34633406e+00] [-8.79267450e-02 -2.14818919e-03 9.96124627e-01 -9.15010344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.966296757 meters 0.0728202090068488 Centerline is valid? [True, True] Translation: X:79.45, Y:-2.34, Z:-9.16 [[ 9.89215606e-01 1.18014177e-01 8.67475585e-02 7.94479232e+01] [-1.17772777e-01 9.93009038e-01 -7.91348304e-03 -2.34478496e+00] [-8.70750129e-02 -2.38835997e-03 9.96198895e-01 -9.16135255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.026296757 meters 0.07364849754693423 Centerline is valid? [True, True] Translation: X:79.51, Y:-2.35, Z:-9.17 [[ 9.88901771e-01 1.22356351e-01 8.42746096e-02 7.95084864e+01] [-1.22143997e-01 9.92482593e-01 -7.69074058e-03 -2.34864469e+00] [-8.45820940e-02 -2.68825064e-03 9.96412888e-01 -9.17015970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.086296757 meters 0.07421181639558183 Centerline is valid? [True, True] Translation: X:79.57, Y:-2.35, Z:-9.18 [[ 9.88733299e-01 1.24593208e-01 8.29638215e-02 7.95695646e+01] [-1.24395107e-01 9.92203864e-01 -7.57291818e-03 -2.35401884e+00] [-8.32605585e-02 -2.83269704e-03 9.96523786e-01 -9.17859264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14629675699999 meters 0.07409584067869363 Centerline is valid? [True, True] Translation: X:79.63, Y:-2.36, Z:-9.19 [[ 9.88144825e-01 1.27274639e-01 8.58543550e-02 7.96320477e+01] [-1.27072574e-01 9.91862462e-01 -7.83687431e-03 -2.35688660e+00] [-8.61531473e-02 -3.16576709e-03 9.96276876e-01 -9.18653119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20629675699999 meters 0.07526473226026015 Centerline is valid? [True, True] Translation: X:79.69, Y:-2.36, Z:-9.20 [[ 9.87998891e-01 1.28063843e-01 8.63588025e-02 7.96927380e+01] [-1.27860196e-01 9.91760671e-01 -7.90829213e-03 -2.35983164e+00] [-8.66600303e-02 -3.22846958e-03 9.96232712e-01 -9.19666200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26629675699999 meters 0.07375148506691093 Centerline is valid? [True, True] Translation: X:79.75, Y:-2.37, Z:-9.20 [[ 9.88003653e-01 1.25373261e-01 9.01683218e-02 7.97535084e+01] [-1.25137316e-01 9.92104816e-01 -8.28773472e-03 -2.37221250e+00] [-9.04954867e-02 -3.09510957e-03 9.95892056e-01 -9.19903966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.326296757 meters 0.07153274222371374 Centerline is valid? [True, True] Translation: X:79.81, Y:-2.39, Z:-9.20 [[ 9.88745110e-01 1.16541492e-01 9.38146441e-02 7.98129529e+01] [-1.16246160e-01 9.93182979e-01 -8.62555667e-03 -2.38693773e+00] [-9.41803430e-02 -2.37711516e-03 9.95552315e-01 -9.20424746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.386296757 meters 0.07175855258388288 Centerline is valid? [True, True] Translation: X:79.87, Y:-2.39, Z:-9.21 [[ 9.89265022e-01 1.11941600e-01 9.39350552e-02 7.98723723e+01] [-1.11624742e-01 9.93712892e-01 -8.63743813e-03 -2.39357110e+00] [-9.43113640e-02 -1.94076089e-03 9.95540858e-01 -9.21357376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.446296757 meters 0.07079861643293535 Centerline is valid? [True, True] Translation: X:79.93, Y:-2.41, Z:-9.22 [[ 9.89735453e-01 1.06722373e-01 9.50477122e-02 7.99329292e+01] [-1.06372853e-01 9.94287803e-01 -8.75106828e-03 -2.40745107e+00] [-9.54387157e-02 -1.44925383e-03 9.95434253e-01 -9.21778488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.506296757 meters 0.07091365978992636 Centerline is valid? [True, True] Translation: X:79.99, Y:-2.41, Z:-9.23 [[ 9.89894761e-01 1.06807683e-01 9.32763669e-02 7.99940425e+01] [-1.06471381e-01 9.94278671e-01 -8.58887434e-03 -2.41186873e+00] [-9.36600600e-02 -1.42918191e-03 9.95603209e-01 -9.22726516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56629675699999 meters 0.07116004325272189 Centerline is valid? [True, True] Translation: X:80.06, Y:-2.42, Z:-9.23 [[ 9.89926501e-01 1.08532714e-01 9.09184961e-02 8.00557792e+01] [-1.08218192e-01 9.94091705e-01 -8.39669698e-03 -2.41678365e+00] [-9.12926391e-02 -1.52692239e-03 9.95822937e-01 -9.23410911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62629675699999 meters 0.07134987320525607 Centerline is valid? [True, True] Translation: X:80.12, Y:-2.42, Z:-9.24 [[ 9.89625472e-01 1.11524487e-01 9.05743540e-02 8.01178242e+01] [-1.11224630e-01 9.93760067e-01 -8.36721048e-03 -2.41863431e+00] [-9.09423250e-02 -1.79369437e-03 9.95854546e-01 -9.24099997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.686296757 meters 0.07214113253309963 Centerline is valid? [True, True] Translation: X:80.18, Y:-2.42, Z:-9.25 [[ 9.88951959e-01 1.16880219e-01 9.11758537e-02 8.01801132e+01] [-1.16596667e-01 9.93143412e-01 -8.44869369e-03 -2.41591124e+00] [-9.15381836e-02 -2.27544849e-03 9.95798967e-01 -9.25034471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.746296757 meters 0.07286790680978622 Centerline is valid? [True, True] Translation: X:80.24, Y:-2.42, Z:-9.26 [[ 9.88380255e-01 1.21405994e-01 9.14606859e-02 8.02414952e+01] [-1.21139707e-01 9.92599262e-01 -8.47802129e-03 -2.41832711e+00] [-9.18130919e-02 -2.70001184e-03 9.95772598e-01 -9.25659487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.806296757 meters 0.07359896420754626 Centerline is valid? [True, True] Translation: X:80.30, Y:-2.42, Z:-9.27 [[ 9.87879161e-01 1.26156802e-01 9.04390649e-02 8.03020097e+01] [-1.25914028e-01 9.92005527e-01 -8.40787192e-03 -2.41856230e+00] [-9.07767625e-02 -3.08158549e-03 9.95866499e-01 -9.26571120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.866296757 meters 0.07424274175089146 Centerline is valid? [True, True] Translation: X:80.36, Y:-2.42, Z:-9.27 [[ 9.87716588e-01 1.28793919e-01 8.84763745e-02 8.03622536e+01] [-1.28571975e-01 9.91666055e-01 -8.22688061e-03 -2.42131852e+00] [-8.87985895e-02 -3.24975580e-03 9.96044301e-01 -9.27273234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92629675699999 meters 0.07309153956112603 Centerline is valid? [True, True] Translation: X:80.42, Y:-2.44, Z:-9.28 [[ 9.88352971e-01 1.25574718e-01 8.59615895e-02 8.04232508e+01] [-1.25353508e-01 9.92079982e-01 -7.98788951e-03 -2.43623023e+00] [-8.62838492e-02 -2.88073249e-03 9.96266430e-01 -9.27615721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98629675699999 meters 0.07275571935960762 Centerline is valid? [True, True] Translation: X:80.48, Y:-2.44, Z:-9.29 [[ 9.89175006e-01 1.19547831e-01 8.50947910e-02 8.04838218e+01] [-1.19306483e-01 9.92825769e-01 -7.93439968e-03 -2.44229800e+00] [-8.54328417e-02 -2.30385041e-03 9.96341268e-01 -9.28530017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.046296757 meters 0.07201491992006841 Centerline is valid? [True, True] Translation: X:80.54, Y:-2.45, Z:-9.29 [[ 9.89309452e-01 1.14016065e-01 9.09238434e-02 8.05433366e+01] [-1.13716613e-01 9.93477000e-01 -8.48422165e-03 -2.44915476e+00] [-9.12980848e-02 -1.94603085e-03 9.95821707e-01 -9.28947673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.106296757 meters 0.0712577162654156 Centerline is valid? [True, True] Translation: X:80.60, Y:-2.46, Z:-9.29 [[ 9.89424468e-01 1.09712071e-01 9.48814220e-02 8.06038734e+01] [-1.09366171e-01 9.93962096e-01 -8.85394427e-03 -2.45655581e+00] [-9.52799217e-02 -1.61650869e-03 9.95449207e-01 -9.29280326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.166296757 meters 0.07112020076281564 Centerline is valid? [True, True] Translation: X:80.66, Y:-2.46, Z:-9.30 [[ 9.89708218e-01 1.07563254e-01 9.43810896e-02 8.06648735e+01] [-1.07211508e-01 9.94197250e-01 -8.80452765e-03 -2.46245126e+00] [-9.47804635e-02 -1.40482561e-03 9.95497208e-01 -9.30101216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.226296757 meters 0.07157299859852925 Centerline is valid? [True, True] Translation: X:80.72, Y:-2.46, Z:-9.31 [[ 9.90035159e-01 1.08963139e-01 8.92043590e-02 8.07248845e+01] [-1.08652428e-01 9.94044763e-01 -8.34616477e-03 -2.46470422e+00] [-8.95825502e-02 -1.42927360e-03 9.95978375e-01 -9.31118569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28629675699999 meters 0.07211780341795607 Centerline is valid? [True, True] Translation: X:80.79, Y:-2.46, Z:-9.32 [[ 9.89618871e-01 1.12954307e-01 8.88583988e-02 8.07865912e+01] [-1.12661725e-01 9.93598589e-01 -8.31740559e-03 -2.46499575e+00] [-8.92290665e-02 -1.77987896e-03 9.96009541e-01 -9.31874960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34629675699999 meters 0.07277721549711308 Centerline is valid? [True, True] Translation: X:80.85, Y:-2.46, Z:-9.33 [[ 9.89207008e-01 1.17896640e-01 8.70050419e-02 8.08475182e+01] [-1.17634569e-01 9.93023497e-01 -8.15117077e-03 -2.46420430e+00] [-8.73590467e-02 -2.17160538e-03 9.96174523e-01 -9.32704771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40629675699999 meters 0.07383544066527083 Centerline is valid? [True, True] Translation: X:80.91, Y:-2.46, Z:-9.34 [[ 9.88672712e-01 1.23741995e-01 8.49363689e-02 8.09081835e+01] [-1.23513665e-01 9.92310960e-01 -7.95828333e-03 -2.46382964e+00] [-8.52680636e-02 -2.62266463e-03 9.96354595e-01 -9.33707196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.466296757 meters 0.07407502562523972 Centerline is valid? [True, True] Translation: X:80.97, Y:-2.47, Z:-9.34 [[ 9.88148999e-01 1.25889369e-01 8.78260958e-02 8.09690928e+01] [-1.25653830e-01 9.92040031e-01 -8.22747419e-03 -2.46724467e+00] [-8.81627543e-02 -2.90571497e-03 9.96101845e-01 -9.34458868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.526296757 meters 0.07342486098890975 Centerline is valid? [True, True] Translation: X:81.03, Y:-2.48, Z:-9.35 [[ 9.88158503e-01 1.25501962e-01 8.82724752e-02 8.10302783e+01] [-1.25260840e-01 9.92089227e-01 -8.28775216e-03 -2.47527873e+00] [-8.86143009e-02 -2.86747160e-03 9.96061887e-01 -9.34988340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.586296757 meters 0.07258325875154056 Centerline is valid? [True, True] Translation: X:81.09, Y:-2.48, Z:-9.36 [[ 9.88413219e-01 1.22153344e-01 9.00992181e-02 8.10910954e+01] [-1.21885898e-01 9.92507848e-01 -8.48531262e-03 -2.48454208e+00] [-9.04606903e-02 -2.59482894e-03 9.95896646e-01 -9.35577930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64629675699999 meters 0.07151382957832436 Centerline is valid? [True, True] Translation: X:81.15, Y:-2.49, Z:-9.36 [[ 9.88855471e-01 1.17922758e-01 9.08794802e-02 8.11520611e+01] [-1.17632170e-01 9.93020290e-01 -8.56602857e-03 -2.49488236e+00] [-9.12552975e-02 -2.21978627e-03 9.95825057e-01 -9.35933102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70629675699999 meters 0.07111651398155087 Centerline is valid? [True, True] Translation: X:81.21, Y:-2.50, Z:-9.37 [[ 9.88981552e-01 1.16900509e-01 9.08281896e-02 8.12138377e+01] [-1.16605922e-01 9.93141359e-01 -8.56148796e-03 -2.50094472e+00] [-9.12060740e-02 -2.12395112e-03 9.95829775e-01 -9.36548936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76629675699999 meters 0.07067250589806669 Centerline is valid? [True, True] Translation: X:81.28, Y:-2.51, Z:-9.37 [[ 9.89092873e-01 1.15702813e-01 9.11490436e-02 8.12756844e+01] [-1.15398936e-01 9.93281868e-01 -8.61491832e-03 -2.50714755e+00] [-9.15334625e-02 -1.99754832e-03 9.95799998e-01 -9.37149758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.826296757 meters 0.07069256316549836 Centerline is valid? [True, True] Translation: X:81.34, Y:-2.51, Z:-9.38 [[ 9.89000124e-01 1.16269480e-01 9.14339249e-02 8.13383205e+01] [-1.15964083e-01 9.93215621e-01 -8.66386564e-03 -2.51265875e+00] [-9.18209456e-02 -2.03448707e-03 9.95773456e-01 -9.37724098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.886296757 meters 0.07093524001558238 Centerline is valid? [True, True] Translation: X:81.40, Y:-2.51, Z:-9.39 [[ 9.88791658e-01 1.19320932e-01 8.97417006e-02 8.13997751e+01] [-1.19036602e-01 9.92853199e-01 -8.53304826e-03 -2.51339498e+00] [-9.01185058e-02 -2.24514019e-03 9.95928519e-01 -9.38688687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.946296757 meters 0.07183395791823811 Centerline is valid? [True, True] Translation: X:81.46, Y:-2.51, Z:-9.39 [[ 9.88242394e-01 1.24948160e-01 8.81188315e-02 8.14604090e+01] [-1.24695672e-01 9.92159596e-01 -8.38602501e-03 -2.51246346e+00] [-8.84757627e-02 -2.70061148e-03 9.96074669e-01 -9.39383910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.006296757 meters 0.07315499962187147 Centerline is valid? [True, True] Translation: X:81.52, Y:-2.51, Z:-9.40 [[ 9.88015976e-01 1.29812000e-01 8.35061442e-02 8.15198156e+01] [-1.29602432e-01 9.91534179e-01 -7.94865155e-03 -2.51237851e+00] [-8.38310265e-02 -2.96920468e-03 9.96475561e-01 -9.40393880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06629675699999 meters 0.07445268183377471 Centerline is valid? [True, True] Translation: X:81.58, Y:-2.51, Z:-9.42 [[ 9.87498741e-01 1.34237149e-01 8.26233880e-02 8.15805111e+01] [-1.34047377e-01 9.90943712e-01 -7.86512364e-03 -2.51047302e+00] [-8.29309186e-02 -3.30864873e-03 9.96549806e-01 -9.41566394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12629675699999 meters 0.07354772352527286 Centerline is valid? [True, True] Translation: X:81.64, Y:-2.52, Z:-9.42 [[ 9.87288048e-01 1.34467665e-01 8.47393482e-02 8.16428546e+01] [-1.34268950e-01 9.90912100e-01 -8.06598576e-03 -2.51858835e+00] [-8.50538597e-02 -3.41441197e-03 9.96370505e-01 -9.41783435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.186296757 meters 0.07340587830326195 Centerline is valid? [True, True] Translation: X:81.70, Y:-2.53, Z:-9.42 [[ 9.87612123e-01 1.32070753e-01 8.47325896e-02 8.17033740e+01] [-1.31862516e-01 9.91235130e-01 -8.07423491e-03 -2.52597657e+00] [-8.50562898e-02 -3.19884014e-03 9.96371013e-01 -9.42365176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.246296757 meters 0.07289328767069252 Centerline is valid? [True, True] Translation: X:81.76, Y:-2.54, Z:-9.43 [[ 9.88063904e-01 1.29497616e-01 8.34271507e-02 8.17648134e+01] [-1.29286610e-01 9.91575401e-01 -7.94966507e-03 -2.53686771e+00] [-8.37537730e-02 -2.93123637e-03 9.96482169e-01 -9.42975597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.306296757 meters 0.07229860077539854 Centerline is valid? [True, True] Translation: X:81.82, Y:-2.55, Z:-9.44 [[ 9.88822857e-01 1.22774700e-01 8.45915537e-02 8.18236971e+01] [-1.22531907e-01 9.92431716e-01 -8.07594536e-03 -2.54645799e+00] [-8.49428625e-02 -2.37948498e-03 9.96382983e-01 -9.43886956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.366296757 meters 0.07158693363092428 Centerline is valid? [True, True] Translation: X:81.89, Y:-2.56, Z:-9.44 [[ 9.88953784e-01 1.21298199e-01 8.51889677e-02 8.18850001e+01] [-1.21047029e-01 9.92613506e-01 -8.12679557e-03 -2.55604968e+00] [-8.55454856e-02 -2.27484622e-03 9.96331669e-01 -9.44402046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42629675699999 meters 0.07148278313126617 Centerline is valid? [True, True] Translation: X:81.95, Y:-2.56, Z:-9.45 [[ 9.88516062e-01 1.21528110e-01 8.98160040e-02 8.19461675e+01] [-1.21247309e-01 9.92585107e-01 -8.59623271e-03 -2.56383715e+00] [-9.01947119e-02 -2.39243472e-03 9.95921277e-01 -9.44833899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48629675699999 meters 0.07188560404749049 Centerline is valid? [True, True] Translation: X:82.01, Y:-2.57, Z:-9.46 [[ 9.88189296e-01 1.24229860e-01 8.97154273e-02 8.20077278e+01] [-1.23960764e-01 9.92249966e-01 -8.58686432e-03 -2.56621595e+00] [-9.00868746e-02 -2.63574551e-03 9.95930423e-01 -9.45595019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.546296757 meters 0.07244504642032859 Centerline is valid? [True, True] Translation: X:82.07, Y:-2.57, Z:-9.46 [[ 9.87531751e-01 1.30076512e-01 8.86630756e-02 8.20682947e+01] [-1.29834855e-01 9.91499095e-01 -8.51202162e-03 -2.57015865e+00] [-8.90165734e-02 -3.10566595e-03 9.96025303e-01 -9.46322666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.606296757 meters 0.07379605376257778 Centerline is valid? [True, True] Translation: X:82.13, Y:-2.57, Z:-9.47 [[ 9.86866767e-01 1.37002992e-01 8.55813280e-02 8.21286051e+01] [-1.36803726e-01 9.90564095e-01 -8.21667403e-03 -2.57032580e+00] [-8.58994997e-02 -3.59908204e-03 9.96297306e-01 -9.47161685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.666296757 meters 0.07598612731942644 Centerline is valid? [True, True] Translation: X:82.19, Y:-2.57, Z:-9.48 [[ 9.86297958e-01 1.43136565e-01 8.20259867e-02 8.21885097e+01] [-1.42974373e-01 9.89695035e-01 -7.87818869e-03 -2.56651345e+00] [-8.23083686e-02 -3.95737258e-03 9.96599053e-01 -9.48132094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.726296757 meters 0.07798071793758021 Centerline is valid? [True, True] Translation: X:82.25, Y:-2.57, Z:-9.49 [[ 9.86176770e-01 1.45094312e-01 8.00188686e-02 8.22478882e+01] [-1.44945823e-01 9.89409692e-01 -7.69212288e-03 -2.56665224e+00] [-8.02875275e-02 -4.01260789e-03 9.96763669e-01 -9.49161075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78629675699999 meters 0.07653810393645522 Centerline is valid? [True, True] Translation: X:82.31, Y:-2.58, Z:-9.50 [[ 9.86565096e-01 1.43501459e-01 7.80810059e-02 8.23093559e+01] [-1.43355079e-01 9.89642855e-01 -7.50600209e-03 -2.57674314e+00] [-7.83494319e-02 -3.78814913e-03 9.96918761e-01 -9.49653758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84629675699999 meters 0.07497853551395013 Centerline is valid? [True, True] Translation: X:82.37, Y:-2.59, Z:-9.50 [[ 9.87291585e-01 1.37696042e-01 7.93418372e-02 8.23695294e+01] [-1.37524080e-01 9.90468851e-01 -7.65388578e-03 -2.58789347e+00] [-7.96395282e-02 -3.35479614e-03 9.96818083e-01 -9.50270778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90629675699999 meters 0.0724073409629742 Centerline is valid? [True, True] Translation: X:82.43, Y:-2.61, Z:-9.50 [[ 9.88032103e-01 1.30399827e-01 8.23920394e-02 8.24295587e+01] [-1.30188911e-01 9.91457332e-01 -7.95029695e-03 -2.60613495e+00] [-8.27249089e-02 -2.87138128e-03 9.96568284e-01 -9.50283643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.966296757 meters 0.07159123999203754 Centerline is valid? [True, True] Translation: X:82.49, Y:-2.61, Z:-9.51 [[ 9.88447763e-01 1.26418607e-01 8.36023657e-02 8.24900187e+01] [-1.26187119e-01 9.91973643e-01 -8.06855543e-03 -2.61469352e+00] [-8.39513588e-02 -2.57419611e-03 9.96466529e-01 -9.50996742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.026296757 meters 0.07197913529569779 Centerline is valid? [True, True] Translation: X:82.55, Y:-2.62, Z:-9.52 [[ 9.88624442e-01 1.25318507e-01 8.31684147e-02 8.25505091e+01] [-1.25085559e-01 9.92113492e-01 -8.02637498e-03 -2.61880431e+00] [-8.35183597e-02 -2.46809713e-03 9.96503182e-01 -9.51941289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.086296757 meters 0.07228943849959184 Centerline is valid? [True, True] Translation: X:82.61, Y:-2.62, Z:-9.53 [[ 9.88502227e-01 1.25778909e-01 8.39226651e-02 8.26117041e+01] [-1.25542616e-01 9.92055095e-01 -8.10808063e-03 -2.62393975e+00] [-8.42757330e-02 -2.52101518e-03 9.96439283e-01 -9.52693394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14629675699999 meters 0.07187438427295484 Centerline is valid? [True, True] Translation: X:82.67, Y:-2.63, Z:-9.53 [[ 9.88163383e-01 1.28784220e-01 8.33531796e-02 8.26735584e+01] [-1.28559721e-01 9.91668871e-01 -8.07760237e-03 -2.62734266e+00] [-8.36990212e-02 -2.73387060e-03 9.96487330e-01 -9.53107573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20629675699999 meters 0.07245613189145632 Centerline is valid? [True, True] Translation: X:82.73, Y:-2.63, Z:-9.54 [[ 9.87739583e-01 1.33708507e-01 8.05763710e-02 8.27345574e+01] [-1.33514463e-01 9.91016046e-01 -7.81563764e-03 -2.62908775e+00] [-8.08974939e-02 -3.03829626e-03 9.96717796e-01 -9.53771833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26629675699999 meters 0.07377417408103272 Centerline is valid? [True, True] Translation: X:82.79, Y:-2.63, Z:-9.55 [[ 9.87174465e-01 1.39234223e-01 7.81050942e-02 8.27946702e+01] [-1.39068996e-01 9.90253703e-01 -7.57752430e-03 -2.62971085e+00] [-7.83989095e-02 -3.38165856e-03 9.96916333e-01 -9.54883900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.326296757 meters 0.0742507942062972 Centerline is valid? [True, True] Translation: X:82.86, Y:-2.63, Z:-9.56 [[ 9.86698765e-01 1.42981706e-01 7.73419549e-02 8.28552493e+01] [-1.42830962e-01 9.89718635e-01 -7.50595440e-03 -2.63227745e+00] [-7.76199882e-02 -3.64070989e-03 9.96976370e-01 -9.55521698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.386296757 meters 0.07463532045260454 Centerline is valid? [True, True] Translation: X:82.92, Y:-2.64, Z:-9.56 [[ 9.86921199e-01 1.41059608e-01 7.80303358e-02 8.29155473e+01] [-1.40900124e-01 9.89994847e-01 -7.57354344e-03 -2.63928620e+00] [-7.83179514e-02 -3.51999339e-03 9.96922218e-01 -9.56091606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.446296757 meters 0.07393572360325283 Centerline is valid? [True, True] Translation: X:82.98, Y:-2.65, Z:-9.57 [[ 9.87274342e-01 1.36662126e-01 8.13193526e-02 8.29757790e+01] [-1.36473776e-01 9.90612214e-01 -7.89619855e-03 -2.64653895e+00] [-8.16350552e-02 -3.30224488e-03 9.96656818e-01 -9.56534334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50629675699999 meters 0.07252188123406193 Centerline is valid? [True, True] Translation: X:83.04, Y:-2.66, Z:-9.57 [[ 9.87545811e-01 1.33916750e-01 8.25807207e-02 8.30361115e+01] [-1.33712808e-01 9.90987669e-01 -8.02032419e-03 -2.65939175e+00] [-8.29105316e-02 -3.12166249e-03 9.96552106e-01 -9.56741024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56629675699999 meters 0.07308387285970737 Centerline is valid? [True, True] Translation: X:83.10, Y:-2.66, Z:-9.58 [[ 9.87544821e-01 1.34154750e-01 8.22054066e-02 8.30972687e+01] [-1.33953843e-01 9.90955446e-01 -7.97947489e-03 -2.66432814e+00] [-8.25323799e-02 -3.13164107e-03 9.96583463e-01 -9.57557897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62629675699999 meters 0.07318972128628497 Centerline is valid? [True, True] Translation: X:83.16, Y:-2.67, Z:-9.58 [[ 9.87046713e-01 1.35823522e-01 8.53859347e-02 8.31577212e+01] [-1.35610806e-01 9.90727305e-01 -8.31368968e-03 -2.66792743e+00] [-8.57233715e-02 -3.37325532e-03 9.96313266e-01 -9.58222095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.686296757 meters 0.07374000316978103 Centerline is valid? [True, True] Translation: X:83.22, Y:-2.67, Z:-9.59 [[ 9.86650545e-01 1.39112335e-01 8.46667623e-02 8.32186725e+01] [-1.38913078e-01 9.90270054e-01 -8.26908018e-03 -2.66996420e+00] [-8.49932903e-02 -3.60262806e-03 9.96375011e-01 -9.59088405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.746296757 meters 0.0749166555962384 Centerline is valid? [True, True] Translation: X:83.28, Y:-2.68, Z:-9.60 [[ 9.86025963e-01 1.43298370e-01 8.49610367e-02 8.32786434e+01] [-1.43112891e-01 9.89671555e-01 -8.30139142e-03 -2.67537640e+00] [-8.52730972e-02 -3.97363208e-03 9.96349692e-01 -9.59727877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.806296757 meters 0.07648894789999651 Centerline is valid? [True, True] Translation: X:83.34, Y:-2.67, Z:-9.61 [[ 9.85519717e-01 1.47312953e-01 8.39629790e-02 8.33397602e+01] [-1.47146219e-01 9.89080720e-01 -8.20482655e-03 -2.67421992e+00] [-8.42548410e-02 -4.26881657e-03 9.96435095e-01 -9.60683711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.866296757 meters 0.0787466265879671 Centerline is valid? [True, True] Translation: X:83.40, Y:-2.67, Z:-9.62 [[ 9.84695364e-01 1.53185693e-01 8.31215047e-02 8.33992868e+01] [-1.53042745e-01 9.88186154e-01 -8.12664994e-03 -2.66975870e+00] [-8.33844066e-02 -4.71886873e-03 9.96506283e-01 -9.61823039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92629675699999 meters 0.07850893906181337 Centerline is valid? [True, True] Translation: X:83.46, Y:-2.68, Z:-9.62 [[ 9.83867918e-01 1.57791414e-01 8.42958478e-02 8.34602746e+01] [-1.57661343e-01 9.87458862e-01 -8.23993052e-03 -2.67620375e+00] [-8.45388722e-02 -5.18319332e-03 9.96406701e-01 -9.62217888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98629675699999 meters 0.07887297419703794 Centerline is valid? [True, True] Translation: X:83.52, Y:-2.68, Z:-9.63 [[ 9.83649342e-01 1.57808914e-01 8.67774074e-02 8.35227234e+01] [-1.57671021e-01 9.87455248e-01 -8.48428425e-03 -2.67779334e+00] [-8.70277020e-02 -5.33672180e-03 9.96191597e-01 -9.62961318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.046296757 meters 0.07953858028771735 Centerline is valid? [True, True] Translation: X:83.58, Y:-2.68, Z:-9.64 [[ 9.83677679e-01 1.56211644e-01 8.93092676e-02 8.35832375e+01] [-1.56058201e-01 9.87709179e-01 -8.74159668e-03 -2.68004401e+00] [-8.95771226e-02 -5.33853013e-03 9.95965581e-01 -9.63656815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.106296757 meters 0.07766970549631594 Centerline is valid? [True, True] Translation: X:83.64, Y:-2.69, Z:-9.64 [[ 9.83918370e-01 1.55308492e-01 8.82264884e-02 8.36445475e+01] [-1.55155423e-01 9.87852357e-01 -8.63220240e-03 -2.69234689e+00] [-8.84953989e-02 -5.19543564e-03 9.96063036e-01 -9.64191891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.166296757 meters 0.07683864483956786 Centerline is valid? [True, True] Translation: X:83.71, Y:-2.70, Z:-9.65 [[ 9.84076879e-01 1.53234500e-01 9.00660007e-02 8.37050368e+01] [-1.53063787e-01 9.88176766e-01 -8.84061346e-03 -2.69884404e+00] [-9.03558163e-02 -5.08599983e-03 9.95896560e-01 -9.64929062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.226296757 meters 0.0808495132986941 Centerline is valid? [True, True] Translation: X:83.77, Y:-2.69, Z:-9.66 [[ 9.84310172e-01 1.50618852e-01 9.19099917e-02 8.37651541e+01] [-1.50429476e-01 9.88579551e-01 -9.02462683e-03 -2.69281191e+00] [-9.22196173e-02 -4.94293992e-03 9.95726423e-01 -9.66221651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28629675699999 meters 0.07637190808493444 Centerline is valid? [True, True] Translation: X:83.82, Y:-2.72, Z:-9.66 [[ 9.84977689e-01 1.47167299e-01 9.03368048e-02 8.38248109e+01] [-1.46969783e-01 9.89101201e-01 -8.87119530e-03 -2.71552164e+00] [-9.06577920e-02 -4.53885112e-03 9.95871761e-01 -9.66282999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34629675699999 meters 0.07699143935778005 Centerline is valid? [True, True] Translation: X:83.89, Y:-2.72, Z:-9.67 [[ 9.85284584e-01 1.47902271e-01 8.56691662e-02 8.38850274e+01] [-1.47727118e-01 9.88992353e-01 -8.41565668e-03 -2.72046517e+00] [-8.59708451e-02 -4.36384225e-03 9.96288096e-01 -9.67333984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40629675699999 meters 0.077452748110535 Centerline is valid? [True, True] Translation: X:83.95, Y:-2.72, Z:-9.68 [[ 9.84736875e-01 1.51417096e-01 8.58262778e-02 8.39459588e+01] [-1.51254321e-01 9.88458900e-01 -8.43410970e-03 -2.72336734e+00] [-8.61128165e-02 -4.67621656e-03 9.96274418e-01 -9.68051900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.466296757 meters 0.07777185615284882 Centerline is valid? [True, True] Translation: X:84.01, Y:-2.73, Z:-9.69 [[ 9.84096950e-01 1.54286984e-01 8.80268064e-02 8.40069844e+01] [-1.54127361e-01 9.88013137e-01 -8.64851468e-03 -2.73030714e+00] [-8.83059944e-02 -5.05636245e-03 9.96080561e-01 -9.68514201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.526296757 meters 0.08136834356698922 Centerline is valid? [True, True] Translation: X:84.07, Y:-2.73, Z:-9.70 [[ 9.83758138e-01 1.56277862e-01 8.83015072e-02 8.40677872e+01] [-1.56123367e-01 9.87699280e-01 -8.69633092e-03 -2.72596929e+00] [-8.85743791e-02 -5.23084233e-03 9.96055831e-01 -9.69567084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.586296757 meters 0.0792674632481478 Centerline is valid? [True, True] Translation: X:84.13, Y:-2.74, Z:-9.70 [[ 9.83849478e-01 1.55533037e-01 8.85984096e-02 8.41284194e+01] [-1.55372712e-01 9.87817207e-01 -8.74563433e-03 -2.73948086e+00] [-8.88792686e-02 -5.16138736e-03 9.96029034e-01 -9.70082879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64629675699999 meters 0.07746976726649378 Centerline is valid? [True, True] Translation: X:84.19, Y:-2.75, Z:-9.71 [[ 9.84961288e-01 1.48679058e-01 8.80102201e-02 8.41882022e+01] [-1.48491218e-01 9.88875330e-01 -8.71434586e-03 -2.75365931e+00] [-8.83267761e-02 -4.48545141e-03 9.96081453e-01 -9.70646766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70629675699999 meters 0.07625752978946133 Centerline is valid? [True, True] Translation: X:84.25, Y:-2.77, Z:-9.72 [[ 9.86354269e-01 1.40356377e-01 8.60543072e-02 8.42460313e+01] [-1.40144978e-01 9.90094309e-01 -8.52313336e-03 -2.76878003e+00] [-8.63981560e-02 -3.65325003e-03 9.96253990e-01 -9.71589443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76629675699999 meters 0.07342993545657027 Centerline is valid? [True, True] Translation: X:84.30, Y:-2.79, Z:-9.72 [[ 9.87380300e-01 1.31743358e-01 8.78853331e-02 8.43048744e+01] [-1.31488819e-01 9.91279436e-01 -8.70465521e-03 -2.78933698e+00] [-8.82657039e-02 -2.96113361e-03 9.96092565e-01 -9.72220263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.826296757 meters 0.07293945910518601 Centerline is valid? [True, True] Translation: X:84.36, Y:-2.80, Z:-9.73 [[ 9.88287908e-01 1.24154155e-01 8.87285523e-02 8.43626882e+01] [-1.23863932e-01 9.92260271e-01 -8.79096433e-03 -2.80422833e+00] [-8.91332521e-02 -2.30226364e-03 9.96017050e-01 -9.73093368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.886296757 meters 0.07276349615454021 Centerline is valid? [True, True] Translation: X:84.42, Y:-2.82, Z:-9.74 [[ 9.88802533e-01 1.20192286e-01 8.84497860e-02 8.44209915e+01] [-1.19888196e-01 9.92748734e-01 -8.76189272e-03 -2.82125964e+00] [-8.88615250e-02 -1.94030357e-03 9.96042100e-01 -9.73739966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.946296757 meters 0.07271159237237691 Centerline is valid? [True, True] Translation: X:84.48, Y:-2.83, Z:-9.75 [[ 9.88900086e-01 1.19198666e-01 8.87034262e-02 8.44812388e+01] [-1.18889194e-01 9.92868681e-01 -8.78306914e-03 -2.83455721e+00] [-8.91177839e-02 -1.86030100e-03 9.96019357e-01 -9.74634614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00629675699999 meters 0.07252176561222783 Centerline is valid? [True, True] Translation: X:84.54, Y:-2.85, Z:-9.75 [[ 9.88322849e-01 1.22346511e-01 9.08255321e-02 8.45432861e+01] [-1.22033441e-01 9.92485062e-01 -9.01339898e-03 -2.84957367e+00] [-9.12457417e-02 -2.17560402e-03 9.95826030e-01 -9.74926665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06629675699999 meters 0.07389659603091304 Centerline is valid? [True, True] Translation: X:84.60, Y:-2.85, Z:-9.76 [[ 9.87233735e-01 1.30882446e-01 9.07708016e-02 8.46026709e+01] [-1.30602731e-01 9.91393565e-01 -9.04027064e-03 -2.85000906e+00] [-9.11728013e-02 -2.93005446e-03 9.95830776e-01 -9.75888932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12629675699999 meters 0.07546539011423786 Centerline is valid? [True, True] Translation: X:84.66, Y:-2.85, Z:-9.77 [[ 9.85809796e-01 1.40216272e-01 9.22954148e-02 8.46638908e+01] [-1.39967812e-01 9.90113388e-01 -9.19187080e-03 -2.85094726e+00] [-9.26717757e-02 -3.85695102e-03 9.95689242e-01 -9.76714430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.186296757 meters 0.0762966503756676 Centerline is valid? [True, True] Translation: X:84.72, Y:-2.86, Z:-9.78 [[ 9.84940818e-01 1.46671898e-01 9.15365506e-02 8.47244722e+01] [-1.46454998e-01 9.89175302e-01 -9.11890254e-03 -2.85527057e+00] [-9.18831819e-02 -4.42440606e-03 9.95759964e-01 -9.77575314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.246296757 meters 0.07841219197480699 Centerline is valid? [True, True] Translation: X:84.78, Y:-2.86, Z:-9.79 [[ 9.84468329e-01 1.50247157e-01 9.08179511e-02 8.47842535e+01] [-1.50048632e-01 9.88637206e-01 -9.04890846e-03 -2.85606530e+00] [-9.11455782e-02 -4.71874553e-03 9.95826399e-01 -9.78660047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.306296757 meters 0.07751066127561934 Centerline is valid? [True, True] Translation: X:84.85, Y:-2.87, Z:-9.79 [[ 9.84237537e-01 1.49476541e-01 9.45157905e-02 8.48450402e+01] [-1.49257214e-01 9.88753476e-01 -9.42590429e-03 -2.86793052e+00] [-9.48617680e-02 -4.82983475e-03 9.95478738e-01 -9.79032847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.366296757 meters 0.07689163364725143 Centerline is valid? [True, True] Translation: X:84.91, Y:-2.88, Z:-9.80 [[ 9.84513881e-01 1.48483009e-01 9.31944936e-02 8.49065447e+01] [-1.48264928e-01 9.88903965e-01 -9.29836405e-03 -2.87907799e+00] [-9.35410533e-02 -4.66310644e-03 9.95604503e-01 -9.79674428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42629675699999 meters 0.07692341881628496 Centerline is valid? [True, True] Translation: X:84.97, Y:-2.89, Z:-9.80 [[ 9.84824061e-01 1.48104936e-01 9.04792646e-02 8.49671582e+01] [-1.47897382e-01 9.88961472e-01 -9.03163351e-03 -2.88972402e+00] [-9.08181363e-02 -4.48707638e-03 9.95857386e-01 -9.80474021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48629675699999 meters 0.07734651653166466 Centerline is valid? [True, True] Translation: X:85.03, Y:-2.90, Z:-9.81 [[ 9.85030311e-01 1.47526990e-01 8.91687939e-02 8.50283192e+01] [-1.47320880e-01 9.89048485e-01 -8.92479919e-03 -2.89740914e+00] [-8.95089093e-02 -4.34522748e-03 9.95976543e-01 -9.81395994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.546296757 meters 0.07748208090600675 Centerline is valid? [True, True] Translation: X:85.09, Y:-2.91, Z:-9.82 [[ 9.84900888e-01 1.48497960e-01 8.89865003e-02 8.50889287e+01] [-1.48295344e-01 9.88902881e-01 -8.92096394e-03 -2.90622792e+00] [-8.93237515e-02 -4.41001833e-03 9.95992881e-01 -9.82080900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.606296757 meters 0.07839867330241483 Centerline is valid? [True, True] Translation: X:85.15, Y:-2.91, Z:-9.83 [[ 9.84545986e-01 1.50086052e-01 9.02406639e-02 8.51496110e+01] [-1.49882384e-01 9.88662248e-01 -9.06812604e-03 -2.90920802e+00] [-9.05785368e-02 -4.59749878e-03 9.95878703e-01 -9.82878560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.666296757 meters 0.08043928740460356 Centerline is valid? [True, True] Translation: X:85.21, Y:-2.91, Z:-9.84 [[ 9.83747639e-01 1.54099939e-01 9.21617675e-02 8.52101266e+01] [-1.53902826e-01 9.88042362e-01 -9.28504360e-03 -2.90954294e+00] [-9.24905550e-02 -5.04981674e-03 9.95700757e-01 -9.83502824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.726296757 meters 0.07952880954887646 Centerline is valid? [True, True] Translation: X:85.27, Y:-2.92, Z:-9.84 [[ 9.83400800e-01 1.56447905e-01 9.19071219e-02 8.52706822e+01] [-1.56260722e-01 9.87672304e-01 -9.27396655e-03 -2.91700499e+00] [-9.22250115e-02 -5.24144707e-03 9.95724397e-01 -9.84035139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78629675699999 meters 0.08055112405970616 Centerline is valid? [True, True] Translation: X:85.33, Y:-2.92, Z:-9.85 [[ 9.82755301e-01 1.59810844e-01 9.30188792e-02 8.53314304e+01] [-1.59633779e-01 9.87131650e-01 -9.38948916e-03 -2.92032063e+00] [-9.33224219e-02 -5.62138495e-03 9.95620071e-01 -9.84783429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84629675699999 meters 0.08191433537352041 Centerline is valid? [True, True] Translation: X:85.39, Y:-2.93, Z:-9.86 [[ 9.82903874e-01 1.60088574e-01 9.09484579e-02 8.53910147e+01] [-1.59920332e-01 9.87087221e-01 -9.18180880e-03 -2.92517374e+00] [-9.12439633e-02 -5.51967218e-03 9.95813272e-01 -9.85810550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90629675699999 meters 0.07884883147174726 Centerline is valid? [True, True] Translation: X:85.45, Y:-2.94, Z:-9.86 [[ 9.83576355e-01 1.54683470e-01 9.30084792e-02 8.54508565e+01] [-1.54482204e-01 9.87950819e-01 -9.40363718e-03 -2.94380373e+00] [-9.33423904e-02 -5.11895964e-03 9.95620909e-01 -9.86116612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.966296757 meters 0.07754704954109488 Centerline is valid? [True, True] Translation: X:85.51, Y:-2.96, Z:-9.87 [[ 9.84297702e-01 1.49803738e-01 9.33642049e-02 8.55104947e+01] [-1.49578826e-01 9.88704718e-01 -9.44224190e-03 -2.95536798e+00] [-9.37241130e-02 -4.67133117e-03 9.95587248e-01 -9.86862229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.026296757 meters 0.07650399448250529 Centerline is valid? [True, True] Translation: X:85.57, Y:-2.97, Z:-9.88 [[ 9.85304036e-01 1.43742120e-01 9.22722048e-02 8.55703116e+01] [-1.43495656e-01 9.89606921e-01 -9.33485137e-03 -2.96782688e+00] [-9.26550237e-02 -4.04299383e-03 9.95690063e-01 -9.87625025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.086296757 meters 0.07580172076281755 Centerline is valid? [True, True] Translation: X:85.63, Y:-2.98, Z:-9.89 [[ 9.85817851e-01 1.40546266e-01 9.17055735e-02 8.56304166e+01] [-1.40288780e-01 9.90067136e-01 -9.28030080e-03 -2.97789029e+00] [-9.20989862e-02 -3.71657682e-03 9.95742921e-01 -9.88582216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14629675699999 meters 0.07462037866952888 Centerline is valid? [True, True] Translation: X:85.69, Y:-2.99, Z:-9.89 [[ 9.86146015e-01 1.36771831e-01 9.38589593e-02 8.56907318e+01] [-1.36484777e-01 9.90596603e-01 -9.50141160e-03 -2.99148990e+00] [-9.42758917e-02 -3.44053993e-03 9.95540164e-01 -9.89081830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20629675699999 meters 0.074547472215053 Centerline is valid? [True, True] Translation: X:85.75, Y:-3.00, Z:-9.90 [[ 9.86078962e-01 1.36769784e-01 9.45637698e-02 8.57519812e+01] [-1.36478322e-01 9.90596798e-01 -9.57351236e-03 -2.99821653e+00] [-9.49839347e-02 -3.46566549e-03 9.95472773e-01 -9.89719685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26629675699999 meters 0.07647047723898512 Centerline is valid? [True, True] Translation: X:85.81, Y:-3.00, Z:-9.91 [[ 9.85731307e-01 1.41546760e-01 9.10950355e-02 8.58121596e+01] [-1.41294154e-01 9.89924452e-01 -9.24888216e-03 -2.99756343e+00] [-9.14863524e-02 -3.75428329e-03 9.95799253e-01 -9.90813036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.326296757 meters 0.07794621040560246 Centerline is valid? [True, True] Translation: X:85.87, Y:-3.00, Z:-9.92 [[ 9.85290119e-01 1.45792568e-01 8.91510490e-02 8.58731002e+01] [-1.45567875e-01 9.89306856e-01 -9.05203641e-03 -2.99973046e+00] [-8.95174636e-02 -4.05864669e-03 9.95976983e-01 -9.91721025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.386296757 meters 0.07993136982391279 Centerline is valid? [True, True] Translation: X:85.93, Y:-3.00, Z:-9.92 [[ 9.84639539e-01 1.50155894e-01 8.90965001e-02 8.59342523e+01] [-1.49949094e-01 9.88652314e-01 -9.04822769e-03 -2.99916099e+00] [-8.94441057e-02 -4.45069669e-03 9.95981899e-01 -9.92398625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.446296757 meters 0.08325431929236915 Centerline is valid? [True, True] Translation: X:86.00, Y:-2.99, Z:-9.93 [[ 9.83208228e-01 1.57167966e-01 9.27351616e-02 8.59953464e+01] [-1.56974483e-01 9.87557705e-01 -9.42288423e-03 -2.99384615e+00] [-9.30622990e-02 -5.29239669e-03 9.95646222e-01 -9.92825371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50629675699999 meters 0.07986957027226087 Centerline is valid? [True, True] Translation: X:86.05, Y:-3.01, Z:-9.93 [[ 9.83379560e-01 1.58416695e-01 8.87062126e-02 8.60545306e+01] [-1.58244864e-01 9.87358780e-01 -9.01119659e-03 -3.00877274e+00] [-8.90123819e-02 -5.17587606e-03 9.96017071e-01 -9.93400355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56629675699999 meters 0.08086490025149513 Centerline is valid? [True, True] Translation: X:86.11, Y:-3.01, Z:-9.95 [[ 9.83555890e-01 1.58603680e-01 8.63868237e-02 8.61149431e+01] [-1.58440572e-01 9.87329431e-01 -8.78518323e-03 -3.01192522e+00] [-8.66856159e-02 -5.04645901e-03 9.96222936e-01 -9.94531076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62629675699999 meters 0.07836258609661971 Centerline is valid? [True, True] Translation: X:86.18, Y:-3.03, Z:-9.95 [[ 9.84619024e-01 1.52496058e-01 8.52662308e-02 8.61753762e+01] [-1.52312210e-01 9.88294173e-01 -8.69589351e-03 -3.02562422e+00] [-8.55942085e-02 -4.42494587e-03 9.96320255e-01 -9.95034140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.686296757 meters 0.0769818615833215 Centerline is valid? [True, True] Translation: X:86.23, Y:-3.04, Z:-9.96 [[ 9.85583993e-01 1.45820886e-01 8.57931327e-02 8.62345520e+01] [-1.45609169e-01 9.89303460e-01 -8.75409036e-03 -3.03804392e+00] [-8.61519722e-02 -3.86437542e-03 9.96274513e-01 -9.95694852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.746296757 meters 0.07529443057822578 Centerline is valid? [True, True] Translation: X:86.30, Y:-3.05, Z:-9.96 [[ 9.85936717e-01 1.41391768e-01 8.90907333e-02 8.62950088e+01] [-1.41145224e-01 9.89947140e-01 -9.09317260e-03 -3.04834286e+00] [-8.94808164e-02 -3.60943878e-03 9.95982006e-01 -9.96114870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.806296757 meters 0.075006180517817 Centerline is valid? [True, True] Translation: X:86.35, Y:-3.06, Z:-9.97 [[ 9.86345667e-01 1.39144640e-01 8.80965094e-02 8.63547474e+01] [-1.38894853e-01 9.90266335e-01 -8.98918648e-03 -3.05649817e+00] [-8.84898046e-02 -3.36970663e-03 9.96071383e-01 -9.96837969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.866296757 meters 0.07379945511242841 Centerline is valid? [True, True] Translation: X:86.42, Y:-3.07, Z:-9.98 [[ 9.86708148e-01 1.38448460e-01 8.50826383e-02 8.64152401e+01] [-1.38211427e-01 9.90364546e-01 -8.69866719e-03 -3.06980654e+00] [-8.54671455e-02 -3.17634702e-03 9.96335926e-01 -9.97509108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92629675699999 meters 0.07418135260707132 Centerline is valid? [True, True] Translation: X:86.48, Y:-3.07, Z:-9.98 [[ 9.86585075e-01 1.39733768e-01 8.44059506e-02 8.64761503e+01] [-1.39503353e-01 9.90183809e-01 -8.65091474e-03 -3.07451749e+00] [-8.47862307e-02 -3.24004978e-03 9.96393897e-01 -9.98356496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98629675699999 meters 0.07476293372796503 Centerline is valid? [True, True] Translation: X:86.54, Y:-3.08, Z:-9.99 [[ 9.85990400e-01 1.42379612e-01 8.68963643e-02 8.65374133e+01] [-1.42143800e-01 9.89805762e-01 -8.92716451e-03 -3.07820055e+00] [-8.72815683e-02 -3.54968093e-03 9.96177358e-01 -9.98962592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.046296757 meters 0.07578786872989673 Centerline is valid? [True, True] Translation: X:86.60, Y:-3.08, Z:-10.00 [[ 9.85406761e-01 1.46949691e-01 8.59028684e-02 8.65985705e+01] [-1.46734382e-01 9.89136341e-01 -8.84985464e-03 -3.08021779e+00] [-8.62701324e-02 -3.88419768e-03 9.96264211e-01 -9.99670632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.106296757 meters 0.07810561041454779 Centerline is valid? [True, True] Translation: X:86.66, Y:-3.08, Z:-10.01 [[ 9.84861751e-01 1.51332317e-01 8.45331957e-02 8.66586684e+01] [-1.51139509e-01 9.88474042e-01 -8.71309138e-03 -3.07946378e+00] [-8.48774419e-02 -4.19511525e-03 9.96382568e-01 -1.00075529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.166296757 meters 0.0778075585891901 Centerline is valid? [True, True] Translation: X:86.72, Y:-3.09, Z:-10.02 [[ 9.84811213e-01 1.51759455e-01 8.43560471e-02 8.67195444e+01] [-1.51569554e-01 9.88408408e-01 -8.68847868e-03 -3.08816007e+00] [-8.46967850e-02 -4.22929717e-03 9.96397796e-01 -1.00162925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.226296757 meters 0.07766322857700357 Centerline is valid? [True, True] Translation: X:86.78, Y:-3.10, Z:-10.02 [[ 9.85046736e-01 1.49198536e-01 8.61552320e-02 8.67794926e+01] [-1.48988235e-01 9.88798896e-01 -8.90221429e-03 -3.09680913e+00] [-8.65183956e-02 -4.06701885e-03 9.96241952e-01 -1.00231195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28629675699999 meters 0.07595940971033949 Centerline is valid? [True, True] Translation: X:86.84, Y:-3.11, Z:-10.03 [[ 9.85198881e-01 1.46816988e-01 8.84756338e-02 8.68403382e+01] [-1.46585545e-01 9.89155741e-01 -9.14321256e-03 -3.10912123e+00] [-8.88585601e-02 -3.96136627e-03 9.96036377e-01 -1.00257663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34629675699999 meters 0.07455331248139528 Centerline is valid? [True, True] Translation: X:86.90, Y:-3.12, Z:-10.03 [[ 9.85645050e-01 1.42761941e-01 9.01269311e-02 8.69004920e+01] [-1.42504567e-01 9.89750289e-01 -9.31743541e-03 -3.12059840e+00] [-9.05333312e-02 -3.65981516e-03 9.95886701e-01 -1.00313115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40629675699999 meters 0.07403266556094636 Centerline is valid? [True, True] Translation: X:86.96, Y:-3.13, Z:-10.04 [[ 9.85867093e-01 1.41703130e-01 8.93660949e-02 8.69612788e+01] [-1.41445764e-01 9.89902897e-01 -9.23856279e-03 -3.13095163e+00] [-8.97728895e-02 -3.53246055e-03 9.95955998e-01 -1.00371868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.466296757 meters 0.07366929557260193 Centerline is valid? [True, True] Translation: X:87.02, Y:-3.14, Z:-10.05 [[ 9.86373938e-01 1.38044589e-01 8.94994220e-02 8.70214371e+01] [-1.37768884e-01 9.90420923e-01 -9.28065111e-03 -3.13986819e+00] [-8.99232437e-02 -3.17604311e-03 9.95943634e-01 -1.00459347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.526296757 meters 0.07344366354406125 Centerline is valid? [True, True] Translation: X:87.08, Y:-3.15, Z:-10.05 [[ 9.86463991e-01 1.36857850e-01 9.03256469e-02 8.70823948e+01] [-1.36572232e-01 9.90585852e-01 -9.36456850e-03 -3.14605730e+00] [-9.07569226e-02 -3.09816558e-03 9.95868256e-01 -1.00538790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.586296757 meters 0.07332869429644208 Centerline is valid? [True, True] Translation: X:87.14, Y:-3.15, Z:-10.06 [[ 9.85921791e-01 1.39196119e-01 9.26426611e-02 8.71442791e+01] [-1.38903686e-01 9.90259082e-01 -9.62892749e-03 -3.15207535e+00] [-9.30805458e-02 -3.37503769e-03 9.95652862e-01 -1.00576423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64629675699999 meters 0.07411760744750948 Centerline is valid? [True, True] Translation: X:87.21, Y:-3.15, Z:-10.06 [[ 9.85618030e-01 1.40751158e-01 9.35211774e-02 8.72061899e+01] [-1.40457836e-01 9.90038707e-01 -9.74452537e-03 -3.15285644e+00] [-9.39611387e-02 -3.53140226e-03 9.95569603e-01 -1.00647041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70629675699999 meters 0.07544773648103423 Centerline is valid? [True, True] Translation: X:87.27, Y:-3.15, Z:-10.07 [[ 9.85248737e-01 1.44130558e-01 9.22567522e-02 8.72671614e+01] [-1.43857283e-01 9.89551486e-01 -9.64050044e-03 -3.15104328e+00] [-9.26822969e-02 -3.77351483e-03 9.95688582e-01 -1.00746781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76629675699999 meters 0.0762564611428169 Centerline is valid? [True, True] Translation: X:87.33, Y:-3.15, Z:-10.08 [[ 9.84877406e-01 1.47850171e-01 9.03151255e-02 8.73280595e+01] [-1.47603619e-01 9.89001546e-01 -9.44004905e-03 -3.15191529e+00] [-9.07175116e-02 -4.03354831e-03 9.95868497e-01 -1.00830645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.826296757 meters 0.07649564278556585 Centerline is valid? [True, True] Translation: X:87.39, Y:-3.15, Z:-10.09 [[ 9.84275109e-01 1.49775780e-01 9.36468107e-02 8.73907871e+01] [-1.49519176e-01 9.88710352e-01 -9.79061634e-03 -3.15453595e+00] [-9.40559683e-02 -4.36533405e-03 9.95557341e-01 -1.00873802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.886296757 meters 0.07760452455970869 Centerline is valid? [True, True] Translation: X:87.45, Y:-3.15, Z:-10.10 [[ 9.84075558e-01 1.50881888e-01 9.39678276e-02 8.74516907e+01] [-1.50625836e-01 9.88541745e-01 -9.85275702e-03 -3.15181512e+00] [-9.43777228e-02 -4.45812519e-03 9.95526479e-01 -1.00964843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.946296757 meters 0.07708536750906853 Centerline is valid? [True, True] Translation: X:87.51, Y:-3.16, Z:-10.11 [[ 9.84178632e-01 1.50996504e-01 9.26956134e-02 8.75126744e+01] [-1.50745905e-01 9.88524560e-01 -9.73998901e-03 -3.15684927e+00] [-9.31025947e-02 -4.38759506e-03 9.95646853e-01 -1.01059132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00629675699999 meters 0.07571308157440956 Centerline is valid? [True, True] Translation: X:87.57, Y:-3.17, Z:-10.11 [[ 9.84882709e-01 1.45881272e-01 9.34061246e-02 8.75731855e+01] [-1.45601294e-01 9.89294392e-01 -9.84226291e-03 -3.16634918e+00] [-9.38419571e-02 -3.90657805e-03 9.95579442e-01 -1.01118561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06629675699999 meters 0.0731641787962511 Centerline is valid? [True, True] Translation: X:87.63, Y:-3.18, Z:-10.12 [[ 9.86072364e-01 1.35811785e-01 9.60023560e-02 8.76330366e+01] [-1.35467887e-01 9.90730039e-01 -1.01213701e-02 -3.18142488e+00] [-9.64870192e-02 -3.02483297e-03 9.95329647e-01 -1.01150126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12629675699999 meters 0.07238443667867037 Centerline is valid? [True, True] Translation: X:87.69, Y:-3.19, Z:-10.12 [[ 9.86788124e-01 1.29820157e-01 9.69325812e-02 8.76934234e+01] [-1.29440493e-01 9.91534505e-01 -1.02217860e-02 -3.19019096e+00] [-9.74389928e-02 -2.46026407e-03 9.95238459e-01 -1.01203809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.186296757 meters 0.07180768955481011 Centerline is valid? [True, True] Translation: X:87.75, Y:-3.20, Z:-10.13 [[ 9.87079248e-01 1.26107727e-01 9.88503900e-02 8.77541083e+01] [-1.25693952e-01 9.92014262e-01 -1.04276004e-02 -3.19684341e+00] [-9.93759976e-02 -2.13202826e-03 9.95047670e-01 -1.01263301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.246296757 meters 0.07160196574298079 Centerline is valid? [True, True] Translation: X:87.82, Y:-3.20, Z:-10.13 [[ 9.87218730e-01 1.24870385e-01 9.90281096e-02 8.78160017e+01] [-1.24448862e-01 9.92171026e-01 -1.04468391e-02 -3.19817169e+00] [-9.95573219e-02 -2.01062035e-03 9.95029797e-01 -1.01348732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.306296757 meters 0.07176377774409413 Centerline is valid? [True, True] Translation: X:87.88, Y:-3.20, Z:-10.14 [[ 9.87159126e-01 1.25588798e-01 9.87132881e-02 8.78761157e+01] [-1.25171050e-01 9.92080261e-01 -1.04385534e-02 -3.20209027e+00] [-9.92424700e-02 -2.05153260e-03 9.95061166e-01 -1.01417843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.366296757 meters 0.07247272408636563 Centerline is valid? [True, True] Translation: X:87.94, Y:-3.20, Z:-10.15 [[ 9.86762287e-01 1.28503977e-01 9.89288454e-02 8.79384309e+01] [-1.28097180e-01 9.91706252e-01 -1.04795640e-02 -3.19849415e+00] [-9.94550202e-02 -2.33166760e-03 9.95039327e-01 -1.01501323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42629675699999 meters 0.07294422687726249 Centerline is valid? [True, True] Translation: X:88.00, Y:-3.20, Z:-10.16 [[ 9.86740274e-01 1.30975503e-01 9.58595235e-02 8.79994606e+01] [-1.30603050e-01 9.91382508e-01 -1.01767022e-02 -3.19958976e+00] [-9.63663536e-02 -2.47778420e-03 9.95342849e-01 -1.01597314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48629675699999 meters 0.07342655498589021 Centerline is valid? [True, True] Translation: X:88.06, Y:-3.20, Z:-10.17 [[ 9.86673086e-01 1.33992167e-01 9.23164118e-02 8.80596862e+01] [-1.33657903e-01 9.90978854e-01 -9.82218118e-03 -3.20229367e+00] [-9.27997074e-02 -2.64753621e-03 9.95681277e-01 -1.01671037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.546296757 meters 0.07365337905818774 Centerline is valid? [True, True] Translation: X:88.12, Y:-3.20, Z:-10.17 [[ 9.85958747e-01 1.37158438e-01 9.52518339e-02 8.81215732e+01] [-1.36816239e-01 9.90544491e-01 -1.01453966e-02 -3.20364262e+00] [-9.57427060e-02 -3.02905512e-03 9.95401506e-01 -1.01709349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.606296757 meters 0.07447666463377126 Centerline is valid? [True, True] Translation: X:88.18, Y:-3.21, Z:-10.18 [[ 9.85655047e-01 1.40843805e-01 9.29900593e-02 8.81820620e+01] [-1.40531660e-01 9.90026392e-01 -9.92949485e-03 -3.20512909e+00] [-9.34611208e-02 -3.28099068e-03 9.95617524e-01 -1.01781307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.666296757 meters 0.07558500553179019 Centerline is valid? [True, True] Translation: X:88.24, Y:-3.21, Z:-10.19 [[ 9.85583406e-01 1.43844449e-01 8.90737030e-02 8.82424821e+01] [-1.43568934e-01 9.89594471e-01 -9.52595157e-03 -3.20767523e+00] [-8.95170993e-02 -3.39959682e-03 9.95979484e-01 -1.01883235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.726296757 meters 0.07571411013835753 Centerline is valid? [True, True] Translation: X:88.30, Y:-3.21, Z:-10.20 [[ 9.85952665e-01 1.41688530e-01 8.84403895e-02 8.83031795e+01] [-1.41408579e-01 9.89906168e-01 -9.45478584e-03 -3.21415095e+00] [-8.88873218e-02 -3.18425849e-03 9.96036598e-01 -1.01974942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78629675699999 meters 0.07426536682895321 Centerline is valid? [True, True] Translation: X:88.36, Y:-3.23, Z:-10.20 [[ 9.86595686e-01 1.35564748e-01 9.08358527e-02 8.83635618e+01] [-1.35241000e-01 9.90764873e-01 -9.73847798e-03 -3.22638534e+00] [-9.13171663e-02 -2.67679123e-03 9.95818261e-01 -1.02025409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84629675699999 meters 0.07360655404713376 Centerline is valid? [True, True] Translation: X:88.42, Y:-3.24, Z:-10.21 [[ 9.87316168e-01 1.29122845e-01 9.23800632e-02 8.84238457e+01] [-1.28759607e-01 9.91626352e-01 -9.90661225e-03 -3.23774899e+00] [-9.28856751e-02 -2.11386222e-03 9.95674537e-01 -1.02072417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90629675699999 meters 0.07292121395232239 Centerline is valid? [True, True] Translation: X:88.48, Y:-3.25, Z:-10.21 [[ 9.87708222e-01 1.24810482e-01 9.41000048e-02 8.84836184e+01] [-1.24413777e-01 9.92179079e-01 -1.00939283e-02 -3.24501641e+00] [-9.46238841e-02 -1.73748105e-03 9.95511578e-01 -1.02138735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.966296757 meters 0.07222562240143067 Centerline is valid? [True, True] Translation: X:88.54, Y:-3.26, Z:-10.22 [[ 9.88068059e-01 1.22267287e-01 9.36601397e-02 8.85449336e+01] [-1.21862988e-01 9.92496094e-01 -1.00456751e-02 -3.25642650e+00] [-9.41855803e-02 -1.48789373e-03 9.95553546e-01 -1.02183342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.026296757 meters 0.07225918312717863 Centerline is valid? [True, True] Translation: X:88.61, Y:-3.26, Z:-10.23 [[ 9.88281211e-01 1.21225970e-01 9.27605069e-02 8.86064625e+01] [-1.20822553e-01 9.92624017e-01 -9.97354154e-03 -3.26094323e+00] [-9.32853593e-02 -1.35089753e-03 9.95638497e-01 -1.02284109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.086296757 meters 0.07234143379959186 Centerline is valid? [True, True] Translation: X:88.67, Y:-3.26, Z:-10.24 [[ 9.88448391e-01 1.22089694e-01 8.97991354e-02 8.86672176e+01] [-1.21713927e-01 9.92518123e-01 -9.66933792e-03 -3.26414700e+00] [-9.03077957e-02 -1.37216392e-03 9.95912958e-01 -1.02391083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14629675699999 meters 0.07208073323870523 Centerline is valid? [True, True] Translation: X:88.73, Y:-3.27, Z:-10.24 [[ 9.88430402e-01 1.23356510e-01 8.82525408e-02 8.87283571e+01] [-1.22997053e-01 9.92361368e-01 -9.52050075e-03 -3.27353652e+00] [-8.87528279e-02 -1.44445008e-03 9.96052634e-01 -1.02427635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20629675699999 meters 0.07210147561872704 Centerline is valid? [True, True] Translation: X:88.79, Y:-3.28, Z:-10.25 [[ 9.87979449e-01 1.26657679e-01 8.86252844e-02 8.87899174e+01] [-1.26306265e-01 9.91944988e-01 -9.58479598e-03 -3.27539395e+00] [-8.91253947e-02 -1.72434722e-03 9.96018921e-01 -1.02480617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26629675699999 meters 0.07259853888251955 Centerline is valid? [True, True] Translation: X:88.85, Y:-3.27, Z:-10.25 [[ 9.86991459e-01 1.33106846e-01 9.01688835e-02 8.88525673e+01] [-1.32768698e-01 9.91098946e-01 -9.76483395e-03 -3.27341604e+00] [-9.06660516e-02 -2.33379754e-03 9.95878617e-01 -1.02545940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.326296757 meters 0.07316159684301433 Centerline is valid? [True, True] Translation: X:88.91, Y:-3.28, Z:-10.26 [[ 9.86545335e-01 1.37128729e-01 8.90169294e-02 8.89134789e+01] [-1.36814860e-01 9.90549660e-01 -9.64708629e-03 -3.27777450e+00] [-8.94985818e-02 -2.66155072e-03 9.95983393e-01 -1.02619536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.386296757 meters 0.07429016681456246 Centerline is valid? [True, True] Translation: X:88.97, Y:-3.28, Z:-10.27 [[ 9.86081099e-01 1.43650716e-01 8.37170095e-02 8.89744185e+01] [-1.43396322e-01 9.89623734e-01 -9.07527040e-03 -3.27766154e+00] [-8.41520086e-02 -3.05575865e-03 9.96448243e-01 -1.02719132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.446296757 meters 0.07472637858232477 Centerline is valid? [True, True] Translation: X:89.04, Y:-3.28, Z:-10.28 [[ 9.85808996e-01 1.47238529e-01 8.06314992e-02 8.90351434e+01] [-1.47014230e-01 9.89095727e-01 -8.74408556e-03 -3.28188851e+00] [-8.10397376e-02 -3.23397958e-03 9.96705625e-01 -1.02794312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50629675699999 meters 0.07530000684994421 Centerline is valid? [True, True] Translation: X:89.10, Y:-3.29, Z:-10.29 [[ 9.86131660e-01 1.46310528e-01 7.83426992e-02 8.90954615e+01] [-1.46096276e-01 9.89233940e-01 -8.49060315e-03 -3.28936659e+00] [-7.87415216e-02 -3.07272404e-03 9.96890331e-01 -1.02869802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56629675699999 meters 0.07498307701152418 Centerline is valid? [True, True] Translation: X:89.15, Y:-3.30, Z:-10.29 [[ 9.86957440e-01 1.39874174e-01 7.96883112e-02 8.91548573e+01] [-1.39629488e-01 9.90165931e-01 -8.66223811e-03 -3.29928511e+00] [-8.01162743e-02 -2.57757777e-03 9.96782192e-01 -1.02943686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62629675699999 meters 0.07305536938440209 Centerline is valid? [True, True] Translation: X:89.21, Y:-3.31, Z:-10.30 [[ 9.87704996e-01 1.33999201e-01 8.05174181e-02 8.92145681e+01] [-1.33729716e-01 9.90979171e-01 -8.75473560e-03 -3.31453581e+00] [-8.09642118e-02 -2.12047533e-03 9.96714754e-01 -1.02963187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.686296757 meters 0.07272423117709755 Centerline is valid? [True, True] Translation: X:89.27, Y:-3.33, Z:-10.30 [[ 9.88402489e-01 1.29219766e-01 7.97669862e-02 8.92731958e+01] [-1.28939666e-01 9.91614503e-01 -8.67410373e-03 -3.32882287e+00] [-8.02189660e-02 -1.71162282e-03 9.96775796e-01 -1.03024255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.746296757 meters 0.07223756348724841 Centerline is valid? [True, True] Translation: X:89.33, Y:-3.34, Z:-10.31 [[ 9.88949262e-01 1.24456898e-01 8.05595236e-02 8.93336040e+01] [-1.24155399e-01 9.92224113e-01 -8.76053335e-03 -3.34221114e+00] [-8.10234106e-02 -1.33817682e-03 9.96711300e-01 -1.03077282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.806296757 meters 0.07216120054375243 Centerline is valid? [True, True] Translation: X:89.39, Y:-3.35, Z:-10.32 [[ 9.89346966e-01 1.20538483e-01 8.16275358e-02 8.93929123e+01] [-1.20215199e-01 9.92708125e-01 -8.88166160e-03 -3.35345075e+00] [-8.21029001e-02 -1.02582554e-03 9.96623330e-01 -1.03151301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.866296757 meters 0.07202122692337244 Centerline is valid? [True, True] Translation: X:89.45, Y:-3.36, Z:-10.32 [[ 9.88973023e-01 1.20810675e-01 8.56571081e-02 8.94534644e+01] [-1.20455388e-01 9.92674960e-01 -9.32324414e-03 -3.36251701e+00] [-8.61560138e-02 -1.09742326e-03 9.96281053e-01 -1.03197895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92629675699999 meters 0.07265600123319435 Centerline is valid? [True, True] Translation: X:89.51, Y:-3.37, Z:-10.33 [[ 9.88612400e-01 1.24597419e-01 8.43860576e-02 8.95137719e+01] [-1.24266123e-01 9.92206387e-01 -9.18783188e-03 -3.36628939e+00] [-8.48731655e-02 -1.40312369e-03 9.96390775e-01 -1.03275050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98629675699999 meters 0.07361848180230929 Centerline is valid? [True, True] Translation: X:89.57, Y:-3.37, Z:-10.34 [[ 9.88100120e-01 1.31420882e-01 7.99168638e-02 8.95741675e+01] [-1.31145801e-01 9.91324880e-01 -8.70414925e-03 -3.36756657e+00] [-8.03674824e-02 -1.88019016e-03 9.96763529e-01 -1.03363488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.046296757 meters 0.07434630910103363 Centerline is valid? [True, True] Translation: X:89.63, Y:-3.37, Z:-10.34 [[ 9.87259281e-01 1.38464381e-01 7.84010624e-02 8.96346523e+01] [-1.38221614e-01 9.90364496e-01 -8.54115769e-03 -3.37277566e+00] [-7.88282748e-02 -2.40438419e-03 9.96885310e-01 -1.03417222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.106296757 meters 0.0757802427130696 Centerline is valid? [True, True] Translation: X:89.70, Y:-3.37, Z:-10.35 [[ 9.86443867e-01 1.45609305e-01 7.56731592e-02 8.96954267e+01] [-1.45404027e-01 9.89338007e-01 -8.24477844e-03 -3.37393581e+00] [-7.60668490e-02 -2.87017098e-03 9.97098589e-01 -1.03525433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.166296757 meters 0.07684295219447387 Centerline is valid? [True, True] Translation: X:89.75, Y:-3.38, Z:-10.36 [[ 9.85986470e-01 1.49308178e-01 7.44160495e-02 8.97545755e+01] [-1.49120068e-01 9.88785846e-01 -8.10905419e-03 -3.37656644e+00] [-7.47922845e-02 -3.10150866e-03 9.97194311e-01 -1.03621199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.226296757 meters 0.07700079979563705 Centerline is valid? [True, True] Translation: X:89.82, Y:-3.39, Z:-10.37 [[ 9.86173482e-01 1.48956849e-01 7.26203850e-02 8.98153649e+01] [-1.48776819e-01 9.88839143e-01 -7.91251278e-03 -3.38985827e+00] [-7.29885022e-02 -3.00111957e-03 9.97328267e-01 -1.03683768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28629675699999 meters 0.0769358167411267 Centerline is valid? [True, True] Translation: X:89.88, Y:-3.40, Z:-10.38 [[ 9.86476458e-01 1.46983276e-01 7.25266450e-02 8.98756584e+01] [-1.46797053e-01 9.89134920e-01 -7.92058856e-03 -3.39853613e+00] [-7.29028312e-02 -2.83322364e-03 9.97335024e-01 -1.03771601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34629675699999 meters 0.07584516040375676 Centerline is valid? [True, True] Translation: X:89.94, Y:-3.41, Z:-10.38 [[ 9.86277298e-01 1.44533623e-01 7.97942544e-02 8.99356186e+01] [-1.44297799e-01 9.89495670e-01 -8.74436658e-03 -3.41129838e+00] [-8.02199242e-02 -2.88976507e-03 9.96773000e-01 -1.03806902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40629675699999 meters 0.07516410097780164 Centerline is valid? [True, True] Translation: X:90.00, Y:-3.42, Z:-10.39 [[ 9.86367016e-01 1.42804018e-01 8.17748241e-02 8.99958815e+01] [-1.42550277e-01 9.89746979e-01 -8.96307302e-03 -3.42258613e+00] [-8.22163480e-02 -2.81614424e-03 9.96610526e-01 -1.03860160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.466296757 meters 0.07485219793987381 Centerline is valid? [True, True] Translation: X:90.06, Y:-3.43, Z:-10.39 [[ 9.86497195e-01 1.41139985e-01 8.30830237e-02 9.00563836e+01] [-1.40871918e-01 9.89985919e-01 -9.10950921e-03 -3.43001139e+00] [-8.35367396e-02 -2.71755962e-03 9.96500992e-01 -1.03949009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.526296757 meters 0.07441892004529073 Centerline is valid? [True, True] Translation: X:90.12, Y:-3.44, Z:-10.40 [[ 9.86306359e-01 1.41665976e-01 8.44423915e-02 9.01175083e+01] [-1.41391260e-01 9.89910526e-01 -9.25533614e-03 -3.43827950e+00] [-8.49015784e-02 -2.81081921e-03 9.96385378e-01 -1.04026494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.586296757 meters 0.07444919882098258 Centerline is valid? [True, True] Translation: X:90.18, Y:-3.44, Z:-10.41 [[ 9.85979799e-01 1.42197564e-01 8.73137395e-02 9.01790761e+01] [-1.41903911e-01 9.89833954e-01 -9.59284927e-03 -3.44314112e+00] [-8.77901838e-02 -2.93180549e-03 9.96134674e-01 -1.04097245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64629675699999 meters 0.07509006847154051 Centerline is valid? [True, True] Translation: X:90.24, Y:-3.45, Z:-10.42 [[ 9.85741627e-01 1.44900058e-01 8.55419040e-02 9.02393760e+01] [-1.44626096e-01 9.89441497e-01 -9.42422853e-03 -3.44602314e+00] [-8.60042808e-02 -3.08173726e-03 9.96290001e-01 -1.04187049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70629675699999 meters 0.07695094814574006 Centerline is valid? [True, True] Translation: X:90.30, Y:-3.45, Z:-10.43 [[ 9.85381680e-01 1.49621781e-01 8.14632898e-02 9.02984895e+01] [-1.49389147e-01 9.88737720e-01 -8.97791560e-03 -3.44585271e+00] [-8.18891192e-02 -3.32305779e-03 9.96635906e-01 -1.04311273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76629675699999 meters 0.07820741608240186 Centerline is valid? [True, True] Translation: X:90.36, Y:-3.45, Z:-10.44 [[ 9.84975175e-01 1.53603012e-01 7.89304651e-02 9.03590201e+01] [-1.53396705e-01 9.88126329e-01 -8.70683039e-03 -3.45034477e+00] [-7.93306661e-02 -3.53166149e-03 9.96842100e-01 -1.04392416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.826296757 meters 0.07944878764909548 Centerline is valid? [True, True] Translation: X:90.42, Y:-3.46, Z:-10.45 [[ 9.84639575e-01 1.55498584e-01 7.94046405e-02 9.04193308e+01] [-1.55296306e-01 9.87829144e-01 -8.75445610e-03 -3.45599887e+00] [-7.97995236e-02 -3.71126339e-03 9.96804024e-01 -1.04464040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.886296757 meters 0.07979664544237135 Centerline is valid? [True, True] Translation: X:90.48, Y:-3.46, Z:-10.45 [[ 9.84232897e-01 1.56368031e-01 8.26719063e-02 9.04808723e+01] [-1.56150235e-01 9.87691084e-01 -9.13383786e-03 -3.46211988e+00] [-8.30825450e-02 -3.91941393e-03 9.96534961e-01 -1.04529198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.946296757 meters 0.07888224781165189 Centerline is valid? [True, True] Translation: X:90.54, Y:-3.47, Z:-10.46 [[ 9.84471559e-01 1.55615729e-01 8.12372785e-02 9.05422727e+01] [-1.55401449e-01 9.87810468e-01 -8.99265989e-03 -3.47407679e+00] [-8.16464335e-02 -3.77137291e-03 9.96654221e-01 -1.04592681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00629675699999 meters 0.07712910684235999 Centerline is valid? [True, True] Translation: X:90.60, Y:-3.49, Z:-10.46 [[ 9.84746415e-01 1.50977945e-01 8.64879105e-02 9.06020993e+01] [-1.50714422e-01 9.88530667e-01 -9.60645330e-03 -3.49000654e+00] [-8.69463144e-02 -3.57505501e-03 9.96206584e-01 -1.04615177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06629675699999 meters 0.0761247282591094 Centerline is valid? [True, True] Translation: X:90.66, Y:-3.50, Z:-10.47 [[ 9.84923657e-01 1.46610532e-01 9.18190719e-02 9.06627526e+01] [-1.46294108e-01 9.89188512e-01 -1.02040549e-02 -3.49902931e+00] [-9.23223929e-02 -3.38237417e-03 9.95723423e-01 -1.04659068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12629675699999 meters 0.07529072029211005 Centerline is valid? [True, True] Translation: X:90.72, Y:-3.51, Z:-10.47 [[ 9.84969969e-01 1.43997860e-01 9.53875098e-02 9.07233267e+01] [-1.43643897e-01 9.89572636e-01 -1.06032445e-02 -3.51001238e+00] [-9.59197140e-02 -3.25795615e-03 9.95383742e-01 -1.04699117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.186296757 meters 0.07520346788941551 Centerline is valid? [True, True] Translation: X:90.78, Y:-3.52, Z:-10.48 [[ 9.85081738e-01 1.43767151e-01 9.45778795e-02 9.07849410e+01] [-1.43418158e-01 9.89606343e-01 -1.05127740e-02 -3.51683520e+00] [-9.51062609e-02 -3.20824363e-03 9.95461956e-01 -1.04773459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.246296757 meters 0.07617080982279448 Centerline is valid? [True, True] Translation: X:90.84, Y:-3.52, Z:-10.49 [[ 9.85510581e-01 1.44295144e-01 8.91504675e-02 9.08445866e+01] [-1.43984759e-01 9.89530014e-01 -9.93681260e-03 -3.51889182e+00] [-8.96508971e-02 -3.04347465e-03 9.95968601e-01 -1.04908208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.306296757 meters 0.07672608540273208 Centerline is valid? [True, True] Translation: X:90.91, Y:-3.52, Z:-10.50 [[ 9.85543745e-01 1.45187330e-01 8.73164674e-02 9.09055440e+01] [-1.44891865e-01 9.89399495e-01 -9.74615103e-03 -3.52489510e+00] [-8.78058864e-02 -3.04618762e-03 9.96132946e-01 -1.04995564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.366296757 meters 0.0764145365880948 Centerline is valid? [True, True] Translation: X:90.97, Y:-3.53, Z:-10.51 [[ 9.85262222e-01 1.45920381e-01 8.92501906e-02 9.09672242e+01] [-1.45614493e-01 9.89291230e-01 -9.96405966e-03 -3.53165799e+00] [-8.97483902e-02 -3.17890972e-03 9.95959397e-01 -1.05051441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42629675699999 meters 0.07747555540986763 Centerline is valid? [True, True] Translation: X:91.03, Y:-3.53, Z:-10.51 [[ 9.84677230e-01 1.50260433e-01 8.85017208e-02 9.10272554e+01] [-1.49974565e-01 9.88640198e-01 -9.90901873e-03 -3.53063529e+00] [-8.89852922e-02 -3.51582192e-03 9.96026735e-01 -1.05128845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48629675699999 meters 0.07814775989178893 Centerline is valid? [True, True] Translation: X:91.09, Y:-3.53, Z:-10.52 [[ 9.83749836e-01 1.55000489e-01 9.06151659e-02 9.10884422e+01] [-1.54720854e-01 9.87906134e-01 -1.01453099e-02 -3.53459319e+00] [-9.10918062e-02 -4.03960890e-03 9.95834306e-01 -1.05181466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.546296757 meters 0.07963088434482081 Centerline is valid? [True, True] Translation: X:91.15, Y:-3.53, Z:-10.53 [[ 9.83042262e-01 1.60037997e-01 8.95307250e-02 9.11491002e+01] [-1.59785498e-01 9.87100831e-01 -1.00272056e-02 -3.53298471e+00] [-8.99805869e-02 -4.44854462e-03 9.95933584e-01 -1.05274955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.606296757 meters 0.08018622340500357 Centerline is valid? [True, True] Translation: X:91.21, Y:-3.54, Z:-10.53 [[ 9.82604679e-01 1.63629927e-01 8.78253501e-02 9.12096109e+01] [-1.63400987e-01 9.86510677e-01 -9.83880170e-03 -3.53766044e+00] [-8.82505680e-02 -4.68309629e-03 9.96087298e-01 -1.05338606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.666296757 meters 0.07987371102863881 Centerline is valid? [True, True] Translation: X:91.27, Y:-3.54, Z:-10.54 [[ 9.82719542e-01 1.62450987e-01 8.87241708e-02 9.12701358e+01] [-1.62212442e-01 9.86705784e-01 -9.94082386e-03 -3.54234609e+00] [-8.91595491e-02 -4.62312254e-03 9.96006627e-01 -1.05397921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.726296757 meters 0.0786572461697318 Centerline is valid? [True, True] Translation: X:91.33, Y:-3.55, Z:-10.54 [[ 9.82973931e-01 1.60701054e-01 8.90922153e-02 9.13310710e+01] [-1.60452832e-01 9.86992972e-01 -9.98807701e-03 -3.55055131e+00] [-8.95384849e-02 -4.47707893e-03 9.95973301e-01 -1.05449485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78629675699999 meters 0.07744159909017341 Centerline is valid? [True, True] Translation: X:91.39, Y:-3.55, Z:-10.55 [[ 9.83108756e-01 1.57952061e-01 9.24571213e-02 9.13918009e+01] [-1.57672090e-01 9.87437060e-01 -1.03713692e-02 -3.55481501e+00] [-9.29337671e-02 -4.38172365e-03 9.95662651e-01 -1.05493726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84629675699999 meters 0.07715595457984224 Centerline is valid? [True, True] Translation: X:91.45, Y:-3.56, Z:-10.56 [[ 9.83182359e-01 1.56851959e-01 9.35409683e-02 9.14527641e+01] [-1.56560499e-01 9.87612638e-01 -1.04922622e-02 -3.55660832e+00] [-9.40279744e-02 -4.32901357e-03 9.95560144e-01 -1.05557424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90629675699999 meters 0.0767640845622232 Centerline is valid? [True, True] Translation: X:91.51, Y:-3.56, Z:-10.56 [[ 9.83287948e-01 1.56421413e-01 9.31512412e-02 9.15142122e+01] [-1.56129382e-01 9.87681227e-01 -1.04599146e-02 -3.56326154e+00] [-9.36398869e-02 -4.25853770e-03 9.95597025e-01 -1.05597420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.966296757 meters 0.07769182735461655 Centerline is valid? [True, True] Translation: X:91.57, Y:-3.56, Z:-10.57 [[ 9.83384383e-01 1.57501240e-01 9.02691184e-02 9.15747112e+01] [-1.57229106e-01 9.87509862e-01 -1.01627341e-02 -3.56032715e+00] [-9.07422878e-02 -4.19905879e-03 9.95865556e-01 -1.05692893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.026296757 meters 0.07732863194164975 Centerline is valid? [True, True] Translation: X:91.64, Y:-3.56, Z:-10.58 [[ 9.83189550e-01 1.61187393e-01 8.57725651e-02 9.16354254e+01] [-1.60955438e-01 9.86914411e-01 -9.65876508e-03 -3.56427377e+00] [-8.62070517e-02 -4.30916384e-03 9.96267923e-01 -1.05771389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.086296757 meters 0.07847087534058529 Centerline is valid? [True, True] Translation: X:91.69, Y:-3.57, Z:-10.59 [[ 9.82942941e-01 1.63137014e-01 8.49087137e-02 9.16948745e+01] [-1.62916883e-01 9.86593460e-01 -9.56216104e-03 -3.56528849e+00] [-8.53303240e-02 -4.43400426e-03 9.96342850e-01 -1.05866449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14629675699999 meters 0.07916812078293825 Centerline is valid? [True, True] Translation: X:91.76, Y:-3.57, Z:-10.59 [[ 9.82607240e-01 1.65485084e-01 8.42478408e-02 9.17559392e+01] [-1.65276135e-01 9.86201602e-01 -9.49730736e-03 -3.56686374e+00] [-8.46570183e-02 -4.59203458e-03 9.96399570e-01 -1.05946120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20629675699999 meters 0.0786699572072503 Centerline is valid? [True, True] Translation: X:91.82, Y:-3.58, Z:-10.60 [[ 9.82441794e-01 1.66580999e-01 8.40172086e-02 9.18172600e+01] [-1.66377478e-01 9.86016681e-01 -9.46778008e-03 -3.57716568e+00] [-8.44195215e-02 -4.67702839e-03 9.96419324e-01 -1.06000248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26629675699999 meters 0.07854686142241185 Centerline is valid? [True, True] Translation: X:91.88, Y:-3.58, Z:-10.61 [[ 9.82568316e-01 1.64660685e-01 8.62923104e-02 9.18772087e+01] [-1.64436120e-01 9.86339515e-01 -9.75312075e-03 -3.58303871e+00] [-8.67194711e-02 -4.60646524e-03 9.96222121e-01 -1.06058877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.326296757 meters 0.07837479464350622 Centerline is valid? [True, True] Translation: X:91.94, Y:-3.59, Z:-10.61 [[ 9.82718891e-01 1.63312065e-01 8.71363867e-02 9.19376252e+01] [-1.63077648e-01 9.86564063e-01 -9.85040229e-03 -3.59052121e+00] [-8.75743172e-02 -4.52982058e-03 9.96147690e-01 -1.06120105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.386296757 meters 0.07891527557633517 Centerline is valid? [True, True] Translation: X:92.00, Y:-3.59, Z:-10.62 [[ 9.82825804e-01 1.63634466e-01 8.53065140e-02 9.19995421e+01] [-1.63411243e-01 9.86510935e-01 -9.64058006e-03 -3.59424757e+00] [-8.57333400e-02 -4.46503263e-03 9.96308114e-01 -1.06200053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.446296757 meters 0.07821977419309238 Centerline is valid? [True, True] Translation: X:92.06, Y:-3.60, Z:-10.63 [[ 9.82981824e-01 1.62939046e-01 8.48386806e-02 9.20608008e+01] [-1.62713934e-01 9.86626504e-01 -9.60814585e-03 -3.60096360e+00] [-8.52696330e-02 -4.35980271e-03 9.96348374e-01 -1.06267162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50629675699999 meters 0.07800849667057032 Centerline is valid? [True, True] Translation: X:92.12, Y:-3.60, Z:-10.63 [[ 9.82895108e-01 1.63896185e-01 8.39955239e-02 9.21226627e+01] [-1.63677283e-01 9.86467876e-01 -9.53289898e-03 -3.60486632e+00] [-8.44212918e-02 -4.37831933e-03 9.96420532e-01 -1.06316442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56629675699999 meters 0.07846947671538376 Centerline is valid? [True, True] Translation: X:92.18, Y:-3.61, Z:-10.64 [[ 9.82613533e-01 1.65577797e-01 8.39918877e-02 9.21846673e+01] [-1.65362814e-01 9.86186480e-01 -9.55860588e-03 -3.60798076e+00] [-8.44143569e-02 -4.49671941e-03 9.96420592e-01 -1.06383724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62629675699999 meters 0.07799125174093763 Centerline is valid? [True, True] Translation: X:92.25, Y:-3.61, Z:-10.65 [[ 9.82913409e-01 1.64750869e-01 8.20876412e-02 9.22468349e+01] [-1.64542740e-01 9.86325726e-01 -9.34068859e-03 -3.61364071e+00] [-8.25040389e-02 -4.32583735e-03 9.96581342e-01 -1.06464611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.686296757 meters 0.07843054936124759 Centerline is valid? [True, True] Translation: X:92.31, Y:-3.62, Z:-10.66 [[ 9.83636859e-01 1.62621718e-01 7.75416428e-02 9.23068485e+01] [-1.62427630e-01 9.86680807e-01 -8.84587614e-03 -3.62060581e+00] [-7.79473823e-02 -3.89377544e-03 9.96949870e-01 -1.06560978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.746296757 meters 0.07744660249230055 Centerline is valid? [True, True] Translation: X:92.37, Y:-3.63, Z:-10.66 [[ 9.83835771e-01 1.60687452e-01 7.90361850e-02 9.23673977e+01] [-1.60477576e-01 9.86998072e-01 -9.04175725e-03 -3.63103000e+00] [-7.94614592e-02 -3.78793117e-03 9.96830742e-01 -1.06608063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.806296757 meters 0.07785209126253359 Centerline is valid? [True, True] Translation: X:92.43, Y:-3.63, Z:-10.67 [[ 9.83437539e-01 1.62786946e-01 7.96932631e-02 9.24294627e+01] [-1.62580770e-01 9.86653157e-01 -9.11271784e-03 -3.63145634e+00] [-8.01130411e-02 -3.99480323e-03 9.96777780e-01 -1.06705480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.866296757 meters 0.07852423814936439 Centerline is valid? [True, True] Translation: X:92.49, Y:-3.63, Z:-10.68 [[ 9.82674913e-01 1.66241546e-01 8.19375540e-02 9.24917741e+01] [-1.66033400e-01 9.86075370e-01 -9.39541285e-03 -3.63417202e+00] [-8.23585119e-02 -4.37173418e-03 9.96593179e-01 -1.06760106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92629675699999 meters 0.0767439368374018 Centerline is valid? [True, True] Translation: X:92.55, Y:-3.65, Z:-10.68 [[ 9.82547898e-01 1.66911329e-01 8.20989472e-02 9.25530515e+01] [-1.66704696e-01 9.85961928e-01 -9.41385006e-03 -3.64588464e+00] [-8.25177145e-02 -4.43672147e-03 9.96579722e-01 -1.06774486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98629675699999 meters 0.0771215339258689 Centerline is valid? [True, True] Translation: X:92.61, Y:-3.65, Z:-10.69 [[ 9.82742624e-01 1.65730840e-01 8.21597450e-02 9.26134683e+01] [-1.65518004e-01 9.86161564e-01 -9.44242098e-03 -3.64830481e+00] [-8.25876830e-02 -4.31944746e-03 9.96574441e-01 -1.06866831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.046296757 meters 0.07500917360300714 Centerline is valid? [True, True] Translation: X:92.67, Y:-3.66, Z:-10.69 [[ 9.83190804e-01 1.61978611e-01 8.42542159e-02 9.26731168e+01] [-1.61738810e-01 9.86785832e-01 -9.70975578e-03 -3.66133719e+00] [-8.47136393e-02 -4.08063400e-03 9.96396983e-01 -1.06893700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.106296757 meters 0.07602421141463803 Centerline is valid? [True, True] Translation: X:92.73, Y:-3.66, Z:-10.70 [[ 9.83336947e-01 1.61475212e-01 8.35117008e-02 9.27338435e+01] [-1.61238063e-01 9.86868644e-01 -9.62115517e-03 -3.66465405e+00] [-8.39686570e-02 -4.00442750e-03 9.96460350e-01 -1.06984915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.166296757 meters 0.07585884893163568 Centerline is valid? [True, True] Translation: X:92.79, Y:-3.67, Z:-10.71 [[ 9.83783399e-01 1.58826404e-01 8.33330486e-02 9.27948680e+01] [-1.58579579e-01 9.87299381e-01 -9.61506631e-03 -3.67027155e+00] [-8.38017937e-02 -3.75577718e-03 9.96475365e-01 -1.07069631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.226296757 meters 0.0745079510788437 Centerline is valid? [True, True] Translation: X:92.86, Y:-3.68, Z:-10.71 [[ 9.84682446e-01 1.53456891e-01 8.27735626e-02 9.28550378e+01] [-1.53194032e-01 9.88149929e-01 -9.55548212e-03 -3.68023041e+00] [-8.32590445e-02 -3.27130032e-03 9.96522569e-01 -1.07131334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28629675699999 meters 0.0740709993116752 Centerline is valid? [True, True] Translation: X:92.92, Y:-3.69, Z:-10.72 [[ 9.84833580e-01 1.51068245e-01 8.53299776e-02 9.29151903e+01] [-1.50779714e-01 9.88518279e-01 -9.85347149e-03 -3.68894908e+00] [-8.58387892e-02 -3.16199997e-03 9.96304022e-01 -1.07187272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34629675699999 meters 0.07347177868452018 Centerline is valid? [True, True] Translation: X:92.98, Y:-3.69, Z:-10.73 [[ 9.84772550e-01 1.49878107e-01 8.80884703e-02 9.29756592e+01] [-1.49565712e-01 9.88699445e-01 -1.01737940e-02 -3.69410765e+00] [-8.86178506e-02 -3.15614169e-03 9.96060699e-01 -1.07253308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40629675699999 meters 0.07383968934880468 Centerline is valid? [True, True] Translation: X:93.04, Y:-3.70, Z:-10.73 [[ 9.85040053e-01 1.49746122e-01 8.52771520e-02 9.30367810e+01] [-1.49453110e-01 9.88719789e-01 -9.84618751e-03 -3.69801341e+00] [-8.57896361e-02 -3.04604652e-03 9.96308617e-01 -1.07344783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.466296757 meters 0.07439699553222108 Centerline is valid? [True, True] Translation: X:93.10, Y:-3.70, Z:-10.74 [[ 9.85039035e-01 1.49690917e-01 8.53857660e-02 9.30971613e+01] [-1.49394931e-01 9.88728222e-01 -9.88216491e-03 -3.70427516e+00] [-8.59025869e-02 -3.02188242e-03 9.96298958e-01 -1.07429110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.526296757 meters 0.07351664428166002 Centerline is valid? [True, True] Translation: X:93.16, Y:-3.71, Z:-10.75 [[ 9.84874206e-01 1.50385157e-01 8.60645231e-02 9.31589438e+01] [-1.50086456e-01 9.88622625e-01 -9.96798852e-03 -3.71466370e+00] [-8.65843722e-02 -3.09990443e-03 9.96239699e-01 -1.07463356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.586296757 meters 0.07381187516817443 Centerline is valid? [True, True] Translation: X:93.22, Y:-3.72, Z:-10.75 [[ 9.84603967e-01 1.52087198e-01 8.61656151e-02 9.32194162e+01] [-1.51791966e-01 9.88361812e-01 -1.00063842e-02 -3.72072913e+00] [-8.66846464e-02 -3.22692262e-03 9.96230575e-01 -1.07526643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64629675699999 meters 0.0747026238575032 Centerline is valid? [True, True] Translation: X:93.28, Y:-3.73, Z:-10.76 [[ 9.84245282e-01 1.53870999e-01 8.70915679e-02 9.32798870e+01] [-1.53574540e-01 9.88085094e-01 -1.01344465e-02 -3.72527930e+00] [-8.76132775e-02 -3.40026632e-03 9.96148760e-01 -1.07605112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70629675699999 meters 0.07468667709565695 Centerline is valid? [True, True] Translation: X:93.34, Y:-3.73, Z:-10.77 [[ 9.84207257e-01 1.54766526e-01 8.59266983e-02 9.33410063e+01] [-1.54479727e-01 9.87945172e-01 -1.00175300e-02 -3.73451848e+00] [-8.64412451e-02 -3.41460723e-03 9.96251099e-01 -1.07675868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76629675699999 meters 0.07476410915149119 Centerline is valid? [True, True] Translation: X:93.40, Y:-3.74, Z:-10.77 [[ 9.84647711e-01 1.52951602e-01 8.41111868e-02 9.34025296e+01] [-1.52668077e-01 9.88228624e-01 -9.83077896e-03 -3.74423221e+00] [-8.46247158e-02 -3.16123917e-03 9.96407880e-01 -1.07749310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.826296757 meters 0.07327548440258251 Centerline is valid? [True, True] Translation: X:93.46, Y:-3.76, Z:-10.78 [[ 9.85306583e-01 1.48213577e-01 8.48744611e-02 9.34624266e+01] [-1.47906567e-01 9.88951496e-01 -9.92907005e-03 -3.76033836e+00] [-8.54083483e-02 -2.77031208e-03 9.96342180e-01 -1.07769261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.886296757 meters 0.07298021435108304 Centerline is valid? [True, True] Translation: X:93.52, Y:-3.77, Z:-10.79 [[ 9.86015258e-01 1.42844514e-01 8.58449580e-02 9.35225753e+01] [-1.42509893e-01 9.89742401e-01 -1.00453511e-02 -3.77056517e+00] [-8.63993182e-02 -2.32888632e-03 9.96257865e-01 -1.07857347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.946296757 meters 0.0727447991837459 Centerline is valid? [True, True] Translation: X:93.58, Y:-3.78, Z:-10.79 [[ 9.86463709e-01 1.38724304e-01 8.74352217e-02 9.35822187e+01] [-1.38360565e-01 9.90329020e-01 -1.02364682e-02 -3.78395190e+00] [-8.80096844e-02 -1.99968227e-03 9.96117612e-01 -1.07921780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00629675699999 meters 0.07257332041983415 Centerline is valid? [True, True] Translation: X:93.64, Y:-3.79, Z:-10.80 [[ 9.86620720e-01 1.37355299e-01 8.78241244e-02 9.36420441e+01] [-1.36982861e-01 9.90520049e-01 -1.02824593e-02 -3.79347792e+00] [-8.84039062e-02 -1.88551248e-03 9.96082925e-01 -1.08005345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06629675699999 meters 0.07323478513874752 Centerline is valid? [True, True] Translation: X:93.70, Y:-3.80, Z:-10.81 [[ 9.86340508e-01 1.40226735e-01 8.64225964e-02 9.37023373e+01] [-1.39876240e-01 9.90117194e-01 -1.01281393e-02 -3.79696989e+00] [-8.69887346e-02 -2.09867373e-03 9.96207085e-01 -1.08103784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12629675699999 meters 0.073070547628049 Centerline is valid? [True, True] Translation: X:93.76, Y:-3.81, Z:-10.81 [[ 9.85805644e-01 1.43359381e-01 8.73803136e-02 9.37630475e+01] [-1.43011565e-01 9.89667831e-01 -1.02604343e-02 -3.80728821e+00] [-8.79484149e-02 -2.38160133e-03 9.96122183e-01 -1.08142356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.186296757 meters 0.07365010001847938 Centerline is valid? [True, True] Translation: X:93.82, Y:-3.81, Z:-10.83 [[ 9.85087591e-01 1.48105763e-01 8.75620959e-02 9.38222946e+01] [-1.47773047e-01 9.88967601e-01 -1.03058936e-02 -3.81026411e+00] [-8.81224381e-02 -2.78710980e-03 9.96105751e-01 -1.08250736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.246296757 meters 0.07422894005131386 Centerline is valid? [True, True] Translation: X:93.88, Y:-3.81, Z:-10.83 [[ 9.84320245e-01 1.51674151e-01 9.00478059e-02 9.38832802e+01] [-1.51336754e-01 9.88425399e-01 -1.06027333e-02 -3.81454162e+00] [-9.06136990e-02 -3.19105756e-03 9.95881004e-01 -1.08343804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.306296757 meters 0.07447157490893852 Centerline is valid? [True, True] Translation: X:93.95, Y:-3.83, Z:-10.84 [[ 9.83944990e-01 1.53001824e-01 9.18841548e-02 9.39452452e+01] [-1.52654231e-01 9.88220196e-01 -1.08411076e-02 -3.82582574e+00] [-9.24604868e-02 -3.35945155e-03 9.95710687e-01 -1.08391898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.366296757 meters 0.07408450401414128 Centerline is valid? [True, True] Translation: X:94.01, Y:-3.84, Z:-10.85 [[ 9.83867799e-01 1.53354425e-01 9.21226112e-02 9.40074551e+01] [-1.53004151e-01 9.88165485e-01 -1.08951747e-02 -3.83531856e+00] [-9.27032080e-02 -3.37573038e-03 9.95688063e-01 -1.08465461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42629675699999 meters 0.07446228753811346 Centerline is valid? [True, True] Translation: X:94.07, Y:-3.84, Z:-10.86 [[ 9.84112212e-01 1.51488092e-01 9.25986663e-02 9.40678639e+01] [-1.51123355e-01 9.88453938e-01 -1.09792273e-02 -3.84352589e+00] [-9.31927386e-02 -3.18902953e-03 9.95642980e-01 -1.08558431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48629675699999 meters 0.07374487583504537 Centerline is valid? [True, True] Translation: X:94.13, Y:-3.86, Z:-10.86 [[ 9.84577113e-01 1.48009393e-01 9.32798381e-02 9.41281158e+01] [-1.47621116e-01 9.88981838e-01 -1.10873841e-02 -3.85747503e+00] [-9.38931027e-02 -2.85368913e-03 9.95578195e-01 -1.08604790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.546296757 meters 0.07344168934552739 Centerline is valid? [True, True] Translation: X:94.19, Y:-3.87, Z:-10.87 [[ 9.84941039e-01 1.46055710e-01 9.25142157e-02 9.41892682e+01] [-1.45665115e-01 9.89272832e-01 -1.09971859e-02 -3.86688727e+00] [-9.31280019e-02 -2.64451415e-03 9.95650632e-01 -1.08675230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.606296757 meters 0.07335808676603198 Centerline is valid? [True, True] Translation: X:94.25, Y:-3.87, Z:-10.87 [[ 9.84892439e-01 1.46678511e-01 9.20450903e-02 9.42509057e+01] [-1.46292506e-01 9.89180620e-01 -1.09637371e-02 -3.87421137e+00] [-9.26573641e-02 -2.66740510e-03 9.95694480e-01 -1.08739530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.666296757 meters 0.07434342844630239 Centerline is valid? [True, True] Translation: X:94.31, Y:-3.88, Z:-10.89 [[ 9.84802623e-01 1.48531878e-01 9.00115259e-02 9.43112968e+01] [-1.48168252e-01 9.88903785e-01 -1.07458786e-02 -3.87630104e+00] [-9.06088442e-02 -2.75428104e-03 9.95882750e-01 -1.08851386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.726296757 meters 0.07405726333532102 Centerline is valid? [True, True] Translation: X:94.37, Y:-3.89, Z:-10.89 [[ 9.84720346e-01 1.49230561e-01 8.97556691e-02 9.43725173e+01] [-1.48871260e-01 9.88798453e-01 -1.07223265e-02 -3.88514528e+00] [-9.03503655e-02 -2.80354641e-03 9.95906096e-01 -1.08913417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78629675699999 meters 0.07442524290520112 Centerline is valid? [True, True] Translation: X:94.43, Y:-3.89, Z:-10.90 [[ 9.84931515e-01 1.49129596e-01 8.75801046e-02 9.44326206e+01] [-1.48784989e-01 9.88813967e-01 -1.04864303e-02 -3.89239555e+00] [-8.81642678e-02 -2.70218926e-03 9.96102284e-01 -1.09004520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84629675699999 meters 0.07429710965377936 Centerline is valid? [True, True] Translation: X:94.49, Y:-3.90, Z:-10.91 [[ 9.84863271e-01 1.48837815e-01 8.88349181e-02 9.44944386e+01] [-1.48480946e-01 9.88857928e-01 -1.06492228e-02 -3.89992211e+00] [-8.94301202e-02 -2.70226432e-03 9.95989433e-01 -1.09077514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90629675699999 meters 0.07409013714082052 Centerline is valid? [True, True] Translation: X:94.55, Y:-3.91, Z:-10.91 [[ 9.84650912e-01 1.47821320e-01 9.27978338e-02 9.45542020e+01] [-1.47426456e-01 9.89010350e-01 -1.11341002e-02 -3.90913687e+00] [-9.34238755e-02 -2.71765392e-03 9.95622717e-01 -1.09127934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.966296757 meters 0.07372326873546363 Centerline is valid? [True, True] Translation: X:94.62, Y:-3.92, Z:-10.92 [[ 9.84921401e-01 1.47028515e-01 9.11726327e-02 9.46157405e+01] [-1.46644209e-01 9.89128842e-01 -1.09366669e-02 -3.92124255e+00] [-9.17894825e-02 -2.59818130e-03 9.95775045e-01 -1.09192318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.026296757 meters 0.07402061258921891 Centerline is valid? [True, True] Translation: X:94.68, Y:-3.93, Z:-10.93 [[ 9.84782063e-01 1.47198143e-01 9.23958603e-02 9.46769767e+01] [-1.46801612e-01 9.89103550e-01 -1.11110115e-02 -3.92735325e+00] [-9.30245936e-02 -2.62193645e-03 9.95660359e-01 -1.09281792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.086296757 meters 0.07453505827937751 Centerline is valid? [True, True] Translation: X:94.74, Y:-3.93, Z:-10.94 [[ 9.84237969e-01 1.50137220e-01 9.34581989e-02 9.47378410e+01] [-1.49742474e-01 9.88660887e-01 -1.12624587e-02 -3.93072329e+00] [-9.40893800e-02 -2.90972241e-03 9.95559502e-01 -1.09353661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14629675699999 meters 0.07443726430926526 Centerline is valid? [True, True] Translation: X:94.80, Y:-3.94, Z:-10.94 [[ 9.83923624e-01 1.52097466e-01 9.35984190e-02 9.47993078e+01] [-1.51708403e-01 9.88360697e-01 -1.13001399e-02 -3.93828218e+00] [-9.42277213e-02 -3.08119211e-03 9.95545902e-01 -1.09403736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20629675699999 meters 0.0750268227448469 Centerline is valid? [True, True] Translation: X:94.86, Y:-3.94, Z:-10.95 [[ 9.83721796e-01 1.54006042e-01 9.25935601e-02 9.48596636e+01] [-1.53631559e-01 9.88064705e-01 -1.12018720e-02 -3.93986902e+00] [-9.32135846e-02 -3.20576739e-03 9.95640975e-01 -1.09500995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26629675699999 meters 0.0747698148023466 Centerline is valid? [True, True] Translation: X:94.92, Y:-3.95, Z:-10.96 [[ 9.83852887e-01 1.53338233e-01 9.23086251e-02 9.49210698e+01] [-1.52961224e-01 9.88168861e-01 -1.11877465e-02 -3.94773953e+00] [-9.29320183e-02 -3.11254355e-03 9.95667591e-01 -1.09569607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.326296757 meters 0.07423993867961758 Centerline is valid? [True, True] Translation: X:94.98, Y:-3.96, Z:-10.96 [[ 9.83995461e-01 1.52675170e-01 9.18870278e-02 9.49826183e+01] [-1.52296621e-01 9.88271831e-01 -1.11592068e-02 -3.95681378e+00] [-9.25130950e-02 -3.01347498e-03 9.95706908e-01 -1.09628420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.386296757 meters 0.07464383357528584 Centerline is valid? [True, True] Translation: X:95.04, Y:-3.96, Z:-10.97 [[ 9.83961706e-01 1.53508797e-01 9.08537879e-02 9.50440783e+01] [-1.53140202e-01 9.88142622e-01 -1.10561270e-02 -3.96070067e+00] [-9.14737130e-02 -3.03456182e-03 9.95802868e-01 -1.09734640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.446296757 meters 0.07392055393475451 Centerline is valid? [True, True] Translation: X:95.10, Y:-3.97, Z:-10.98 [[ 9.84101055e-01 1.52131040e-01 9.16583852e-02 9.51048580e+01] [-1.51747826e-01 9.88356049e-01 -1.11766990e-02 -3.97204937e+00] [-9.22914423e-02 -2.90995942e-03 9.95727785e-01 -1.09791240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50629675699999 meters 0.07336720076543245 Centerline is valid? [True, True] Translation: X:95.16, Y:-3.98, Z:-10.99 [[ 9.84590246e-01 1.48333298e-01 9.26244018e-02 9.51648888e+01] [-1.47922548e-01 9.88934131e-01 -1.13227474e-02 -3.98295066e+00] [-9.32789728e-02 -2.55297091e-03 9.95636739e-01 -1.09863054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56629675699999 meters 0.0731148450247994 Centerline is valid? [True, True] Translation: X:95.22, Y:-3.99, Z:-10.99 [[ 9.84977444e-01 1.45126311e-01 9.35830630e-02 9.52239189e+01] [-1.44692208e-01 9.89410535e-01 -1.14437305e-02 -3.99291078e+00] [-9.42528547e-02 -2.26892362e-03 9.95545705e-01 -1.09930947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62629675699999 meters 0.07245624494674915 Centerline is valid? [True, True] Translation: X:95.29, Y:-4.00, Z:-11.00 [[ 9.85233707e-01 1.43890988e-01 9.27896834e-02 9.52851954e+01] [-1.43459061e-01 9.89591240e-01 -1.13434854e-02 -4.00349648e+00] [-9.34560832e-02 -2.13553663e-03 9.95621113e-01 -1.09987554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.686296757 meters 0.07273871174789087 Centerline is valid? [True, True] Translation: X:95.35, Y:-4.01, Z:-11.01 [[ 9.85364247e-01 1.44818159e-01 8.99166334e-02 9.53459432e+01] [-1.44414430e-01 9.89455990e-01 -1.10144106e-02 -4.01145892e+00] [-9.05636381e-02 -2.13205295e-03 9.95888388e-01 -1.10052190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.746296757 meters 0.07336038524668884 Centerline is valid? [True, True] Translation: X:95.41, Y:-4.01, Z:-11.01 [[ 9.85180996e-01 1.47245497e-01 8.79611759e-02 9.54067359e+01] [-1.46866988e-01 9.89097341e-01 -1.07952576e-02 -4.01469669e+00] [-8.85917183e-02 -2.28331037e-03 9.96065406e-01 -1.10133550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.806296757 meters 0.0736731748251279 Centerline is valid? [True, True] Translation: X:95.47, Y:-4.02, Z:-11.02 [[ 9.84849101e-01 1.50574852e-01 8.60201246e-02 9.54673644e+01] [-1.50223389e-01 9.88595448e-01 -1.05817500e-02 -4.02001257e+00] [-8.66324490e-02 -2.50080772e-03 9.96237203e-01 -1.10197871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.866296757 meters 0.07471979544809035 Centerline is valid? [True, True] Translation: X:95.53, Y:-4.02, Z:-11.03 [[ 9.84418306e-01 1.54295662e-01 8.43412529e-02 9.55271572e+01] [-1.53971415e-01 9.88020830e-01 -1.03750950e-02 -4.02450279e+00] [-8.49317469e-02 -2.77270855e-03 9.96382914e-01 -1.10285457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92629675699999 meters 0.07500314217893077 Centerline is valid? [True, True] Translation: X:95.59, Y:-4.03, Z:-11.03 [[ 9.83993342e-01 1.56528509e-01 8.51817366e-02 9.55882157e+01] [-1.56205264e-01 9.87668929e-01 -1.04882138e-02 -4.03059338e+00] [-8.57730590e-02 -2.98550317e-03 9.96310227e-01 -1.10344584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98629675699999 meters 0.07587588785254469 Centerline is valid? [True, True] Translation: X:95.65, Y:-4.03, Z:-11.04 [[ 9.83201734e-01 1.61080877e-01 8.58329808e-02 9.56488396e+01] [-1.60768027e-01 9.86935399e-01 -1.05905326e-02 -4.03324168e+00] [-8.64175395e-02 -3.38656893e-03 9.96253251e-01 -1.10423083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.046296757 meters 0.07636293362398651 Centerline is valid? [True, True] Translation: X:95.71, Y:-4.04, Z:-11.05 [[ 9.82837153e-01 1.64318061e-01 8.38492970e-02 9.57095168e+01] [-1.64030152e-01 9.86400937e-01 -1.03585996e-02 -4.03877562e+00] [-8.44111302e-02 -3.57299639e-03 9.96424606e-01 -1.10495617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.106296757 meters 0.07718178427668479 Centerline is valid? [True, True] Translation: X:95.77, Y:-4.04, Z:-11.06 [[ 9.82375551e-01 1.67644609e-01 8.26653598e-02 9.57696663e+01] [-1.67376140e-01 9.85840174e-01 -1.02166536e-02 -4.04446288e+00] [-8.32075995e-02 -3.79961808e-03 9.96524991e-01 -1.10566206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.166296757 meters 0.07739084770786124 Centerline is valid? [True, True] Translation: X:95.83, Y:-4.05, Z:-11.06 [[ 9.81955379e-01 1.70227900e-01 8.23777670e-02 9.58299863e+01] [-1.69969951e-01 9.85396603e-01 -1.01858316e-02 -4.05068630e+00] [-8.29086844e-02 -3.99971294e-03 9.96549122e-01 -1.10648048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.226296757 meters 0.07813667785883524 Centerline is valid? [True, True] Translation: X:95.89, Y:-4.06, Z:-11.07 [[ 9.81536138e-01 1.71193132e-01 8.53212830e-02 9.58910957e+01] [-1.70918634e-01 9.85228488e-01 -1.05663487e-02 -4.05554473e+00] [-8.58698449e-02 -4.21174409e-03 9.96297461e-01 -1.10716327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28629675699999 meters 0.07728912854695659 Centerline is valid? [True, True] Translation: X:95.95, Y:-4.07, Z:-11.08 [[ 9.81212333e-01 1.72611222e-01 8.61842455e-02 9.59521254e+01] [-1.72334752e-01 9.84980388e-01 -1.06943458e-02 -4.06617819e+00] [-8.67357557e-02 -4.35911655e-03 9.96221816e-01 -1.10767408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34629675699999 meters 0.0777146751768301 Centerline is valid? [True, True] Translation: X:96.01, Y:-4.07, Z:-11.08 [[ 9.80850877e-01 1.75175498e-01 8.51181662e-02 9.60125811e+01] [-1.74913072e-01 9.84526932e-01 -1.05894559e-02 -4.07277860e+00] [-8.56561402e-02 -4.50160287e-03 9.96314589e-01 -1.10838123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40629675699999 meters 0.0782938419122411 Centerline is valid? [True, True] Translation: X:96.07, Y:-4.08, Z:-11.09 [[ 9.80676754e-01 1.76172011e-01 8.50677723e-02 9.60722812e+01] [-1.75913360e-01 9.84348729e-01 -1.05862925e-02 -4.08041588e+00] [-8.56013620e-02 -4.58282672e-03 9.96318927e-01 -1.10918945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.466296757 meters 0.07740187110775772 Centerline is valid? [True, True] Translation: X:96.13, Y:-4.09, Z:-11.10 [[ 9.80890124e-01 1.75901741e-01 8.31453081e-02 9.61332813e+01] [-1.75653978e-01 9.84397630e-01 -1.03433982e-02 -4.09330669e+00] [-8.36674660e-02 -4.45906695e-03 9.96483754e-01 -1.10988456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.526296757 meters 0.07687853509807598 Centerline is valid? [True, True] Translation: X:96.19, Y:-4.10, Z:-11.11 [[ 9.81240836e-01 1.73528257e-01 8.39902676e-02 9.61934914e+01] [-1.73264541e-01 9.84819616e-01 -1.04748868e-02 -4.10473200e+00] [-8.45329519e-02 -4.27414850e-03 9.96411517e-01 -1.11073816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.586296757 meters 0.0772641399351934 Centerline is valid? [True, True] Translation: X:96.25, Y:-4.12, Z:-11.11 [[ 9.81265147e-01 1.72920187e-01 8.49548087e-02 9.62540963e+01] [-1.72647945e-01 9.84926590e-01 -1.05971550e-02 -4.11733009e+00] [-8.55067120e-02 -4.26865425e-03 9.96328450e-01 -1.11135885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64629675699999 meters 0.07715487821973536 Centerline is valid? [True, True] Translation: X:96.31, Y:-4.13, Z:-11.12 [[ 9.81314825e-01 1.72444671e-01 8.53466412e-02 9.63143967e+01] [-1.72166278e-01 9.85010141e-01 -1.06674212e-02 -4.12907385e+00] [-8.59068471e-02 -4.22571502e-03 9.96294212e-01 -1.11210574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70629675699999 meters 0.07819193081326721 Centerline is valid? [True, True] Translation: X:96.37, Y:-4.14, Z:-11.13 [[ 9.81040770e-01 1.73899686e-01 8.55447663e-02 9.63742708e+01] [-1.73623620e-01 9.84753801e-01 -1.07140057e-02 -4.13521138e+00] [-8.61036960e-02 -4.34171557e-03 9.96276720e-01 -1.11312400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76629675699999 meters 0.07765568410628011 Centerline is valid? [True, True] Translation: X:96.43, Y:-4.15, Z:-11.14 [[ 9.80680440e-01 1.75886450e-01 8.56144300e-02 9.64341702e+01] [-1.75615825e-01 9.84400171e-01 -1.07417286e-02 -4.15195403e+00] [-8.61681840e-02 -4.50104563e-03 9.96270438e-01 -1.11356971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.826296757 meters 0.07758374844706722 Centerline is valid? [True, True] Translation: X:96.49, Y:-4.16, Z:-11.14 [[ 9.80230837e-01 1.77703764e-01 8.69993067e-02 9.64947159e+01] [-1.77429638e-01 9.84072725e-01 -1.09360005e-02 -4.16468869e+00] [-8.75570132e-02 -4.71645056e-03 9.96148345e-01 -1.11411497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.886296757 meters 0.08015619315638078 Centerline is valid? [True, True] Translation: X:96.56, Y:-4.17, Z:-11.15 [[ 9.80355184e-01 1.78233191e-01 8.44786499e-02 9.65551853e+01] [-1.77974492e-01 9.83977527e-01 -1.06445656e-02 -4.16780948e+00] [-8.50223079e-02 -4.59958970e-03 9.96368431e-01 -1.11532914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.946296757 meters 0.07835773377742584 Centerline is valid? [True, True] Translation: X:96.62, Y:-4.19, Z:-11.16 [[ 9.80447101e-01 1.77593687e-01 8.47582700e-02 9.66154260e+01] [-1.77330312e-01 9.84093368e-01 -1.06866191e-02 -4.18500466e+00] [-8.53079275e-02 -4.55254574e-03 9.96344234e-01 -1.11577827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00629675699999 meters 0.07865188809443135 Centerline is valid? [True, True] Translation: X:96.68, Y:-4.20, Z:-11.16 [[ 9.80541342e-01 1.77336651e-01 8.42044440e-02 9.66760473e+01] [-1.77073892e-01 9.84140058e-01 -1.06387459e-02 -4.19509955e+00] [-8.47556059e-02 -4.47867847e-03 9.96391704e-01 -1.11646247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06629675699999 meters 0.07883357531129309 Centerline is valid? [True, True] Translation: X:96.74, Y:-4.20, Z:-11.17 [[ 9.80476807e-01 1.77756246e-01 8.40710862e-02 9.67372063e+01] [-1.77494036e-01 9.84064321e-01 -1.06432951e-02 -4.20373943e+00] [-8.46232686e-02 -4.48661242e-03 9.96402917e-01 -1.11736084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12629675699999 meters 0.0795399695179965 Centerline is valid? [True, True] Translation: X:96.80, Y:-4.21, Z:-11.18 [[ 9.80345131e-01 1.76673765e-01 8.78054894e-02 9.67970805e+01] [-1.76380803e-01 9.84258900e-01 -1.11458176e-02 -4.21416370e+00] [-8.83925080e-02 -4.56045479e-03 9.96075282e-01 -1.11798794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.186296757 meters 0.07970994723830219 Centerline is valid? [True, True] Translation: X:96.86, Y:-4.23, Z:-11.19 [[ 9.80586721e-01 1.75301593e-01 8.78580364e-02 9.68569627e+01] [-1.75002970e-01 9.84504762e-01 -1.11505357e-02 -4.22609573e+00] [-8.84513619e-02 -4.44135008e-03 9.96070595e-01 -1.11873757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.246296757 meters 0.07988784766737814 Centerline is valid? [True, True] Translation: X:96.92, Y:-4.24, Z:-11.20 [[ 9.80787817e-01 1.74600174e-01 8.70059642e-02 9.69173457e+01] [-1.74302491e-01 9.84629974e-01 -1.10659695e-02 -4.23502765e+00] [-8.76008005e-02 -4.31198820e-03 9.96146328e-01 -1.11967942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.306296757 meters 0.0799893218606284 Centerline is valid? [True, True] Translation: X:96.98, Y:-4.25, Z:-11.20 [[ 9.80951757e-01 1.72966658e-01 8.84092002e-02 9.69772373e+01] [-1.72651832e-01 9.84918621e-01 -1.12540808e-02 -4.24769552e+00] [-8.90224483e-02 -4.22430005e-03 9.96020662e-01 -1.12031408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.366296757 meters 0.08002719080737998 Centerline is valid? [True, True] Translation: X:97.04, Y:-4.26, Z:-11.21 [[ 9.81450145e-01 1.70609269e-01 8.74533545e-02 9.70374009e+01] [-1.70291647e-01 9.85330789e-01 -1.11351296e-02 -4.25853465e+00] [-8.80702391e-02 -3.96400120e-03 9.96106380e-01 -1.12123209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42629675699999 meters 0.07926749285971865 Centerline is valid? [True, True] Translation: X:97.10, Y:-4.27, Z:-11.22 [[ 9.81755202e-01 1.69762924e-01 8.56578874e-02 9.70984070e+01] [-1.69455175e-01 9.85477568e-01 -1.09044658e-02 -4.27177141e+00] [-8.62651005e-02 -3.80965631e-03 9.96264934e-01 -1.12191347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48629675699999 meters 0.07768062252280594 Centerline is valid? [True, True] Translation: X:97.16, Y:-4.29, Z:-11.22 [[ 9.81951742e-01 1.67519128e-01 8.77958937e-02 9.71588018e+01] [-1.67184055e-01 9.85861988e-01 -1.12085721e-02 -4.28905992e+00] [-8.84322845e-02 -3.67179667e-03 9.96075423e-01 -1.12213097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.546296757 meters 0.07831064614630621 Centerline is valid? [True, True] Translation: X:97.22, Y:-4.29, Z:-11.23 [[ 9.81733090e-01 1.67581452e-01 9.00921601e-02 9.72193237e+01] [-1.67228529e-01 9.85851023e-01 -1.15056109e-02 -4.29379418e+00] [-9.07455752e-02 -3.77054045e-03 9.95866971e-01 -1.12295153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.606296757 meters 0.0784700017823833 Centerline is valid? [True, True] Translation: X:97.28, Y:-4.30, Z:-11.24 [[ 9.81061074e-01 1.71090684e-01 9.08138026e-02 9.72801444e+01] [-1.70744713e-01 9.85246743e-01 -1.16232098e-02 -4.29993329e+00] [-9.14626261e-02 -4.10289797e-03 9.95800057e-01 -1.12359380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.666296757 meters 0.07928547421022564 Centerline is valid? [True, True] Translation: X:97.34, Y:-4.31, Z:-11.24 [[ 9.80802471e-01 1.72925387e-01 9.01294843e-02 9.73409613e+01] [-1.72592293e-01 9.84925796e-01 -1.15359354e-02 -4.30634452e+00] [-9.07657101e-02 -4.24118042e-03 9.95863243e-01 -1.12441114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.726296757 meters 0.07942884051384394 Centerline is valid? [True, True] Translation: X:97.40, Y:-4.31, Z:-11.25 [[ 9.80801016e-01 1.72898583e-01 9.01967114e-02 9.74018549e+01] [-1.72562971e-01 9.84930587e-01 -1.15654455e-02 -4.31427812e+00] [-9.08371491e-02 -4.22121185e-03 9.95856814e-01 -1.12513053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78629675699999 meters 0.07944551393362331 Centerline is valid? [True, True] Translation: X:97.46, Y:-4.32, Z:-11.26 [[ 9.80616146e-01 1.74028810e-01 9.00330357e-02 9.74638760e+01] [-1.73697086e-01 9.84731193e-01 -1.15672072e-02 -4.31837560e+00] [-9.06713660e-02 -4.29548576e-03 9.95871604e-01 -1.12583460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84629675699999 meters 0.0797602825630115 Centerline is valid? [True, True] Translation: X:97.53, Y:-4.32, Z:-11.27 [[ 9.80693763e-01 1.74031884e-01 8.91776073e-02 9.75260723e+01] [-1.73704488e-01 9.84730919e-01 -1.14789905e-02 -4.32409786e+00] [-8.98136575e-02 -4.23317618e-03 9.95949591e-01 -1.12679490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90629675699999 meters 0.078810535896695 Centerline is valid? [True, True] Translation: X:97.59, Y:-4.33, Z:-11.27 [[ 9.80986939e-01 1.72707811e-01 8.85247877e-02 9.75873321e+01] [-1.72377469e-01 9.84964753e-01 -1.14212193e-02 -4.33437115e+00] [-8.91663294e-02 -4.05561185e-03 9.96008493e-01 -1.12744890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.966296757 meters 0.07848901249892817 Centerline is valid? [True, True] Translation: X:97.65, Y:-4.34, Z:-11.28 [[ 9.81121942e-01 1.71481939e-01 8.94073810e-02 9.76489987e+01] [-1.71137434e-01 9.85179318e-01 -1.15624447e-02 -4.34191743e+00] [-9.00650531e-02 -3.95678153e-03 9.95928025e-01 -1.12822947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.026296757 meters 0.07896363514011431 Centerline is valid? [True, True] Translation: X:97.71, Y:-4.35, Z:-11.29 [[ 9.80958984e-01 1.73257784e-01 8.77565468e-02 9.77102643e+01] [-1.72932210e-01 9.84868245e-01 -1.13573816e-02 -4.34560625e+00] [-8.83963910e-02 -4.03480810e-03 9.96077205e-01 -1.12909238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.086296757 meters 0.07920262163893521 Centerline is valid? [True, True] Translation: X:97.77, Y:-4.35, Z:-11.30 [[ 9.80746483e-01 1.73995840e-01 8.86666970e-02 9.77726593e+01] [-1.73666456e-01 9.84737669e-01 -1.14754627e-02 -4.35054029e+00] [-8.93101193e-02 -4.14391133e-03 9.95995246e-01 -1.12983377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14629675699999 meters 0.07870379701497975 Centerline is valid? [True, True] Translation: X:97.83, Y:-4.36, Z:-11.30 [[ 9.80982535e-01 1.73070657e-01 8.78624758e-02 9.78341326e+01] [-1.72741198e-01 9.84901302e-01 -1.13975451e-02 -4.36000070e+00] [-8.85084474e-02 -3.99667661e-03 9.96067408e-01 -1.13038217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20629675699999 meters 0.07888974645735403 Centerline is valid? [True, True] Translation: X:97.90, Y:-4.36, Z:-11.31 [[ 9.81080284e-01 1.72961814e-01 8.69809554e-02 9.78968539e+01] [-1.72636684e-01 9.84920706e-01 -1.13039148e-02 -4.36442138e+00] [-8.76244896e-02 -3.92605567e-03 9.96145840e-01 -1.13126003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26629675699999 meters 0.07852770762916272 Centerline is valid? [True, True] Translation: X:97.96, Y:-4.38, Z:-11.32 [[ 9.81464359e-01 1.71156954e-01 8.62149022e-02 9.79583142e+01] [-1.70827999e-01 9.85236820e-01 -1.12340351e-02 -4.37585588e+00] [-8.68648793e-02 -3.70211412e-03 9.96213224e-01 -1.13181225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.326296757 meters 0.07879540760060715 Centerline is valid? [True, True] Translation: X:98.02, Y:-4.38, Z:-11.33 [[ 9.81266959e-01 1.71824594e-01 8.71290062e-02 9.80207124e+01] [-1.71491009e-01 9.85120236e-01 -1.13558371e-02 -4.38160448e+00] [-8.77837592e-02 -3.79873353e-03 9.96132311e-01 -1.13251648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.386296757 meters 0.07868320660548465 Centerline is valid? [True, True] Translation: X:98.08, Y:-4.39, Z:-11.33 [[ 9.80886713e-01 1.73132985e-01 8.88044239e-02 9.80830398e+01] [-1.72789425e-01 9.84890472e-01 -1.16005021e-02 -4.38738415e+00] [-8.94710605e-02 -3.96568699e-03 9.95981527e-01 -1.13304502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.446296757 meters 0.07955016133170965 Centerline is valid? [True, True] Translation: X:98.14, Y:-4.39, Z:-11.34 [[ 9.80854320e-01 1.74996643e-01 8.54457636e-02 9.81429899e+01] [-1.74683219e-01 9.84561104e-01 -1.11895292e-02 -4.39062996e+00] [-8.60847054e-02 -3.95064305e-03 9.96279989e-01 -1.13401223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50629675699999 meters 0.08057756630323099 Centerline is valid? [True, True] Translation: X:98.20, Y:-4.39, Z:-11.35 [[ 9.80733301e-01 1.75926071e-01 8.49247275e-02 9.82042277e+01] [-1.75619277e-01 9.84395255e-01 -1.11288647e-02 -4.39358693e+00] [-8.55573563e-02 -3.99997105e-03 9.96325218e-01 -1.13506708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56629675699999 meters 0.07928401120340897 Centerline is valid? [True, True] Translation: X:98.27, Y:-4.40, Z:-11.35 [[ 9.80809231e-01 1.76311674e-01 8.32312778e-02 9.82659497e+01] [-1.76016752e-01 9.84326532e-01 -1.09262185e-02 -4.40448459e+00] [-8.38531749e-02 -3.93356330e-03 9.96470357e-01 -1.13529996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62629675699999 meters 0.079296489874373 Centerline is valid? [True, True] Translation: X:98.33, Y:-4.41, Z:-11.36 [[ 9.81144612e-01 1.74709986e-01 8.26539216e-02 9.83266739e+01] [-1.74411463e-01 9.84612810e-01 -1.08745366e-02 -4.41111585e+00] [-8.32820001e-02 -3.74629835e-03 9.96518978e-01 -1.13594859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.686296757 meters 0.07891291915663802 Centerline is valid? [True, True] Translation: X:98.39, Y:-4.42, Z:-11.37 [[ 9.81494821e-01 1.73450530e-01 8.11346468e-02 9.83875669e+01] [-1.73157957e-01 9.84836133e-01 -1.06823759e-02 -4.41951358e+00] [-8.17571955e-02 -3.56441304e-03 9.96645903e-01 -1.13679272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.746296757 meters 0.07950898238905232 Centerline is valid? [True, True] Translation: X:98.45, Y:-4.42, Z:-11.38 [[ 9.81247027e-01 1.75159482e-01 8.04576197e-02 9.84474922e+01] [-1.74875546e-01 9.84533300e-01 -1.06171726e-02 -4.42467248e+00] [-8.10729043e-02 -3.65200115e-03 9.96701483e-01 -1.13758427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.806296757 meters 0.07896468493533933 Centerline is valid? [True, True] Translation: X:98.51, Y:-4.43, Z:-11.38 [[ 9.81133829e-01 1.75960411e-01 8.00895953e-02 9.85085608e+01] [-1.75681274e-01 9.84390307e-01 -1.05741880e-02 -4.43386221e+00] [-8.07000597e-02 -3.69554857e-03 9.96731580e-01 -1.13819198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.866296757 meters 0.0784615483524145 Centerline is valid? [True, True] Translation: X:98.57, Y:-4.44, Z:-11.39 [[ 9.80450730e-01 1.79638360e-01 8.02896347e-02 9.85691576e+01] [-1.79368195e-01 9.83724646e-01 -1.06240917e-02 -4.43818881e+00] [-8.08913869e-02 -3.98500839e-03 9.96714956e-01 -1.13873968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92629675699999 meters 0.0788528825709914 Centerline is valid? [True, True] Translation: X:98.63, Y:-4.44, Z:-11.39 [[ 9.80263086e-01 1.81518076e-01 7.83292464e-02 9.86294148e+01] [-1.81266038e-01 9.83379361e-01 -1.03757334e-02 -4.44492481e+00] [-7.89107475e-02 -4.02748379e-03 9.96873549e-01 -1.13910924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98629675699999 meters 0.07975657264749052 Centerline is valid? [True, True] Translation: X:98.69, Y:-4.45, Z:-11.40 [[ 9.80101856e-01 1.82817920e-01 7.73172702e-02 9.86900405e+01] [-1.82575778e-01 9.83138361e-01 -1.02493386e-02 -4.44797580e+00] [-7.78873370e-02 -4.07086496e-03 9.96953856e-01 -1.14001036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.046296757 meters 0.07976153480089004 Centerline is valid? [True, True] Translation: X:98.75, Y:-4.45, Z:-11.41 [[ 9.79794060e-01 1.83709144e-01 7.90857097e-02 9.87514705e+01] [-1.83457236e-01 9.82971592e-01 -1.05020247e-02 -4.45310046e+00] [-7.96683239e-02 -4.21902426e-03 9.96812499e-01 -1.14055966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.106296757 meters 0.08008521023069551 Centerline is valid? [True, True] Translation: X:98.81, Y:-4.46, Z:-11.41 [[ 9.79508518e-01 1.84813165e-01 8.00447189e-02 9.88136495e+01] [-1.84557233e-01 9.82764080e-01 -1.06485240e-02 -4.46005117e+00] [-8.06330619e-02 -4.34251190e-03 9.96734394e-01 -1.14117488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.166296757 meters 0.08100244535893333 Centerline is valid? [True, True] Translation: X:98.88, Y:-4.46, Z:-11.42 [[ 9.79099496e-01 1.86002087e-01 8.22642165e-02 9.88750894e+01] [-1.85733847e-01 9.82538863e-01 -1.09690803e-02 -4.46368177e+00] [-8.28680616e-02 -4.53942840e-03 9.96550188e-01 -1.14189784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.226296757 meters 0.0808583097794103 Centerline is valid? [True, True] Translation: X:98.94, Y:-4.47, Z:-11.42 [[ 9.78478965e-01 1.88340629e-01 8.43013806e-02 9.89371137e+01] [-1.88065773e-01 9.82091866e-01 -1.12619479e-02 -4.46858846e+00] [-8.49127825e-02 -4.83462517e-03 9.96376659e-01 -1.14244878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28629675699999 meters 0.08162445531072163 Centerline is valid? [True, True] Translation: X:99.00, Y:-4.48, Z:-11.43 [[ 9.78676491e-01 1.88010605e-01 8.27305193e-02 9.89983749e+01] [-1.87743020e-01 9.82155773e-01 -1.10723415e-02 -4.47595171e+00] [-8.33359747e-02 -4.69583719e-03 9.96510444e-01 -1.14325723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34629675699999 meters 0.0798545835838601 Centerline is valid? [True, True] Translation: X:99.06, Y:-4.49, Z:-11.44 [[ 9.78965808e-01 1.87075096e-01 8.14177863e-02 9.90595028e+01] [-1.86811144e-01 9.82335200e-01 -1.09156693e-02 -4.48795470e+00] [-8.20216072e-02 -4.52368280e-03 9.96620285e-01 -1.14384876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40629675699999 meters 0.07965140196077285 Centerline is valid? [True, True] Translation: X:99.12, Y:-4.50, Z:-11.44 [[ 9.79101863e-01 1.86113111e-01 8.19844595e-02 9.91214311e+01] [-1.85839944e-01 9.82518255e-01 -1.10178638e-02 -4.49551564e+00] [-8.26017970e-02 -4.44837643e-03 9.96572704e-01 -1.14438099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.466296757 meters 0.07949454742127228 Centerline is valid? [True, True] Translation: X:99.18, Y:-4.50, Z:-11.45 [[ 9.79349993e-01 1.84833209e-01 8.19162699e-02 9.91816344e+01] [-1.84555792e-01 9.82760349e-01 -1.10116825e-02 -4.50374460e+00] [-8.25393866e-02 -4.33383087e-03 9.96578380e-01 -1.14509061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.526296757 meters 0.07995373779631187 Centerline is valid? [True, True] Translation: X:99.24, Y:-4.51, Z:-11.46 [[ 9.79087264e-01 1.85353694e-01 8.38578380e-02 9.92436366e+01] [-1.85063215e-01 9.82661738e-01 -1.12922782e-02 -4.50682504e+00] [-8.44969543e-02 -4.46287536e-03 9.96413743e-01 -1.14594099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.586296757 meters 0.07897112915263675 Centerline is valid? [True, True] Translation: X:99.30, Y:-4.52, Z:-11.46 [[ 9.78960384e-01 1.86346554e-01 8.31356076e-02 9.93049600e+01] [-1.86062956e-01 9.82473819e-01 -1.12147752e-02 -4.51640587e+00] [-8.37683926e-02 -4.48963633e-03 9.96475137e-01 -1.14641000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64629675699999 meters 0.0793071881006906 Centerline is valid? [True, True] Translation: X:99.36, Y:-4.52, Z:-11.47 [[ 9.79074474e-01 1.84717969e-01 8.53958247e-02 9.93640703e+01] [-1.84410077e-01 9.82781538e-01 -1.15486967e-02 -4.52436484e+00] [-8.60586917e-02 -4.44081639e-03 9.96280172e-01 -1.14715321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70629675699999 meters 0.07983816281757894 Centerline is valid? [True, True] Translation: X:99.43, Y:-4.53, Z:-11.48 [[ 9.78733257e-01 1.85485624e-01 8.76144637e-02 9.94261210e+01] [-1.85164966e-01 9.82636068e-01 -1.18445407e-02 -4.52704766e+00] [-8.82901242e-02 -4.63048331e-03 9.96084039e-01 -1.14792632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76629675699999 meters 0.07841195043211084 Centerline is valid? [True, True] Translation: X:99.49, Y:-4.54, Z:-11.48 [[ 9.78441310e-01 1.85451420e-01 9.08866019e-02 9.94859416e+01] [-1.85103899e-01 9.82641824e-01 -1.23122712e-02 -4.53993908e+00] [-9.15923045e-02 -4.77662963e-03 9.95785134e-01 -1.14824534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.826296757 meters 0.07774577736020184 Centerline is valid? [True, True] Translation: X:99.55, Y:-4.55, Z:-11.49 [[ 9.78707243e-01 1.84341208e-01 9.02798546e-02 9.95466744e+01] [-1.83992693e-01 9.82851397e-01 -1.22400826e-02 -4.54973785e+00] [-9.09880329e-02 -4.63137606e-03 9.95841216e-01 -1.14910866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.886296757 meters 0.0773602248986394 Centerline is valid? [True, True] Translation: X:99.61, Y:-4.56, Z:-11.50 [[ 9.79084938e-01 1.81375331e-01 9.21719805e-02 9.96071095e+01] [-1.80996268e-01 9.83404017e-01 -1.25256066e-02 -4.55798794e+00] [-9.29141320e-02 -4.41915169e-03 9.95664319e-01 -1.14983251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.946296757 meters 0.07623619523552637 Centerline is valid? [True, True] Translation: X:99.67, Y:-4.57, Z:-11.50 [[ 9.79974536e-01 1.76668301e-01 9.18597873e-02 9.96658375e+01] [-1.76270815e-01 9.84262500e-01 -1.24872202e-02 -4.57084855e+00] [-9.26202399e-02 -3.95504181e-03 9.95693652e-01 -1.15033625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00629675699999 meters 0.07465361197699001 Centerline is valid? [True, True] Translation: X:99.73, Y:-4.58, Z:-11.51 [[ 9.80815981e-01 1.72577963e-01 9.06468833e-02 9.97264450e+01] [-1.72173463e-01 9.84989569e-01 -1.23226454e-02 -4.58385067e+00] [-9.14128515e-02 -3.52074022e-03 9.95806856e-01 -1.15087177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06629675699999 meters 0.07470900851834095 Centerline is valid? [True, True] Translation: X:99.79, Y:-4.59, Z:-11.52 [[ 9.81440997e-01 1.68777594e-01 9.10367633e-02 9.97861690e+01] [-1.68352558e-01 9.85649055e-01 -1.23837230e-02 -4.59167840e+00] [-9.18203947e-02 -3.17237848e-03 9.95770531e-01 -1.15175666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12629675699999 meters 0.0733158737311263 Centerline is valid? [True, True] Translation: X:99.85, Y:-4.61, Z:-11.52 [[ 9.82021186e-01 1.64729845e-01 9.21871332e-02 9.98455237e+01] [-1.64275885e-01 9.86334675e-01 -1.25435974e-02 -4.60698481e+00] [-9.29936709e-02 -2.82604452e-03 9.95662689e-01 -1.15222445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.186296757 meters 0.0732519777480905 Centerline is valid? [True, True] Translation: X:99.91, Y:-4.61, Z:-11.53 [[ 9.82332032e-01 1.63931046e-01 9.02795130e-02 9.99069839e+01] [-1.63492604e-01 9.86468116e-01 -1.22810600e-02 -4.61462306e+00] [-9.10711082e-02 -2.69595402e-03 9.95840743e-01 -1.15300839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.246296757 meters 0.07330701865545411 Centerline is valid? [True, True] Translation: X:99.97, Y:-4.62, Z:-11.54 [[ 9.82186525e-01 1.64238596e-01 9.12979408e-02 9.99675046e+01] [-1.63789068e-01 9.86416867e-01 -1.24461330e-02 -4.62346390e+00] [-9.21019641e-02 -2.72918044e-03 9.95745841e-01 -1.15380939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.306296757 meters 0.07343395010733783 Centerline is valid? [True, True] Translation: X:100.03, Y:-4.63, Z:-11.54 [[ 9.81873709e-01 1.65255298e-01 9.28154445e-02 1.00027634e+02] [-1.64792784e-01 9.86246716e-01 -1.26788558e-02 -4.63196102e+00] [-9.36341754e-02 -2.84628030e-03 9.95602601e-01 -1.15447999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36629675699999 meters 0.07360058755779182 Centerline is valid? [True, True] Translation: X:100.09, Y:-4.64, Z:-11.55 [[ 9.81127055e-01 1.68427900e-01 9.49828673e-02 1.00088878e+02] [-1.67957221e-01 9.85708743e-01 -1.29863413e-02 -4.63899970e+00] [-9.58127050e-02 -3.21180765e-03 9.95394198e-01 -1.15524258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42629675699999 meters 0.07412729617290259 Centerline is valid? [True, True] Translation: X:100.15, Y:-4.65, Z:-11.56 [[ 9.81102845e-01 1.69309445e-01 9.36563937e-02 1.00148926e+02] [-1.68853602e-01 9.85557655e-01 -1.28284949e-02 -4.64667860e+00] [-9.44757611e-02 -3.22814652e-03 9.95521928e-01 -1.15628064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48629675699999 meters 0.07398762591599413 Centerline is valid? [True, True] Translation: X:100.21, Y:-4.66, Z:-11.57 [[ 9.80939261e-01 1.68670215e-01 9.64806991e-02 1.00209935e+02] [-1.68181155e-01 9.85667214e-01 -1.32379195e-02 -4.66049502e+00] [-9.73307046e-02 -3.24064037e-03 9.95246820e-01 -1.15667922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.546296757 meters 0.07378692639159143 Centerline is valid? [True, True] Translation: X:100.27, Y:-4.67, Z:-11.57 [[ 9.80863666e-01 1.67784927e-01 9.87658195e-02 1.00270593e+02] [-1.67265409e-01 9.85818420e-01 -1.35766528e-02 -4.66926427e+00] [-9.96431219e-02 -3.20325982e-03 9.95018084e-01 -1.15745235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.606296757 meters 0.07377099632185503 Centerline is valid? [True, True] Translation: X:100.33, Y:-4.68, Z:-11.58 [[ 9.81075364e-01 1.67227740e-01 9.76012976e-02 1.00331447e+02] [-1.66715366e-01 9.85913464e-01 -1.34397937e-02 -4.68276378e+00] [-9.84739398e-02 -3.08618566e-03 9.95134844e-01 -1.15818491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.666296757 meters 0.07421049961626325 Centerline is valid? [True, True] Translation: X:100.39, Y:-4.69, Z:-11.59 [[ 9.80877774e-01 1.67942011e-01 9.83578840e-02 1.00392702e+02] [-1.67422362e-01 9.85791830e-01 -1.35727615e-02 -4.69097754e+00] [-9.92398353e-02 -3.15408920e-03 9.95058544e-01 -1.15902919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.726296757 meters 0.07434207993180117 Centerline is valid? [True, True] Translation: X:100.45, Y:-4.70, Z:-11.60 [[ 9.80798763e-01 1.68532520e-01 9.81355036e-02 1.00454119e+02] [-1.68015550e-01 9.85690963e-01 -1.35683607e-02 -4.69907827e+00] [-9.90179891e-02 -3.18045932e-03 9.95080561e-01 -1.15977511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78629675699999 meters 0.07408963136628144 Centerline is valid? [True, True] Translation: X:100.51, Y:-4.71, Z:-11.61 [[ 9.80651719e-01 1.68583084e-01 9.95085427e-02 1.00514879e+02] [-1.68049312e-01 9.85682233e-01 -1.37827770e-02 -4.70983006e+00] [-1.00407346e-01 -3.20623818e-03 9.94941247e-01 -1.16051179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84629675699999 meters 0.07431579785107939 Centerline is valid? [True, True] Translation: X:100.57, Y:-4.72, Z:-11.61 [[ 9.81019164e-01 1.67692581e-01 9.73683646e-02 1.00574814e+02] [-1.67174850e-01 9.85834699e-01 -1.35098616e-02 -4.72236857e+00] [-9.82546159e-02 -3.02410857e-03 9.95156714e-01 -1.16136997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90629675699999 meters 0.07392059696665217 Centerline is valid? [True, True] Translation: X:100.64, Y:-4.73, Z:-11.62 [[ 9.80982420e-01 1.68179645e-01 9.68973656e-02 1.00635034e+02] [-1.67666735e-01 9.85751699e-01 -1.34704589e-02 -4.73225496e+00] [-9.77821998e-02 -3.03218149e-03 9.95203219e-01 -1.16219337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.966296757 meters 0.07444495845835777 Centerline is valid? [True, True] Translation: X:100.69, Y:-4.74, Z:-11.63 [[ 9.80794311e-01 1.70689957e-01 9.43793295e-02 1.00694451e+02] [-1.70212679e-01 9.85319680e-01 -1.31442583e-02 -4.73776594e+00] [-9.52374037e-02 -3.17274481e-03 9.95449532e-01 -1.16320335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.026296757 meters 0.07483678635409162 Centerline is valid? [True, True] Translation: X:100.75, Y:-4.75, Z:-11.64 [[ 9.80315608e-01 1.74347697e-01 9.26508952e-02 1.00754689e+02] [-1.73903319e-01 9.84678090e-01 -1.29110367e-02 -4.74776492e+00] [-9.34823160e-02 -3.45540743e-03 9.95614944e-01 -1.16385770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.086296757 meters 0.07622497708933058 Centerline is valid? [True, True] Translation: X:100.81, Y:-4.75, Z:-11.65 [[ 9.79807088e-01 1.78472385e-01 9.01425422e-02 1.00814360e+02] [-1.78067258e-01 9.83937876e-01 -1.25820433e-02 -4.75079777e+00] [-9.09402088e-02 -3.72346012e-03 9.95849393e-01 -1.16478963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14629675699999 meters 0.07623852730864557 Centerline is valid? [True, True] Translation: X:100.88, Y:-4.76, Z:-11.65 [[ 9.79364687e-01 1.80787533e-01 9.03364716e-02 1.00875482e+02] [-1.80389707e-01 9.83514288e-01 -1.26174091e-02 -4.76069254e+00] [-9.11282808e-02 -3.93872470e-03 9.95831373e-01 -1.16544010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20629675699999 meters 0.07584973247932547 Centerline is valid? [True, True] Translation: X:100.94, Y:-4.77, Z:-11.66 [[ 9.78970379e-01 1.82360082e-01 9.14428652e-02 1.00936833e+02] [-1.81959034e-01 9.83223128e-01 -1.27745936e-02 -4.77357763e+00] [-9.22383159e-02 -4.13290671e-03 9.95728383e-01 -1.16573042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26629675699999 meters 0.07686851356019386 Centerline is valid? [True, True] Translation: X:101.00, Y:-4.78, Z:-11.67 [[ 9.78947531e-01 1.83074303e-01 9.02525928e-02 1.00996645e+02] [-1.82684334e-01 9.83090446e-01 -1.26336608e-02 -4.77957366e+00] [-9.10393604e-02 -4.12004368e-03 9.95838772e-01 -1.16658593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.326296757 meters 0.0759223811536282 Centerline is valid? [True, True] Translation: X:101.06, Y:-4.79, Z:-11.67 [[ 9.78584556e-01 1.84791852e-01 9.06875831e-02 1.01057123e+02] [-1.84404676e-01 9.82768309e-01 -1.27030359e-02 -4.79183480e+00] [-9.14723002e-02 -4.29221960e-03 9.95798371e-01 -1.16703016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.386296757 meters 0.07563140625619916 Centerline is valid? [True, True] Translation: X:101.12, Y:-4.80, Z:-11.68 [[ 9.78407952e-01 1.84070950e-01 9.39987509e-02 1.01116933e+02] [-1.83648865e-01 9.82903327e-01 -1.31963324e-02 -4.80188846e+00] [-9.48207465e-02 -4.35136743e-03 9.95484853e-01 -1.16769674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.446296757 meters 0.07548621487313091 Centerline is valid? [True, True] Translation: X:101.18, Y:-4.81, Z:-11.68 [[ 9.78841424e-01 1.82033093e-01 9.34527651e-02 1.01177419e+02] [-1.81606534e-01 9.83283738e-01 -1.31208708e-02 -4.80990014e+00] [-9.42790169e-02 -4.12838096e-03 9.95537254e-01 -1.16846040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50629675699999 meters 0.07593010133679798 Centerline is valid? [True, True] Translation: X:101.24, Y:-4.82, Z:-11.69 [[ 9.78812766e-01 1.82473677e-01 9.28920111e-02 1.01238811e+02] [-1.82053110e-01 9.83202047e-01 -1.30537020e-02 -4.81695155e+00] [-9.37135725e-02 -4.13414934e-03 9.95590616e-01 -1.16921085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56629675699999 meters 0.07632580017757543 Centerline is valid? [True, True] Translation: X:101.30, Y:-4.82, Z:-11.70 [[ 9.78427172e-01 1.84150769e-01 9.36416744e-02 1.01300046e+02] [-1.83728772e-01 9.82888575e-01 -1.31828517e-02 -4.82188452e+00] [-9.44669642e-02 -4.30620951e-03 9.95518684e-01 -1.17004045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62629675699999 meters 0.07656352576803038 Centerline is valid? [True, True] Translation: X:101.36, Y:-4.83, Z:-11.71 [[ 9.78359969e-01 1.84606474e-01 9.34463480e-02 1.01360839e+02] [-1.84186076e-01 9.82803035e-01 -1.31788920e-02 -4.82753731e+00] [-9.42722632e-02 -4.31781576e-03 9.95537090e-01 -1.17092002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.686296757 meters 0.0766481926959757 Centerline is valid? [True, True] Translation: X:101.42, Y:-4.84, Z:-11.72 [[ 9.78581444e-01 1.83931522e-01 9.24529775e-02 1.01421755e+02] [-1.83515101e-01 9.82930142e-01 -1.30592263e-02 -4.83687284e+00] [-9.32768216e-02 -4.18700099e-03 9.95631409e-01 -1.17165715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.746296757 meters 0.07599354744618542 Centerline is valid? [True, True] Translation: X:101.48, Y:-4.85, Z:-11.72 [[ 9.79404569e-01 1.80484394e-01 9.05100705e-02 1.01481854e+02] [-1.80068252e-01 9.83570695e-01 -1.28106352e-02 -4.84826161e+00] [-9.13351727e-02 -3.75119554e-03 9.95813142e-01 -1.17249488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.806296757 meters 0.07485766615989993 Centerline is valid? [True, True] Translation: X:101.54, Y:-4.86, Z:-11.73 [[ 9.79999635e-01 1.76389162e-01 9.21280591e-02 1.01541729e+02] [-1.75939474e-01 9.84314550e-01 -1.30448696e-02 -4.86066949e+00] [-9.29839627e-02 -3.42499479e-03 9.95661716e-01 -1.17318757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86629675699999 meters 0.07357347780582531 Centerline is valid? [True, True] Translation: X:101.60, Y:-4.88, Z:-11.74 [[ 9.80473742e-01 1.72444323e-01 9.45208764e-02 1.01601609e+02] [-1.71952318e-01 9.85014303e-01 -1.33874322e-02 -4.87653411e+00] [-9.54130018e-02 -3.12705810e-03 9.95432861e-01 -1.17366052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92629675699999 meters 0.07334511562212247 Centerline is valid? [True, True] Translation: X:101.66, Y:-4.89, Z:-11.74 [[ 9.80361919e-01 1.72307044e-01 9.59207478e-02 1.01663159e+02] [-1.71799656e-01 9.85038221e-01 -1.35860423e-02 -4.88560473e+00] [-9.68265736e-02 -3.15991294e-03 9.95296252e-01 -1.17422050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98629675699999 meters 0.07477036443811477 Centerline is valid? [True, True] Translation: X:101.72, Y:-4.89, Z:-11.75 [[ 9.79860906e-01 1.74689976e-01 9.67265121e-02 1.01724116e+02] [-1.74182969e-01 9.84617625e-01 -1.37268131e-02 -4.88562135e+00] [-9.76365653e-02 -3.39774363e-03 9.95216337e-01 -1.17519071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.046296757 meters 0.07409710072600616 Centerline is valid? [True, True] Translation: X:101.78, Y:-4.90, Z:-11.76 [[ 9.79440315e-01 1.77716089e-01 9.54654931e-02 1.01784182e+02] [-1.77235544e-01 9.84075068e-01 -1.35581477e-02 -4.89627674e+00] [-9.63547125e-02 -3.64048218e-03 9.95340402e-01 -1.17570024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.106296757 meters 0.07483493763480899 Centerline is valid? [True, True] Translation: X:101.84, Y:-4.90, Z:-11.77 [[ 9.79426973e-01 1.79188026e-01 9.28140922e-02 1.01844039e+02] [-1.78738376e-01 9.83808046e-01 -1.32031116e-02 -4.90124978e+00] [-9.36770902e-02 -3.65795652e-03 9.95595913e-01 -1.17673106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.166296757 meters 0.0755636382408809 Centerline is valid? [True, True] Translation: X:101.90, Y:-4.90, Z:-11.78 [[ 9.79157969e-01 1.82245373e-01 8.96453877e-02 1.01904742e+02] [-1.81837862e-01 9.83245718e-01 -1.27612906e-02 -4.90476605e+00] [-9.04691297e-02 -3.80560627e-03 9.95891989e-01 -1.17768057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.226296757 meters 0.0755461400194 Centerline is valid? [True, True] Translation: X:101.97, Y:-4.91, Z:-11.78 [[ 9.79120332e-01 1.82733812e-01 8.90602621e-02 1.01966316e+02] [-1.82332170e-01 9.83155044e-01 -1.26940369e-02 -4.91261722e+00] [-8.98796757e-02 -3.80956122e-03 9.95945345e-01 -1.17837864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28629675699999 meters 0.07650334791077917 Centerline is valid? [True, True] Translation: X:102.03, Y:-4.91, Z:-11.79 [[ 9.78620436e-01 1.85942046e-01 8.79067604e-02 1.02027905e+02] [-1.85561262e-01 9.82552472e-01 -1.25561917e-02 -4.91497933e+00] [-8.87077287e-02 -4.02434362e-03 9.96049569e-01 -1.17913634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34629675699999 meters 0.0772495552244576 Centerline is valid? [True, True] Translation: X:102.09, Y:-4.92, Z:-11.80 [[ 9.77921439e-01 1.88746142e-01 8.96914377e-02 1.02090258e+02] [-1.88361110e-01 9.82016225e-01 -1.28151142e-02 -4.91730247e+00] [-9.04972504e-02 -4.36220386e-03 9.95887152e-01 -1.17981343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40629675699999 meters 0.07568357127286188 Centerline is valid? [True, True] Translation: X:102.15, Y:-4.93, Z:-11.80 [[ 9.77340510e-01 1.90724001e-01 9.18143928e-02 1.02151001e+02] [-1.90328931e-01 9.81632684e-01 -1.31214523e-02 -4.92782381e+00] [-9.26305847e-02 -4.65080838e-03 9.95689683e-01 -1.18007988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.466296757 meters 0.07658717955467775 Centerline is valid? [True, True] Translation: X:102.21, Y:-4.93, Z:-11.81 [[ 9.76788385e-01 1.92940128e-01 9.30513769e-02 1.02212495e+02] [-1.92542186e-01 9.81198275e-01 -1.33211389e-02 -4.92846595e+00] [-9.38720327e-02 -4.90438175e-03 9.95572192e-01 -1.18075879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.526296757 meters 0.07706155065825017 Centerline is valid? [True, True] Translation: X:102.27, Y:-4.93, Z:-11.81 [[ 9.76545247e-01 1.93912061e-01 9.35814809e-02 1.02274836e+02] [-1.93511927e-01 9.81006149e-01 -1.34190120e-02 -4.93064999e+00] [-9.44061165e-02 -5.00486032e-03 9.95521188e-01 -1.18149464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.586296757 meters 0.07634592219772714 Centerline is valid? [True, True] Translation: X:102.34, Y:-4.94, Z:-11.82 [[ 9.76882670e-01 1.93406581e-01 9.10721868e-02 1.02337017e+02] [-1.93023443e-01 9.81106950e-01 -1.30806577e-02 -4.93908363e+00] [-9.18814407e-02 -4.80079930e-03 9.95758381e-01 -1.18206267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64629675699999 meters 0.0760091821260451 Centerline is valid? [True, True] Translation: X:102.40, Y:-4.95, Z:-11.83 [[ 9.77085561e-01 1.92773091e-01 9.02349307e-02 1.02398641e+02] [-1.92391471e-01 9.81232263e-01 -1.29910745e-02 -4.94820942e+00] [-9.10457548e-02 -4.66703970e-03 9.95835774e-01 -1.18273770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70629675699999 meters 0.07504721119647115 Centerline is valid? [True, True] Translation: X:102.46, Y:-4.95, Z:-11.83 [[ 9.77687364e-01 1.89892778e-01 8.98228827e-02 1.02459451e+02] [-1.89501765e-01 9.81795108e-01 -1.29401264e-02 -4.95438280e+00] [-9.06449034e-02 -4.37019677e-03 9.95873688e-01 -1.18349196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76629675699999 meters 0.07459280177309853 Centerline is valid? [True, True] Translation: X:102.52, Y:-4.96, Z:-11.84 [[ 9.78239052e-01 1.87174871e-01 8.95205226e-02 1.02520019e+02] [-1.86774514e-01 9.82318064e-01 -1.29035534e-02 -4.96319507e+00] [-9.03528474e-02 -4.09739233e-03 9.95901388e-01 -1.18421950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.826296757 meters 0.07386804835764978 Centerline is valid? [True, True] Translation: X:102.58, Y:-4.97, Z:-11.85 [[ 9.79643071e-01 1.80951171e-01 8.69259890e-02 1.02578996e+02] [-1.80548550e-01 9.83486162e-01 -1.25375185e-02 -4.97332805e+00] [-8.77591860e-02 -3.41206812e-03 9.96135876e-01 -1.18513526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.886296757 meters 0.07199762350533012 Centerline is valid? [True, True] Translation: X:102.64, Y:-4.99, Z:-11.85 [[ 9.80591220e-01 1.74398638e-01 8.95878063e-02 1.02638254e+02] [-1.73943531e-01 9.84670829e-01 -1.29231025e-02 -4.98989559e+00] [-9.04682710e-02 -2.91093849e-03 9.95895084e-01 -1.18541204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.946296757 meters 0.07136948963658026 Centerline is valid? [True, True] Translation: X:102.70, Y:-5.00, Z:-11.86 [[ 9.81519257e-01 1.67894185e-01 9.18231526e-02 1.02697597e+02] [-1.67387366e-01 9.85802183e-01 -1.32486316e-02 -4.99809696e+00] [-9.27438325e-02 -2.36624864e-03 9.95687191e-01 -1.18614321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00629675699999 meters 0.07105508769238945 Centerline is valid? [True, True] Translation: X:102.76, Y:-5.01, Z:-11.87 [[ 9.82207968e-01 1.64980353e-01 8.97161693e-02 1.02757802e+02] [-1.64484812e-01 9.86294730e-01 -1.29403710e-02 -5.01075038e+00] [-9.06214919e-02 -2.04681168e-03 9.95883304e-01 -1.18672343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06629675699999 meters 0.07175136548129778 Centerline is valid? [True, True] Translation: X:102.82, Y:-5.02, Z:-11.88 [[ 9.82491035e-01 1.64589503e-01 8.73021331e-02 1.02817769e+02] [-1.64116605e-01 9.86360260e-01 -1.26165548e-02 -5.01650935e+00] [-8.81879072e-02 -1.93207770e-03 9.96101983e-01 -1.18764396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12629675699999 meters 0.07259717502927772 Centerline is valid? [True, True] Translation: X:102.88, Y:-5.02, Z:-11.89 [[ 9.82060249e-01 1.68017379e-01 8.56027368e-02 1.02878246e+02] [-1.67574548e-01 9.85781617e-01 -1.23844292e-02 -5.02124520e+00] [-8.64664036e-02 -2.18258437e-03 9.96252376e-01 -1.18861046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.186296757 meters 0.07299519921231791 Centerline is valid? [True, True] Translation: X:102.94, Y:-5.03, Z:-11.89 [[ 9.81617056e-01 1.71497979e-01 8.37639478e-02 1.02938168e+02] [-1.71086608e-01 9.85181462e-01 -1.21185489e-02 -5.02974391e+00] [-8.46009952e-02 -2.43511542e-03 9.96411934e-01 -1.18916645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.246296757 meters 0.0735204556354297 Centerline is valid? [True, True] Translation: X:103.00, Y:-5.04, Z:-11.90 [[ 9.81257587e-01 1.73502668e-01 8.38473125e-02 1.02998791e+02] [-1.73097180e-01 9.84829958e-01 -1.21375806e-02 -5.03802459e+00] [-8.46812479e-02 -2.60364033e-03 9.96404691e-01 -1.18998232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.306296757 meters 0.07372276030290546 Centerline is valid? [True, True] Translation: X:103.06, Y:-5.05, Z:-11.91 [[ 9.81172651e-01 1.74630762e-01 8.24883406e-02 1.03059381e+02] [-1.74240588e-01 9.84630461e-01 -1.19613057e-02 -5.04760532e+00] [-8.33093447e-02 -2.63671099e-03 9.96520246e-01 -1.19067015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36629675699999 meters 0.07416200430393567 Centerline is valid? [True, True] Translation: X:103.12, Y:-5.06, Z:-11.92 [[ 9.80887926e-01 1.76707115e-01 8.14461290e-02 1.03120336e+02] [-1.76331913e-01 9.84259627e-01 -1.18340054e-02 -5.05525320e+00] [-8.22552895e-02 -2.75371876e-03 9.96607488e-01 -1.19154799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42629675699999 meters 0.07421165139886841 Centerline is valid? [True, True] Translation: X:103.18, Y:-5.07, Z:-11.92 [[ 9.80741238e-01 1.76612837e-01 8.33938188e-02 1.03181203e+02] [-1.76219054e-01 9.84276386e-01 -1.21178192e-02 -5.06525127e+00] [-8.42227290e-02 -2.81113482e-03 9.96442989e-01 -1.19226083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48629675699999 meters 0.07397619786011145 Centerline is valid? [True, True] Translation: X:103.24, Y:-5.08, Z:-11.93 [[ 9.81068872e-01 1.74097081e-01 8.48178964e-02 1.03239862e+02] [-1.73677934e-01 9.84725029e-01 -1.23528069e-02 -5.07858089e+00] [-8.56728931e-02 -2.61204262e-03 9.96319895e-01 -1.19297220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.546296757 meters 0.07398998534016293 Centerline is valid? [True, True] Translation: X:103.30, Y:-5.09, Z:-11.94 [[ 9.81464879e-01 1.71354455e-01 8.58157438e-02 1.03299126e+02] [-1.70914823e-01 9.85206523e-01 -1.24992265e-02 -5.09005674e+00] [-8.66880287e-02 -2.39963082e-03 9.96232617e-01 -1.19382094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.606296757 meters 0.07385514075720381 Centerline is valid? [True, True] Translation: X:103.36, Y:-5.10, Z:-11.94 [[ 9.81195450e-01 1.71724062e-01 8.81268122e-02 1.03359994e+02] [-1.71262071e-01 9.85141916e-01 -1.28338527e-02 -5.10285886e+00] [-8.90212979e-02 -2.50026248e-03 9.96026585e-01 -1.19437726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.666296757 meters 0.07468024749659853 Centerline is valid? [True, True] Translation: X:103.42, Y:-5.11, Z:-11.95 [[ 9.80607237e-01 1.75109857e-01 8.80112795e-02 1.03420153e+02] [-1.74660742e-01 9.84544969e-01 -1.28385886e-02 -5.11055011e+00] [-8.88992258e-02 -2.78250253e-03 9.96036739e-01 -1.19513324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.726296757 meters 0.07536848822524958 Centerline is valid? [True, True] Translation: X:103.48, Y:-5.12, Z:-11.96 [[ 9.79813057e-01 1.80442028e-01 8.60642113e-02 1.03480839e+02] [-1.80031038e-01 9.83580512e-01 -1.25778273e-02 -5.11779482e+00] [-8.69206497e-02 -3.17030986e-03 9.96210194e-01 -1.19586002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78629675699999 meters 0.07635364066439303 Centerline is valid? [True, True] Translation: X:103.54, Y:-5.13, Z:-11.96 [[ 9.78782813e-01 1.86654901e-01 8.45230927e-02 1.03540991e+02] [-1.86281385e-01 9.82418753e-01 -1.23546994e-02 -5.12510913e+00] [-8.53431366e-02 -3.65251131e-03 9.96344924e-01 -1.19648987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84629675699999 meters 0.07856488927856504 Centerline is valid? [True, True] Translation: X:103.60, Y:-5.13, Z:-11.98 [[ 9.78104416e-01 1.92288250e-01 7.96051563e-02 1.03601635e+02] [-1.91975295e-01 9.81330745e-01 -1.16385453e-02 -5.12685303e+00] [-8.03569428e-02 -3.89851084e-03 9.96758528e-01 -1.19757205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90629675699999 meters 0.0800992045032194 Centerline is valid? [True, True] Translation: X:103.66, Y:-5.13, Z:-11.99 [[ 9.78276265e-01 1.94134914e-01 7.27130254e-02 1.03660759e+02] [-1.93878779e-01 9.80967876e-01 -1.06322973e-02 -5.13349288e+00] [-7.33932422e-02 -3.69618846e-03 9.97296230e-01 -1.19868958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.966296757 meters 0.07836785969432217 Centerline is valid? [True, True] Translation: X:103.72, Y:-5.15, Z:-11.99 [[ 9.79089107e-01 1.89780813e-01 7.32650274e-02 1.03720243e+02] [-1.89508569e-01 9.81820615e-01 -1.07136917e-02 -5.15110421e+00] [-7.39663674e-02 -3.39469162e-03 9.97254959e-01 -1.19895872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.026296757 meters 0.07644451866250318 Centerline is valid? [True, True] Translation: X:103.78, Y:-5.17, Z:-11.99 [[ 9.80588585e-01 1.82080490e-01 7.27510994e-02 1.03779629e+02] [-1.81790705e-01 9.83279668e-01 -1.06411265e-02 -5.16842676e+00] [-7.34722184e-02 -2.79090647e-03 9.97293359e-01 -1.19946001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.086296757 meters 0.0747244144004871 Centerline is valid? [True, True] Translation: X:103.84, Y:-5.19, Z:-12.00 [[ 9.82012054e-01 1.72829515e-01 7.60413354e-02 1.03838546e+02] [-1.72485056e-01 9.84949316e-01 -1.11243224e-02 -5.19009789e+00] [-7.68194725e-02 -2.19177531e-03 9.97042609e-01 -1.19967924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14629675699999 meters 0.07444977348520983 Centerline is valid? [True, True] Translation: X:103.90, Y:-5.20, Z:-12.00 [[ 9.82625622e-01 1.67773763e-01 7.93653007e-02 1.03896976e+02] [-1.67381705e-01 9.85823748e-01 -1.16147521e-02 -5.20461593e+00] [-8.01888489e-02 -1.87134628e-03 9.96777932e-01 -1.20044272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20629675699999 meters 0.07433961789655244 Centerline is valid? [True, True] Translation: X:103.96, Y:-5.22, Z:-12.01 [[ 9.82493334e-01 1.68801238e-01 7.88225285e-02 1.03957739e+02] [-1.68418401e-01 9.85648185e-01 -1.15281429e-02 -5.21641422e+00] [-7.96372469e-02 -1.94884071e-03 9.96822006e-01 -1.20086045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26629675699999 meters 0.07530452748972806 Centerline is valid? [True, True] Translation: X:104.02, Y:-5.22, Z:-12.02 [[ 9.81783968e-01 1.73183099e-01 7.81527655e-02 1.04017972e+02] [-1.72818457e-01 9.84887058e-01 -1.14570742e-02 -5.22407351e+00] [-7.89558188e-02 -2.25786863e-03 9.96875559e-01 -1.20171929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.326296757 meters 0.07722224698059657 Centerline is valid? [True, True] Translation: X:104.08, Y:-5.23, Z:-12.03 [[ 9.80603591e-01 1.81656252e-01 7.36043728e-02 1.04078792e+02] [-1.81356409e-01 9.83358206e-01 -1.07931106e-02 -5.22535367e+00] [-7.43401001e-02 -2.76486174e-03 9.97229114e-01 -1.20268965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.386296757 meters 0.07931686898133888 Centerline is valid? [True, True] Translation: X:104.14, Y:-5.23, Z:-12.04 [[ 9.79208884e-01 1.89874835e-01 7.13968356e-02 1.04139820e+02] [-1.89614425e-01 9.81802807e-01 -1.04698786e-02 -5.22638412e+00] [-7.20855800e-02 -3.28567182e-03 9.97393039e-01 -1.20366495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.446296757 meters 0.07984450394210564 Centerline is valid? [True, True] Translation: X:104.20, Y:-5.23, Z:-12.04 [[ 9.78269858e-01 1.94756949e-01 7.11183262e-02 1.04200857e+02] [-1.94511348e-01 9.80844816e-01 -1.04298727e-02 -5.23324691e+00] [-7.17873318e-02 -3.63009141e-03 9.97413355e-01 -1.20412814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50629675699999 meters 0.0805206765523621 Centerline is valid? [True, True] Translation: X:104.26, Y:-5.24, Z:-12.05 [[ 9.78597399e-01 1.93858032e-01 6.90376213e-02 1.04261112e+02] [-1.93624215e-01 9.81023502e-01 -1.01268400e-02 -5.24075534e+00] [-6.96906983e-02 -3.45725587e-03 9.97562657e-01 -1.20508780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56629675699999 meters 0.0802947955269415 Centerline is valid? [True, True] Translation: X:104.32, Y:-5.25, Z:-12.06 [[ 9.78677530e-01 1.92858840e-01 7.06806955e-02 1.04321845e+02] [-1.92609389e-01 9.81220473e-01 -1.03926770e-02 -5.25108587e+00] [-7.13576651e-02 -3.44268613e-03 9.97444851e-01 -1.20573011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62629675699999 meters 0.0777032952675672 Centerline is valid? [True, True] Translation: X:104.38, Y:-5.27, Z:-12.06 [[ 9.79857596e-01 1.86525169e-01 7.13263827e-02 1.04381378e+02] [-1.86254094e-01 9.82445589e-01 -1.04917758e-02 -5.27155664e+00] [-7.20312703e-02 -3.00438457e-03 9.97397849e-01 -1.20587669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.686296757 meters 0.0773358070584586 Centerline is valid? [True, True] Translation: X:104.44, Y:-5.28, Z:-12.07 [[ 9.80696142e-01 1.81634700e-01 7.24148622e-02 1.04440001e+02] [-1.81341630e-01 9.83362420e-01 -1.06566647e-02 -5.28290822e+00] [-7.31456742e-02 -2.68087917e-03 9.97317664e-01 -1.20665864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.746296757 meters 0.07728418868695931 Centerline is valid? [True, True] Translation: X:104.50, Y:-5.29, Z:-12.07 [[ 9.80578045e-01 1.81096727e-01 7.53038748e-02 1.04500088e+02] [-1.80778173e-01 9.83461455e-01 -1.10823487e-02 -5.29281317e+00] [-7.60654354e-02 -2.74618907e-03 9.97099046e-01 -1.20734351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.806296757 meters 0.07708394870638718 Centerline is valid? [True, True] Translation: X:104.56, Y:-5.30, Z:-12.08 [[ 9.80356198e-01 1.82186250e-01 7.55638542e-02 1.04560775e+02] [-1.81869134e-01 9.83259920e-01 -1.11151757e-02 -5.30374940e+00] [-7.63239415e-02 -2.84590129e-03 9.97079012e-01 -1.20788667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86629675699999 meters 0.07806057887870534 Centerline is valid? [True, True] Translation: X:104.62, Y:-5.31, Z:-12.09 [[ 9.79859466e-01 1.84960846e-01 7.52656175e-02 1.04621600e+02] [-1.84652888e-01 9.82741218e-01 -1.10909495e-02 -5.31104128e+00] [-7.60180160e-02 -3.03044182e-03 9.97101839e-01 -1.20872883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92629675699999 meters 0.07931347773433385 Centerline is valid? [True, True] Translation: X:104.68, Y:-5.31, Z:-12.10 [[ 9.79052183e-01 1.89730996e-01 7.38848551e-02 1.04682576e+02] [-1.89445942e-01 9.81830518e-01 -1.09118313e-02 -5.31499014e+00] [-7.46127182e-02 -3.31393371e-03 9.97207080e-01 -1.20956242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98629675699999 meters 0.07944705096092129 Centerline is valid? [True, True] Translation: X:104.74, Y:-5.32, Z:-12.10 [[ 9.78319956e-01 1.94038358e-01 7.23821757e-02 1.04742708e+02] [-1.93776681e-01 9.80987447e-01 -1.06877036e-02 -5.32340366e+00] [-7.30798302e-02 -3.56998399e-03 9.97319705e-01 -1.20998184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.046296757 meters 0.08120366226904716 Centerline is valid? [True, True] Translation: X:104.80, Y:-5.33, Z:-12.11 [[ 9.77396645e-01 1.99103745e-01 7.10879558e-02 1.04802993e+02] [-1.98863624e-01 9.79970803e-01 -1.05111764e-02 -5.32790251e+00] [-7.17569357e-02 -3.86321996e-03 9.97414667e-01 -1.21076229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.106296757 meters 0.08262140719353071 Centerline is valid? [True, True] Translation: X:104.86, Y:-5.33, Z:-12.12 [[ 9.76829378e-01 2.02049820e-01 7.05707924e-02 1.04863718e+02] [-2.01821329e-01 9.79366844e-01 -1.04276965e-02 -5.33280827e+00] [-7.12216084e-02 -4.05661079e-03 9.97452268e-01 -1.21157332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.166296757 meters 0.08208467774707362 Centerline is valid? [True, True] Translation: X:104.93, Y:-5.34, Z:-12.12 [[ 9.76877964e-01 2.01641491e-01 7.10644239e-02 1.04925354e+02] [-2.01407284e-01 9.79451083e-01 -1.05205818e-02 -5.34352696e+00] [-7.17255127e-02 -4.03556815e-03 9.97416245e-01 -1.21201530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.226296757 meters 0.08199499297616862 Centerline is valid? [True, True] Translation: X:104.98, Y:-5.35, Z:-12.13 [[ 9.77622096e-01 1.98027015e-01 7.09953420e-02 1.04984280e+02] [-1.97783086e-01 9.80189361e-01 -1.05198167e-02 -5.35454270e+00] [-7.16720869e-02 -3.75727257e-03 9.97421172e-01 -1.21266336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28629675699999 meters 0.08128363642655186 Centerline is valid? [True, True] Translation: X:105.04, Y:-5.37, Z:-12.13 [[ 9.78369376e-01 1.94492841e-01 7.04691309e-02 1.05043766e+02] [-1.94243297e-01 9.80897796e-01 -1.04429471e-02 -5.36603677e+00] [-7.11540937e-02 -3.47109673e-03 9.97459296e-01 -1.21343545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34629675699999 meters 0.08076203469472355 Centerline is valid? [True, True] Translation: X:105.10, Y:-5.38, Z:-12.14 [[ 9.78835200e-01 1.90583473e-01 7.45626711e-02 1.05104010e+02] [-1.90292628e-01 9.81665206e-01 -1.10516610e-02 -5.37661984e+00] [-7.53018438e-02 -3.37097189e-03 9.97155088e-01 -1.21413528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40629675699999 meters 0.07971091049200534 Centerline is valid? [True, True] Translation: X:105.16, Y:-5.39, Z:-12.15 [[ 9.79363887e-01 1.86681585e-01 7.74361841e-02 1.05163474e+02] [-1.86355524e-01 9.82415302e-01 -1.14801028e-02 -5.39118177e+00] [-7.82176160e-02 -3.18746256e-03 9.96931214e-01 -1.21461915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.466296757 meters 0.0798011081153967 Centerline is valid? [True, True] Translation: X:105.23, Y:-5.40, Z:-12.15 [[ 9.79282109e-01 1.87019080e-01 7.76557482e-02 1.05225653e+02] [-1.86692329e-01 9.82350988e-01 -1.15113185e-02 -5.39995081e+00] [-7.84380371e-02 -3.22490425e-03 9.96913775e-01 -1.21541759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.526296757 meters 0.07964008238213935 Centerline is valid? [True, True] Translation: X:105.29, Y:-5.41, Z:-12.16 [[ 9.79039801e-01 1.88263546e-01 7.77039613e-02 1.05286778e+02] [-1.87938524e-01 9.82112986e-01 -1.15409598e-02 -5.40875355e+00] [-7.84868115e-02 -3.30450878e-03 9.96909675e-01 -1.21605600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.586296757 meters 0.08126134665033129 Centerline is valid? [True, True] Translation: X:105.35, Y:-5.41, Z:-12.17 [[ 9.78161998e-01 1.92610371e-01 7.81047374e-02 1.05347187e+02] [-1.92293852e-01 9.81268534e-01 -1.16248783e-02 -5.41000062e+00] [-7.88807933e-02 -3.64804663e-03 9.96877381e-01 -1.21691883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64629675699999 meters 0.0812111031081912 Centerline is valid? [True, True] Translation: X:105.41, Y:-5.42, Z:-12.17 [[ 9.77236259e-01 1.96522601e-01 7.99259712e-02 1.05408233e+02] [-1.96203212e-01 9.80490951e-01 -1.19077506e-02 -5.41542493e+00] [-8.07068337e-02 -4.04504668e-03 9.96729675e-01 -1.21731943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70629675699999 meters 0.08104623440232259 Centerline is valid? [True, True] Translation: X:105.47, Y:-5.42, Z:-12.18 [[ 9.76654437e-01 1.99381944e-01 7.99559290e-02 1.05468969e+02] [-1.99072053e-01 9.79912484e-01 -1.19097092e-02 -5.42127789e+00] [-8.07243940e-02 -4.28532064e-03 9.96727249e-01 -1.21782359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76629675699999 meters 0.08155777487387164 Centerline is valid? [True, True] Translation: X:105.53, Y:-5.43, Z:-12.19 [[ 9.76584602e-01 1.99600331e-01 8.02634564e-02 1.05529415e+02] [-1.99287540e-01 9.79867938e-01 -1.19708594e-02 -5.42535985e+00] [-8.10369750e-02 -4.30494975e-03 9.96701799e-01 -1.21869080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.826296757 meters 0.08047494106974515 Centerline is valid? [True, True] Translation: X:105.59, Y:-5.44, Z:-12.19 [[ 9.77308694e-01 1.96703699e-01 7.85835314e-02 1.05589608e+02] [-1.96392641e-01 9.80455000e-01 -1.17440547e-02 -5.43726819e+00] [-7.93577154e-02 -3.95566051e-03 9.96838355e-01 -1.21936477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.886296757 meters 0.07914627006308708 Centerline is valid? [True, True] Translation: X:105.65, Y:-5.45, Z:-12.20 [[ 9.78933034e-01 1.89059913e-01 7.71133198e-02 1.05648678e+02] [-1.88736690e-01 9.81960102e-01 -1.15247424e-02 -5.45201302e+00] [-7.79010702e-02 -3.27216171e-03 9.96955724e-01 -1.22007124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.946296757 meters 0.07721399150935837 Centerline is valid? [True, True] Translation: X:105.71, Y:-5.47, Z:-12.20 [[ 9.80496431e-01 1.80100759e-01 7.86795072e-02 1.05707863e+02] [-1.79734139e-01 9.83644742e-01 -1.17754056e-02 -5.47290897e+00] [-7.95134431e-02 -2.59565034e-03 9.96830414e-01 -1.22025552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00629675699999 meters 0.07632224012536101 Centerline is valid? [True, True] Translation: X:105.77, Y:-5.49, Z:-12.21 [[ 9.81599029e-01 1.73748256e-01 7.92142018e-02 1.05766976e+02] [-1.73355668e-01 9.84787881e-01 -1.18592457e-02 -5.48940205e+00] [-8.00697092e-02 -2.09120683e-03 9.96787073e-01 -1.22081864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06629675699999 meters 0.07689427790469948 Centerline is valid? [True, True] Translation: X:105.83, Y:-5.50, Z:-12.22 [[ 9.81712318e-01 1.72722444e-01 8.00492477e-02 1.05826544e+02] [-1.72318389e-01 9.84968440e-01 -1.19810067e-02 -5.49901551e+00] [-8.09153714e-02 -2.03205560e-03 9.96718904e-01 -1.22198057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12629675699999 meters 0.07670259380307194 Centerline is valid? [True, True] Translation: X:105.89, Y:-5.51, Z:-12.22 [[ 9.81261874e-01 1.74786195e-01 8.10858855e-02 1.05888266e+02] [-1.74377148e-01 9.84603924e-01 -1.21541056e-02 -5.51059428e+00] [-8.19618510e-02 -2.21316500e-03 9.96633010e-01 -1.22242199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.186296757 meters 0.07754951643042098 Centerline is valid? [True, True] Translation: X:105.95, Y:-5.52, Z:-12.23 [[ 9.80734592e-01 1.77428411e-01 8.17240363e-02 1.05947992e+02] [-1.77019483e-01 9.84130728e-01 -1.22806105e-02 -5.51637895e+00] [-8.26060645e-02 -2.42272713e-03 9.96579334e-01 -1.22339838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.246296757 meters 0.0790978318670429 Centerline is valid? [True, True] Translation: X:106.01, Y:-5.52, Z:-12.24 [[ 9.79501072e-01 1.85385025e-01 7.88038155e-02 1.06008597e+02] [-1.85029883e-01 9.82661459e-01 -1.18490575e-02 -5.52088109e+00] [-7.96341102e-02 -2.97489619e-03 9.96819722e-01 -1.22424865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.306296757 meters 0.08011351078057571 Centerline is valid? [True, True] Translation: X:106.07, Y:-5.53, Z:-12.25 [[ 9.78572304e-01 1.89624946e-01 8.02410469e-02 1.06069374e+02] [-1.89271058e-01 9.81850773e-01 -1.20634676e-02 -5.52523828e+00] [-8.10722682e-02 -3.38233249e-03 9.96702487e-01 -1.22508798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36629675699999 meters 0.08080563357691195 Centerline is valid? [True, True] Translation: X:106.13, Y:-5.53, Z:-12.26 [[ 9.77526021e-01 1.93716890e-01 8.31663666e-02 1.06130738e+02] [-1.93349269e-01 9.81049988e-01 -1.25292382e-02 -5.53211221e+00] [-8.40174879e-02 -3.83249985e-03 9.96456910e-01 -1.22567487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42629675699999 meters 0.08159586487602408 Centerline is valid? [True, True] Translation: X:106.19, Y:-5.54, Z:-12.27 [[ 9.77015863e-01 1.96294703e-01 8.31167404e-02 1.06191568e+02] [-1.95936262e-01 9.80536601e-01 -1.25282198e-02 -5.53900385e+00] [-8.39582293e-02 -4.04531395e-03 9.96461064e-01 -1.22653583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48629675699999 meters 0.08258759362879635 Centerline is valid? [True, True] Translation: X:106.25, Y:-5.54, Z:-12.27 [[ 9.76199064e-01 2.00561488e-01 8.25256186e-02 1.06252382e+02] [-2.00223224e-01 9.79671327e-01 -1.24399579e-02 -5.54492589e+00] [-8.33429587e-02 -4.37967012e-03 9.96511299e-01 -1.22734914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.546296757 meters 0.08447142732358555 Centerline is valid? [True, True] Translation: X:106.31, Y:-5.55, Z:-12.28 [[ 9.75483562e-01 2.03356362e-01 8.41309159e-02 1.06313191e+02] [-2.03013793e-01 9.79093542e-01 -1.26978577e-02 -5.54940920e+00] [-8.49542266e-02 -4.69318487e-03 9.96373802e-01 -1.22829680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.606296757 meters 0.08430607159544835 Centerline is valid? [True, True] Translation: X:106.37, Y:-5.56, Z:-12.29 [[ 9.75313076e-01 2.03474419e-01 8.58053881e-02 1.06374422e+02] [-2.03116382e-01 9.79068626e-01 -1.29753642e-02 -5.56078058e+00] [-8.66495181e-02 -4.77343759e-03 9.96227421e-01 -1.22894155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.666296757 meters 0.08340824308406386 Centerline is valid? [True, True] Translation: X:106.43, Y:-5.57, Z:-12.30 [[ 9.75722519e-01 2.01060741e-01 8.68339986e-02 1.06433993e+02] [-2.00683705e-01 9.79567954e-01 -1.31405703e-02 -5.57495116e+00] [-8.77018551e-02 -4.60461825e-03 9.96136126e-01 -1.22954698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.726296757 meters 0.08254261913036286 Centerline is valid? [True, True] Translation: X:106.49, Y:-5.59, Z:-12.30 [[ 9.76089918e-01 1.98059484e-01 8.95595475e-02 1.06493604e+02] [-1.97645560e-01 9.80179814e-01 -1.35560043e-02 -5.58888863e+00] [-9.04693558e-02 -4.46916787e-03 9.95889212e-01 -1.23013092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78629675699999 meters 0.08137264698456564 Centerline is valid? [True, True] Translation: X:106.55, Y:-5.60, Z:-12.31 [[ 9.76432993e-01 1.95068888e-01 9.23403408e-02 1.06553041e+02] [-1.94614985e-01 9.80780041e-01 -1.39828363e-02 -5.60364910e+00] [-9.32931795e-02 -4.31751136e-03 9.95629319e-01 -1.23081659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84629675699999 meters 0.08117389477382668 Centerline is valid? [True, True] Translation: X:106.61, Y:-5.62, Z:-12.32 [[ 9.76356350e-01 1.95564842e-01 9.21014109e-02 1.06613457e+02] [-1.95115529e-01 9.80681108e-01 -1.39461548e-02 -5.61558786e+00] [-9.30494912e-02 -4.35399865e-03 9.95651965e-01 -1.23154485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90629675699999 meters 0.08146038755851755 Centerline is valid? [True, True] Translation: X:106.68, Y:-5.62, Z:-12.32 [[ 9.76060779e-01 1.96449850e-01 9.33424440e-02 1.06675616e+02] [-1.95990058e-01 9.80503663e-01 -1.41584980e-02 -5.62326805e+00] [-9.43040431e-02 -4.47463642e-03 9.95533387e-01 -1.23242841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.966296757 meters 0.08239462703662982 Centerline is valid? [True, True] Translation: X:106.74, Y:-5.63, Z:-12.33 [[ 9.75805655e-01 1.97694059e-01 9.33829849e-02 1.06736196e+02] [-1.97236780e-01 9.80253126e-01 -1.41937448e-02 -5.62827053e+00] [-9.43449819e-02 -4.56822280e-03 9.95529083e-01 -1.23338282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.026296757 meters 0.08246411261569234 Centerline is valid? [True, True] Translation: X:106.80, Y:-5.64, Z:-12.34 [[ 9.75279885e-01 1.99711008e-01 9.45762127e-02 1.06797464e+02] [-1.99249224e-01 9.79843074e-01 -1.43977895e-02 -5.63763671e+00] [-9.55452441e-02 -4.80236252e-03 9.95413504e-01 -1.23403693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.086296757 meters 0.08193169523076296 Centerline is valid? [True, True] Translation: X:106.86, Y:-5.64, Z:-12.35 [[ 9.74685989e-01 2.01916763e-01 9.60043893e-02 1.06858213e+02] [-2.01449054e-01 9.79389565e-01 -1.46410032e-02 -5.64487356e+00] [-9.69819610e-02 -5.06961273e-03 9.95273228e-01 -1.23475752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14629675699999 meters 0.08226449053371652 Centerline is valid? [True, True] Translation: X:106.92, Y:-5.65, Z:-12.35 [[ 9.74522161e-01 2.02950801e-01 9.54857607e-02 1.06918836e+02] [-2.02490794e-01 9.79175544e-01 -1.45853698e-02 -5.65292988e+00] [-9.64574341e-02 -5.12122136e-03 9.95323935e-01 -1.23546903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20629675699999 meters 0.0810458689374147 Centerline is valid? [True, True] Translation: X:106.98, Y:-5.67, Z:-12.36 [[ 9.75745633e-01 1.98271670e-01 9.27836431e-02 1.06978456e+02] [-1.97813885e-01 9.80136771e-01 -1.41977658e-02 -5.66881888e+00] [-9.37556751e-02 -4.50048489e-03 9.95585064e-01 -1.23626560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26629675699999 meters 0.07998389831765783 Centerline is valid? [True, True] Translation: X:107.04, Y:-5.68, Z:-12.37 [[ 9.77281564e-01 1.90781653e-01 9.23206689e-02 1.07036838e+02] [-1.90294446e-01 9.81625315e-01 -1.41338439e-02 -5.68165998e+00] [-9.33207837e-02 -3.75536551e-03 9.95629012e-01 -1.23703020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.326296757 meters 0.07836177306368179 Centerline is valid? [True, True] Translation: X:107.10, Y:-5.70, Z:-12.38 [[ 9.78736229e-01 1.83068061e-01 9.25282635e-02 1.07095788e+02] [-1.82544088e-01 9.83095590e-01 -1.41674659e-02 -5.69980981e+00] [-9.35577383e-02 -3.02427534e-03 9.95609262e-01 -1.23771259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.386296757 meters 0.07674522343877958 Centerline is valid? [True, True] Translation: X:107.15, Y:-5.72, Z:-12.38 [[ 9.80234746e-01 1.74843398e-01 9.25722938e-02 1.07153476e+02] [-1.74280178e-01 9.84593759e-01 -1.41968229e-02 -5.71954603e+00] [-9.36283235e-02 -2.21729671e-03 9.95604751e-01 -1.23812498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.446296757 meters 0.07601096492478283 Centerline is valid? [True, True] Translation: X:107.21, Y:-5.73, Z:-12.39 [[ 9.80699912e-01 1.72180775e-01 9.26361835e-02 1.07213921e+02] [-1.71604731e-01 9.85063414e-01 -1.42086687e-02 -5.73120442e+00] [-9.36989747e-02 -1.96236722e-03 9.95598640e-01 -1.23877620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50629675699999 meters 0.07626077974287294 Centerline is valid? [True, True] Translation: X:107.28, Y:-5.73, Z:-12.39 [[ 9.79963884e-01 1.75935494e-01 9.33674899e-02 1.07275725e+02] [-1.75365060e-01 9.84398972e-01 -1.43443270e-02 -5.73475101e+00] [-9.44345373e-02 -2.31647311e-03 9.95528378e-01 -1.23943006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56629675699999 meters 0.07686684147720003 Centerline is valid? [True, True] Translation: X:107.34, Y:-5.74, Z:-12.40 [[ 9.78968029e-01 1.81847525e-01 9.24828439e-02 1.07336233e+02] [-1.81311922e-01 9.83322652e-01 -1.42320006e-02 -5.73619529e+00] [-9.35285293e-02 -2.83556858e-03 9.95612562e-01 -1.24024908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62629675699999 meters 0.07835044204640801 Centerline is valid? [True, True] Translation: X:107.40, Y:-5.73, Z:-12.41 [[ 9.78181095e-01 1.87554779e-01 8.93585475e-02 1.07397588e+02] [-1.87076600e-01 9.82248784e-01 -1.37721556e-02 -5.73484086e+00] [-9.03553582e-02 -3.24523105e-03 9.95904301e-01 -1.24129152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.686296757 meters 0.0786964991869392 Centerline is valid? [True, True] Translation: X:107.46, Y:-5.74, Z:-12.42 [[ 9.77346313e-01 1.92328361e-01 8.83401728e-02 1.07458664e+02] [-1.91880552e-01 9.81323858e-01 -1.36139584e-02 -5.73840357e+00] [-8.93086695e-02 -3.64520901e-03 9.95997326e-01 -1.24218461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.746296757 meters 0.07852702611468039 Centerline is valid? [True, True] Translation: X:107.52, Y:-5.75, Z:-12.43 [[ 9.77368001e-01 1.92851851e-01 8.69479979e-02 1.07519129e+02] [-1.92418723e-01 9.81221212e-01 -1.34151876e-02 -5.74770473e+00] [-8.79023637e-02 -3.61884764e-03 9.96122522e-01 -1.24290042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.806296757 meters 0.07786999806060839 Centerline is valid? [True, True] Translation: X:107.58, Y:-5.76, Z:-12.44 [[ 9.77478328e-01 1.91681940e-01 8.82844942e-02 1.07579593e+02] [-1.91228313e-01 9.81450704e-01 -1.36472779e-02 -5.75830887e+00] [-8.92628157e-02 -3.54257647e-03 9.96001807e-01 -1.24364973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86629675699999 meters 0.07681807149495405 Centerline is valid? [True, True] Translation: X:107.64, Y:-5.77, Z:-12.44 [[ 9.78164578e-01 1.86413147e-01 9.18923077e-02 1.07639418e+02] [-1.85898224e-01 9.82466281e-01 -1.42076440e-02 -5.76970884e+00] [-9.29295854e-02 -3.18520268e-03 9.95667588e-01 -1.24420351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92629675699999 meters 0.076063788025249 Centerline is valid? [True, True] Translation: X:107.70, Y:-5.78, Z:-12.45 [[ 9.78758349e-01 1.83813156e-01 9.08009787e-02 1.07699803e+02] [-1.83297855e-01 9.82956958e-01 -1.40539839e-02 -5.78300051e+00] [-9.18367610e-02 -2.88817056e-03 9.95769887e-01 -1.24482120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98629675699999 meters 0.07495498621283395 Centerline is valid? [True, True] Translation: X:107.76, Y:-5.80, Z:-12.46 [[ 9.79315396e-01 1.80714025e-01 9.10153652e-02 1.07759934e+02] [-1.80180423e-01 9.83532308e-01 -1.41143214e-02 -5.79604290e+00] [-9.20672081e-02 -2.57681467e-03 9.95749461e-01 -1.24555292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.046296757 meters 0.07492565567125514 Centerline is valid? [True, True] Translation: X:107.82, Y:-5.80, Z:-12.46 [[ 9.78892699e-01 1.82901292e-01 9.11932107e-02 1.07821245e+02] [-1.82374994e-01 9.83127331e-01 -1.41426003e-02 -5.80432656e+00] [-9.22412377e-02 -2.78727306e-03 9.95732788e-01 -1.24638566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.106296757 meters 0.07529038547394878 Centerline is valid? [True, True] Translation: X:107.88, Y:-5.81, Z:-12.47 [[ 9.77952963e-01 1.87609993e-01 9.17087347e-02 1.07881644e+02] [-1.87095831e-01 9.82238313e-01 -1.42494669e-02 -5.80927361e+00] [-9.27531752e-02 -3.22301355e-03 9.95683916e-01 -1.24720959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.166296757 meters 0.07761533626073822 Centerline is valid? [True, True] Translation: X:107.94, Y:-5.81, Z:-12.48 [[ 9.76464720e-01 1.95930835e-01 9.01540821e-02 1.07942003e+02] [-1.95468660e-01 9.80609811e-01 -1.40143226e-02 -5.80757873e+00] [-9.11518154e-02 -3.93780605e-03 9.95829222e-01 -1.24825536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.226296757 meters 0.07996638242139452 Centerline is valid? [True, True] Translation: X:108.00, Y:-5.81, Z:-12.49 [[ 9.74735214e-01 2.04606280e-01 8.95964943e-02 1.08002245e+02] [-2.04185866e-01 9.78833000e-01 -1.39316347e-02 -5.80713594e+00] [-9.05505052e-02 -4.71468279e-03 9.95880705e-01 -1.24892235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28629675699999 meters 0.07996913104372334 Centerline is valid? [True, True] Translation: X:108.06, Y:-5.82, Z:-12.50 [[ 9.73984398e-01 2.09627834e-01 8.60846305e-02 1.08063084e+02] [-2.09259230e-01 9.77768584e-01 -1.33854896e-02 -5.81510904e+00] [-8.69768184e-02 -4.97674543e-03 9.96197905e-01 -1.24956283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34629675699999 meters 0.07878231023533541 Centerline is valid? [True, True] Translation: X:108.12, Y:-5.83, Z:-12.50 [[ 9.74106476e-01 2.09491013e-01 8.50299334e-02 1.08124121e+02] [-2.09131193e-01 9.77798260e-01 -1.32176837e-02 -5.82800746e+00] [-8.59111069e-02 -4.90698009e-03 9.96290722e-01 -1.25020460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40629675699999 meters 0.07785814135506348 Centerline is valid? [True, True] Translation: X:108.18, Y:-5.84, Z:-12.51 [[ 9.74939186e-01 2.05613668e-01 8.49505875e-02 1.08184083e+02] [-2.05237095e-01 9.78622759e-01 -1.32374479e-02 -5.84023782e+00] [-8.58563786e-02 -4.52930511e-03 9.96297229e-01 -1.25100165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.466296757 meters 0.07673337297670148 Centerline is valid? [True, True] Translation: X:108.24, Y:-5.85, Z:-12.52 [[ 9.75763303e-01 2.00853873e-01 8.68544705e-02 1.08243171e+02] [-2.00441436e-01 9.79612197e-01 -1.35342072e-02 -5.85420428e+00] [-8.78020965e-02 -4.20305206e-03 9.96129071e-01 -1.25164643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.526296757 meters 0.07350233002757413 Centerline is valid? [True, True] Translation: X:108.30, Y:-5.88, Z:-12.52 [[ 9.78189416e-01 1.87954966e-01 8.84217066e-02 1.08300402e+02] [-1.87473104e-01 9.82172820e-01 -1.37981069e-02 -5.87885670e+00] [-8.94388196e-02 -3.07952975e-03 9.95987557e-01 -1.25247968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.586296757 meters 0.0722099214597416 Centerline is valid? [True, True] Translation: X:108.36, Y:-5.90, Z:-12.53 [[ 9.80020816e-01 1.78959597e-01 8.67909103e-02 1.08358725e+02] [-1.78459662e-01 9.83853941e-01 -1.35488967e-02 -5.89993020e+00] [-8.78142842e-02 -2.21047579e-03 9.96134411e-01 -1.25321038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64629675699999 meters 0.0712931331640817 Centerline is valid? [True, True] Translation: X:108.42, Y:-5.92, Z:-12.54 [[ 9.81020772e-01 1.72960287e-01 8.76526373e-02 1.08417862e+02] [-1.72426182e-01 9.84927354e-01 -1.36864269e-02 -5.92044357e+00] [-8.86986885e-02 -1.68694058e-03 9.96057075e-01 -1.25386667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70629675699999 meters 0.07087913570095469 Centerline is valid? [True, True] Translation: X:108.48, Y:-5.93, Z:-12.55 [[ 9.81392630e-01 1.70809674e-01 8.77072490e-02 1.08478100e+02] [-1.70266357e-01 9.85302910e-01 -1.36946560e-02 -5.93378710e+00] [-8.87573874e-02 -1.49375935e-03 9.96052155e-01 -1.25458703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76629675699999 meters 0.07085838631418023 Centerline is valid? [True, True] Translation: X:108.54, Y:-5.95, Z:-12.55 [[ 9.81288122e-01 1.70868688e-01 8.87553504e-02 1.08538526e+02] [-1.70310509e-01 9.85292675e-01 -1.38807096e-02 -5.94816687e+00] [-8.98217753e-02 -1.49499346e-03 9.95956733e-01 -1.25517214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.826296757 meters 0.07102546275688136 Centerline is valid? [True, True] Translation: X:108.60, Y:-5.96, Z:-12.56 [[ 9.80727740e-01 1.74986161e-01 8.69076661e-02 1.08598931e+02] [-1.74464808e-01 9.84569235e-01 -1.36180656e-02 -5.95867681e+00] [-8.79495874e-02 -1.80671460e-03 9.96123288e-01 -1.25603571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.886296757 meters 0.07149454936715581 Centerline is valid? [True, True] Translation: X:108.66, Y:-5.97, Z:-12.57 [[ 9.79711590e-01 1.81052023e-01 8.59381443e-02 1.08658799e+02] [-1.80565471e-01 9.83470774e-01 -1.34665283e-02 -5.96693984e+00] [-8.69557955e-02 -2.32414762e-03 9.96209460e-01 -1.25700919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.946296757 meters 0.0723431947272432 Centerline is valid? [True, True] Translation: X:108.72, Y:-5.98, Z:-12.58 [[ 9.78557772e-01 1.85663972e-01 8.91828277e-02 1.08718831e+02] [-1.85157302e-01 9.82609252e-01 -1.39939455e-02 -5.97529580e+00] [-9.02300431e-02 -2.81896765e-03 9.95916961e-01 -1.25773133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00629675699999 meters 0.07298743442388554 Centerline is valid? [True, True] Translation: X:108.78, Y:-5.99, Z:-12.58 [[ 9.77828279e-01 1.88269696e-01 9.16863040e-02 1.08779319e+02] [-1.87743537e-01 9.82112397e-01 -1.44085054e-02 -5.98591965e+00] [-9.27589407e-02 -3.12446692e-03 9.95683693e-01 -1.25837349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06629675699999 meters 0.07278687171196271 Centerline is valid? [True, True] Translation: X:108.84, Y:-6.00, Z:-12.59 [[ 9.77092420e-01 1.91164173e-01 9.35235843e-02 1.08839604e+02] [-1.90627708e-01 9.81552031e-01 -1.47202873e-02 -5.99966286e+00] [-9.46122557e-02 -3.44510535e-03 9.95508238e-01 -1.25890666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12629675699999 meters 0.07449096466357605 Centerline is valid? [True, True] Translation: X:108.90, Y:-6.01, Z:-12.60 [[ 9.76305882e-01 1.94281526e-01 9.52969765e-02 1.08899709e+02] [-1.93736828e-01 9.80938477e-01 -1.50248191e-02 -6.00504873e+00] [-9.63995158e-02 -3.79371465e-03 9.95335492e-01 -1.25981197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.186296757 meters 0.07465059412323 Centerline is valid? [True, True] Translation: X:108.96, Y:-6.02, Z:-12.60 [[ 9.75640625e-01 1.97254638e-01 9.59998904e-02 1.08960455e+02] [-1.96713704e-01 9.80343745e-01 -1.51611648e-02 -6.01704556e+00] [-9.71035022e-02 -4.09264565e-03 9.95265874e-01 -1.26034319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.246296757 meters 0.07629826139847111 Centerline is valid? [True, True] Translation: X:109.02, Y:-6.02, Z:-12.61 [[ 9.74860408e-01 2.00225989e-01 9.77585755e-02 1.09021004e+02] [-1.99679248e-01 9.79739575e-01 -1.54455154e-02 -6.02226593e+00] [-9.88705387e-02 -4.46313746e-03 9.95090296e-01 -1.26101811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.306296757 meters 0.07679228715845847 Centerline is valid? [True, True] Translation: X:109.08, Y:-6.03, Z:-12.62 [[ 9.74833470e-01 2.00597814e-01 9.72636826e-02 1.09081780e+02] [-2.00057467e-01 9.79663490e-01 -1.53771630e-02 -6.03011033e+00] [-9.83703040e-02 -4.46815284e-03 9.95139849e-01 -1.26174533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36629675699999 meters 0.07597076380784336 Centerline is valid? [True, True] Translation: X:109.14, Y:-6.04, Z:-12.62 [[ 9.74626943e-01 2.02031635e-01 9.63615080e-02 1.09142561e+02] [-2.01505647e-01 9.79368457e-01 -1.52610561e-02 -6.04224987e+00] [-9.74566375e-02 -4.54355151e-03 9.95229401e-01 -1.26244527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42629675699999 meters 0.07683086337610256 Centerline is valid? [True, True] Translation: X:109.20, Y:-6.05, Z:-12.64 [[ 9.74435797e-01 2.03932269e-01 9.42682718e-02 1.09203308e+02] [-2.03437126e-01 9.78974082e-01 -1.49359638e-02 -6.04659332e+00] [-9.53321198e-02 -4.62352852e-03 9.95434784e-01 -1.26350742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48629675699999 meters 0.07657251534731174 Centerline is valid? [True, True] Translation: X:109.26, Y:-6.05, Z:-12.64 [[ 9.74218867e-01 2.04733966e-01 9.47713124e-02 1.09264513e+02] [-2.04236652e-01 9.78806272e-01 -1.50223745e-02 -6.05270251e+00] [-9.58383453e-02 -4.72069489e-03 9.95385718e-01 -1.26425236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.546296757 meters 0.07705045470281571 Centerline is valid? [True, True] Translation: X:109.33, Y:-6.06, Z:-12.65 [[ 9.73634585e-01 2.06097395e-01 9.77729975e-02 1.09327200e+02] [-2.05572352e-01 9.78518787e-01 -1.55239303e-02 -6.05895518e+00] [-9.88721564e-02 -4.98478956e-03 9.95087659e-01 -1.26459061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.606296757 meters 0.07725479267164495 Centerline is valid? [True, True] Translation: X:109.39, Y:-6.06, Z:-12.65 [[ 9.72931302e-01 2.07677154e-01 1.01365087e-01 1.09388842e+02] [-2.07118101e-01 9.78183037e-01 -1.61257255e-02 -6.06297804e+00] [-1.02502554e-01 -5.30532131e-03 9.94718593e-01 -1.26499139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.666296757 meters 0.07829266646229098 Centerline is valid? [True, True] Translation: X:109.45, Y:-6.07, Z:-12.66 [[ 9.72229755e-01 2.10230612e-01 1.02822142e-01 1.09450755e+02] [-2.09666790e-01 9.77635617e-01 -1.63840365e-02 -6.06776015e+00] [-1.03967014e-01 -5.62934064e-03 9.94564815e-01 -1.26562726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.726296757 meters 0.0790652094599459 Centerline is valid? [True, True] Translation: X:109.51, Y:-6.07, Z:-12.67 [[ 9.72512347e-01 2.11946952e-01 9.64273051e-02 1.09511126e+02] [-2.11459094e-01 9.77266009e-01 -1.53688078e-02 -6.07149471e+00] [-9.74924995e-02 -5.44407518e-03 9.95221370e-01 -1.26681539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78629675699999 meters 0.07897810145551383 Centerline is valid? [True, True] Translation: X:109.57, Y:-6.08, Z:-12.68 [[ 9.72762672e-01 2.11188470e-01 9.55626189e-02 1.09572602e+02] [-2.10703676e-01 9.77430994e-01 -1.52516280e-02 -6.07859757e+00] [-9.66268336e-02 -5.29918076e-03 9.95306573e-01 -1.26771650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84629675699999 meters 0.07817374595266856 Centerline is valid? [True, True] Translation: X:109.63, Y:-6.09, Z:-12.68 [[ 9.73508483e-01 2.08420763e-01 9.40320082e-02 1.09633055e+02] [-2.07935962e-01 9.78026897e-01 -1.50341338e-02 -6.08805409e+00] [-9.50992589e-02 -4.91677930e-03 9.95455653e-01 -1.26839153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90629675699999 meters 0.07811210712300919 Centerline is valid? [True, True] Translation: X:109.69, Y:-6.09, Z:-12.69 [[ 9.73711283e-01 2.07564472e-01 9.38260497e-02 1.09693601e+02] [-2.07077676e-01 9.78209461e-01 -1.50028727e-02 -6.09282210e+00] [-9.48955928e-02 -4.82081395e-03 9.95475558e-01 -1.26908710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.966296757 meters 0.07504601972876807 Centerline is valid? [True, True] Translation: X:109.75, Y:-6.11, Z:-12.69 [[ 9.74026161e-01 2.06326910e-01 9.32858232e-02 1.09754107e+02] [-2.05838146e-01 9.78472051e-01 -1.49366282e-02 -6.10577072e+00] [-9.43593991e-02 -4.65311423e-03 9.95527324e-01 -1.26949102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.026296757 meters 0.07429499379117811 Centerline is valid? [True, True] Translation: X:109.81, Y:-6.12, Z:-12.70 [[ 9.74444330e-01 2.04220968e-01 9.35523621e-02 1.09814510e+02] [-2.03717029e-01 9.78914775e-01 -1.50078440e-02 -6.11635300e+00] [-9.46447059e-02 -4.43390082e-03 9.95501241e-01 -1.26990678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.086296757 meters 0.07549048499861939 Centerline is valid? [True, True] Translation: X:109.88, Y:-6.12, Z:-12.71 [[ 9.74206713e-01 2.05488715e-01 9.32505650e-02 1.09875820e+02] [-2.04993745e-01 9.78648947e-01 -1.49600405e-02 -6.11596616e+00] [-9.43336867e-02 -4.54161065e-03 9.95530275e-01 -1.27079837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14629675699999 meters 0.07429695936560414 Centerline is valid? [True, True] Translation: X:109.94, Y:-6.12, Z:-12.71 [[ 9.74005062e-01 2.07100396e-01 9.17799791e-02 1.09937021e+02] [-2.06626090e-01 9.78308869e-01 -1.47450050e-02 -6.12317101e+00] [-9.28428640e-02 -4.60242870e-03 9.95670136e-01 -1.27132129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20629675699999 meters 0.07383269501612343 Centerline is valid? [True, True] Translation: X:110.00, Y:-6.13, Z:-12.72 [[ 9.74345375e-01 2.06446105e-01 8.96163813e-02 1.09998648e+02] [-2.05989401e-01 9.78448020e-01 -1.44165931e-02 -6.13067154e+00] [-9.06612204e-02 -4.41328388e-03 9.95872013e-01 -1.27201840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26629675699999 meters 0.07354219496020106 Centerline is valid? [True, True] Translation: X:110.06, Y:-6.14, Z:-12.73 [[ 9.74552701e-01 2.05844129e-01 8.87424768e-02 1.10059206e+02] [-2.05391388e-01 9.78575397e-01 -1.43028268e-02 -6.13894410e+00] [-8.97853574e-02 -4.28808203e-03 9.95951907e-01 -1.27281389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.326296757 meters 0.07276280512238611 Centerline is valid? [True, True] Translation: X:110.12, Y:-6.15, Z:-12.74 [[ 9.75203539e-01 2.03787540e-01 8.63058322e-02 1.10120515e+02] [-2.03349429e-01 9.79007111e-01 -1.39314878e-02 -6.14523359e+00] [-8.73330871e-02 -3.96420551e-03 9.96171279e-01 -1.27369345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.386296757 meters 0.07166724444094878 Centerline is valid? [True, True] Translation: X:110.18, Y:-6.15, Z:-12.74 [[ 9.75513034e-01 2.01709349e-01 8.76793008e-02 1.10181763e+02] [-2.01246296e-01 9.79438010e-01 -1.41814448e-02 -6.15364089e+00] [-8.87369698e-02 -3.81095030e-03 9.96047803e-01 -1.27403065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.446296757 meters 0.07139147800050889 Centerline is valid? [True, True] Translation: X:110.24, Y:-6.16, Z:-12.75 [[ 9.76183152e-01 1.98474789e-01 8.76025849e-02 1.10241198e+02] [-1.97999039e-01 9.80099716e-01 -1.41749058e-02 -6.16050738e+00] [-8.86726300e-02 -3.50792342e-03 9.96054647e-01 -1.27466982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50629675699999 meters 0.07122223749378118 Centerline is valid? [True, True] Translation: X:110.30, Y:-6.17, Z:-12.75 [[ 9.76834028e-01 1.95903601e-01 8.61223646e-02 1.10302272e+02] [-1.95434245e-01 9.80617861e-01 -1.39307461e-02 -6.16965971e+00] [-8.71822123e-02 -3.22323248e-03 9.96187167e-01 -1.27542102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56629675699999 meters 0.07017730397000929 Centerline is valid? [True, True] Translation: X:110.36, Y:-6.18, Z:-12.76 [[ 9.77477816e-01 1.93606503e-01 8.39859632e-02 1.10362869e+02] [-1.93150003e-01 9.81074909e-01 -1.36051267e-02 -6.18318163e+00] [-8.50305622e-02 -2.92317953e-03 9.96374056e-01 -1.27598547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62629675699999 meters 0.07067395763815561 Centerline is valid? [True, True] Translation: X:110.42, Y:-6.19, Z:-12.77 [[ 9.77745196e-01 1.92371763e-01 8.37104326e-02 1.10423436e+02] [-1.91911826e-01 9.81318171e-01 -1.35830225e-02 -6.19007753e+00] [-8.47595586e-02 -2.78428699e-03 9.96397544e-01 -1.27681731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.686296757 meters 0.07051257006539387 Centerline is valid? [True, True] Translation: X:110.49, Y:-6.20, Z:-12.77 [[ 9.77504597e-01 1.93575386e-01 8.37456501e-02 1.10485032e+02] [-1.93117792e-01 9.81081205e-01 -1.36083811e-02 -6.19631661e+00] [-8.47955309e-02 -2.87051999e-03 9.96394238e-01 -1.27749376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.746296757 meters 0.07207082562038356 Centerline is valid? [True, True] Translation: X:110.55, Y:-6.20, Z:-12.78 [[ 9.76682647e-01 1.97816824e-01 8.34236857e-02 1.10545931e+02] [-1.97376103e-01 9.80233773e-01 -1.35802869e-02 -6.19564521e+00] [-8.44611234e-02 -3.20221139e-03 9.96421630e-01 -1.27836238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.806296757 meters 0.07181911606556939 Centerline is valid? [True, True] Translation: X:110.61, Y:-6.20, Z:-12.79 [[ 9.76469981e-01 1.99419293e-01 8.20872831e-02 1.10607248e+02] [-1.98997103e-01 9.79908786e-01 -1.33762527e-02 -6.20482252e+00] [-8.31055328e-02 -3.27362234e-03 9.96535375e-01 -1.27896788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86629675699999 meters 0.0724244921727144 Centerline is valid? [True, True] Translation: X:110.67, Y:-6.21, Z:-12.80 [[ 9.76227985e-01 2.01002808e-01 8.10974271e-02 1.10668476e+02] [-2.00595708e-01 9.79584898e-01 -1.32207845e-02 -6.21098844e+00] [-8.20992297e-02 -3.36129597e-03 9.96618492e-01 -1.27975152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92629675699999 meters 0.07279105270689935 Centerline is valid? [True, True] Translation: X:110.73, Y:-6.22, Z:-12.81 [[ 9.76241438e-01 2.01121072e-01 8.06409929e-02 1.10730085e+02] [-2.00719033e-01 9.79560652e-01 -1.31453035e-02 -6.21807619e+00] [-8.16365411e-02 -3.35319217e-03 9.96656526e-01 -1.28052008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98629675699999 meters 0.07331264042694444 Centerline is valid? [True, True] Translation: X:110.79, Y:-6.23, Z:-12.81 [[ 9.76383249e-01 2.00952600e-01 7.93334972e-02 1.10789825e+02] [-2.00560728e-01 9.79595550e-01 -1.29596961e-02 -6.22644564e+00] [-8.03190254e-02 -3.25755377e-03 9.96763885e-01 -1.28111454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.046296757 meters 0.07377454427092531 Centerline is valid? [True, True] Translation: X:110.85, Y:-6.24, Z:-12.82 [[ 9.76329185e-01 2.01960321e-01 7.74167368e-02 1.10850424e+02] [-2.01589879e-01 9.79388300e-01 -1.26522148e-02 -6.23507233e+00] [-7.83762916e-02 -3.25370402e-03 9.96918537e-01 -1.28185978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.106296757 meters 0.07399986228982677 Centerline is valid? [True, True] Translation: X:110.91, Y:-6.24, Z:-12.82 [[ 9.75745266e-01 2.05313519e-01 7.59442894e-02 1.10911186e+02] [-2.04965353e-01 9.78690235e-01 -1.24349499e-02 -6.24206181e+00] [-7.68789977e-02 -3.43260459e-03 9.97034521e-01 -1.28247351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.166296757 meters 0.07589006583296891 Centerline is valid? [True, True] Translation: X:110.97, Y:-6.25, Z:-12.83 [[ 9.75480887e-01 2.08317070e-01 7.10002592e-02 1.10970661e+02] [-2.08020576e-01 9.78055341e-01 -1.16270926e-02 -6.24775113e+00] [-7.18643046e-02 -3.42750825e-03 9.97408529e-01 -1.28345898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.226296757 meters 0.07790055803714822 Centerline is valid? [True, True] Translation: X:111.03, Y:-6.25, Z:-12.84 [[ 9.75198807e-01 2.10350909e-01 6.88460717e-02 1.11030058e+02] [-2.10076751e-01 9.77619818e-01 -1.12805258e-02 -6.25422340e+00] [-6.96781529e-02 -3.46220377e-03 9.97563516e-01 -1.28434987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28629675699999 meters 0.07633123949873923 Centerline is valid? [True, True] Translation: X:111.09, Y:-6.27, Z:-12.84 [[ 9.74697486e-01 2.12249417e-01 7.01070323e-02 1.11090703e+02] [-2.11970741e-01 9.77208619e-01 -1.14769030e-02 -6.27073314e+00] [-7.09451622e-02 -3.67413108e-03 9.97473451e-01 -1.28442956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34629675699999 meters 0.07707933426550986 Centerline is valid? [True, True] Translation: X:111.15, Y:-6.28, Z:-12.85 [[ 9.74565214e-01 2.13010292e-01 6.96366285e-02 1.11151519e+02] [-2.12736039e-01 9.77042998e-01 -1.14174243e-02 -6.28119113e+00] [-7.04700092e-02 -3.68719597e-03 9.97507084e-01 -1.28526298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40629675699999 meters 0.07781574919267457 Centerline is valid? [True, True] Translation: X:111.21, Y:-6.29, Z:-12.86 [[ 9.74615478e-01 2.12648672e-01 7.00372132e-02 1.11211023e+02] [-2.12369003e-01 9.77121854e-01 -1.15017085e-02 -6.29471332e+00] [-7.08807146e-02 -3.66399003e-03 9.97478070e-01 -1.28605583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.466296757 meters 0.07680860242592556 Centerline is valid? [True, True] Translation: X:111.27, Y:-6.31, Z:-12.86 [[ 9.74786781e-01 2.10884674e-01 7.29272672e-02 1.11270532e+02] [-2.10574639e-01 9.77504106e-01 -1.20018297e-02 -6.31107163e+00] [-7.38177051e-02 -3.65740804e-03 9.97265045e-01 -1.28649989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.526296757 meters 0.07732253704549433 Centerline is valid? [True, True] Translation: X:111.33, Y:-6.32, Z:-12.87 [[ 9.75147523e-01 2.08332079e-01 7.53992972e-02 1.11329044e+02] [-2.07992783e-01 9.78051603e-01 -1.24122642e-02 -6.32284389e+00] [-7.63302763e-02 -3.57872096e-03 9.97076166e-01 -1.28739188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.586296757 meters 0.07634870877766271 Centerline is valid? [True, True] Translation: X:111.39, Y:-6.34, Z:-12.88 [[ 9.75843737e-01 2.04234880e-01 7.75700638e-02 1.11387867e+02] [-2.03863061e-01 9.78916165e-01 -1.27669559e-02 -6.34079949e+00] [-7.85420470e-02 -3.35511673e-03 9.96905156e-01 -1.28783715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64629675699999 meters 0.07572646813136118 Centerline is valid? [True, True] Translation: X:111.45, Y:-6.36, Z:-12.89 [[ 9.76739973e-01 1.99569584e-01 7.84283492e-02 1.11446289e+02] [-1.99173284e-01 9.79879070e-01 -1.29232665e-02 -6.35500489e+00] [-7.94293889e-02 -2.99816087e-03 9.96835986e-01 -1.28857329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70629675699999 meters 0.0757083388133178 Centerline is valid? [True, True] Translation: X:111.51, Y:-6.37, Z:-12.89 [[ 9.76956940e-01 1.97776393e-01 8.02473452e-02 1.11506379e+02] [-1.97355416e-01 9.80242817e-01 -1.32234350e-02 -6.36689279e+00] [-8.12771670e-02 -2.91852162e-03 9.96687265e-01 -1.28935071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76629675699999 meters 0.07591113296287957 Centerline is valid? [True, True] Translation: X:111.57, Y:-6.38, Z:-12.90 [[ 9.76883196e-01 1.97894510e-01 8.08516203e-02 1.11567448e+02] [-1.97467711e-01 9.80218877e-01 -1.33212641e-02 -6.37704524e+00] [-8.18884895e-02 -2.95226539e-03 9.96637125e-01 -1.29010969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.826296757 meters 0.07677464452772184 Centerline is valid? [True, True] Translation: X:111.63, Y:-6.38, Z:-12.91 [[ 9.76839716e-01 1.98710376e-01 7.93621795e-02 1.11627752e+02] [-1.98300309e-01 9.80053829e-01 -1.30949918e-02 -6.38390710e+00] [-8.03813186e-02 -2.94583668e-03 9.96759833e-01 -1.29117453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.886296757 meters 0.07673711480697859 Centerline is valid? [True, True] Translation: X:111.69, Y:-6.40, Z:-12.92 [[ 9.76640816e-01 2.00198103e-01 7.80604689e-02 1.11688863e+02] [-1.99804389e-01 9.79750857e-01 -1.29020755e-02 -6.39512181e+00] [-7.90627824e-02 -2.99613071e-03 9.96865136e-01 -1.29182697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.946296757 meters 0.07608300505733773 Centerline is valid? [True, True] Translation: X:111.75, Y:-6.41, Z:-12.92 [[ 9.76493056e-01 2.00939622e-01 7.80037139e-02 1.11749615e+02] [-2.00548906e-01 9.79598865e-01 -1.28918403e-02 -6.40846786e+00] [-7.90028311e-02 -3.05476696e-03 9.96869711e-01 -1.29235300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00629675699999 meters 0.07685909347944017 Centerline is valid? [True, True] Translation: X:111.81, Y:-6.42, Z:-12.93 [[ 9.76070651e-01 2.02309920e-01 7.97294267e-02 1.11810929e+02] [-2.01904606e-01 9.79316269e-01 -1.31975848e-02 -6.41572737e+00] [-8.07503270e-02 -3.21596333e-03 9.96729172e-01 -1.29320646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06629675699999 meters 0.07662713036347799 Centerline is valid? [True, True] Translation: X:111.87, Y:-6.43, Z:-12.94 [[ 9.75720354e-01 2.03416889e-01 8.11871943e-02 1.11872076e+02] [-2.02998759e-01 9.79086491e-01 -1.34591038e-02 -6.42533910e+00] [-8.22270942e-02 -3.34857823e-03 9.96607993e-01 -1.29379587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12629675699999 meters 0.07680319361212888 Centerline is valid? [True, True] Translation: X:111.93, Y:-6.43, Z:-12.94 [[ 9.75491419e-01 2.04009186e-01 8.24423623e-02 1.11932610e+02] [-2.03578323e-01 9.78962964e-01 -1.36887194e-02 -6.43404529e+00] [-8.35006439e-02 -3.43024957e-03 9.96501819e-01 -1.29436981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.186296757 meters 0.07643729533169658 Centerline is valid? [True, True] Translation: X:111.99, Y:-6.44, Z:-12.95 [[ 9.75125805e-01 2.05190960e-01 8.38232379e-02 1.11994411e+02] [-2.04748356e-01 9.78715434e-01 -1.39359159e-02 -6.44302944e+00] [-8.48986206e-02 -3.57339892e-03 9.96383187e-01 -1.29490038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.246296757 meters 0.07669141955678174 Centerline is valid? [True, True] Translation: X:112.06, Y:-6.44, Z:-12.96 [[ 9.74375312e-01 2.07916436e-01 8.58108845e-02 1.12056540e+02] [-2.07460824e-01 9.78138912e-01 -1.42924934e-02 -6.44499021e+00] [-8.69066094e-02 -3.87614409e-03 9.96208922e-01 -1.29566885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.306296757 meters 0.07573576934657911 Centerline is valid? [True, True] Translation: X:112.12, Y:-6.46, Z:-12.96 [[ 9.73984681e-01 2.08980509e-01 8.76412517e-02 1.12117967e+02] [-2.08507589e-01 9.77911481e-01 -1.46191636e-02 -6.45559518e+00] [-8.87605065e-02 -4.03502469e-03 9.96044824e-01 -1.29612147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36629675699999 meters 0.07511625849287874 Centerline is valid? [True, True] Translation: X:112.18, Y:-6.47, Z:-12.97 [[ 9.74080671e-01 2.08657608e-01 8.73432819e-02 1.12178583e+02] [-2.08184672e-01 9.77980694e-01 -1.45912480e-02 -6.46619242e+00] [-8.84646184e-02 -3.97047986e-03 9.96071406e-01 -1.29679888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42629675699999 meters 0.07414821115184891 Centerline is valid? [True, True] Translation: X:112.24, Y:-6.47, Z:-12.98 [[ 9.74788688e-01 2.05706646e-01 8.64395186e-02 1.12239272e+02] [-2.05229543e-01 9.78606940e-01 -1.44669371e-02 -6.47496358e+00] [-8.75662579e-02 -3.63773624e-03 9.96152055e-01 -1.29755351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48629675699999 meters 0.07365000248573346 Centerline is valid? [True, True] Translation: X:112.30, Y:-6.48, Z:-12.98 [[ 9.75228443e-01 2.03714123e-01 8.61976760e-02 1.12300561e+02] [-2.03231601e-01 9.79024354e-01 -1.44302054e-02 -6.48479803e+00] [-8.73292607e-02 -3.44534493e-03 9.96173544e-01 -1.29825378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.546296757 meters 0.0729565207834511 Centerline is valid? [True, True] Translation: X:112.36, Y:-6.50, Z:-12.99 [[ 9.75668503e-01 2.02713203e-01 8.35364011e-02 1.12361376e+02] [-2.02256170e-01 9.79232762e-01 -1.39871310e-02 -6.49606893e+00] [-8.46369569e-02 -3.24894941e-03 9.96406559e-01 -1.29887582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.606296757 meters 0.07346081106501481 Centerline is valid? [True, True] Translation: X:112.42, Y:-6.50, Z:-13.00 [[ 9.75339714e-01 2.03406554e-01 8.56633928e-02 1.12421610e+02] [-2.02926586e-01 9.79088560e-01 -1.43663657e-02 -6.50012903e+00] [-8.67942609e-02 -3.37129290e-03 9.96220553e-01 -1.29983848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.666296757 meters 0.07245523741618363 Centerline is valid? [True, True] Translation: X:112.48, Y:-6.51, Z:-13.00 [[ 9.75134661e-01 2.04118810e-01 8.63012429e-02 1.12483257e+02] [-2.03632800e-01 9.78940072e-01 -1.44920400e-02 -6.51091172e+00] [-8.74418428e-02 -3.44207324e-03 9.96163679e-01 -1.30028553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.726296757 meters 0.07276095863987198 Centerline is valid? [True, True] Translation: X:112.55, Y:-6.52, Z:-13.01 [[ 9.74837932e-01 2.05353968e-01 8.67222760e-02 1.12545002e+02] [-2.04865767e-01 9.78681349e-01 -1.45888434e-02 -6.51889093e+00] [-8.78693509e-02 -3.54466768e-03 9.96125701e-01 -1.30082863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78629675699999 meters 0.07335035510918035 Centerline is valid? [True, True] Translation: X:112.61, Y:-6.52, Z:-13.02 [[ 9.74276072e-01 2.08270065e-01 8.60797072e-02 1.12605402e+02] [-2.07798416e-01 9.78064142e-01 -1.45035200e-02 -6.52408581e+00] [-8.72121241e-02 -3.75679429e-03 9.96182680e-01 -1.30173493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84629675699999 meters 0.07306950094222985 Centerline is valid? [True, True] Translation: X:112.67, Y:-6.53, Z:-13.02 [[ 9.74140508e-01 2.08935462e-01 8.60014132e-02 1.12666449e+02] [-2.08465811e-01 9.77922061e-01 -1.45068167e-02 -6.53356260e+00] [-8.71336677e-02 -3.79667655e-03 9.96189394e-01 -1.30243006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90629675699999 meters 0.07212951299878717 Centerline is valid? [True, True] Translation: X:112.73, Y:-6.54, Z:-13.03 [[ 9.73971213e-01 2.08327085e-01 8.93302952e-02 1.12727086e+02] [-2.07815276e-01 9.78051593e-01 -1.50961134e-02 -6.54473148e+00] [-9.05145668e-02 -3.86102013e-03 9.95887647e-01 -1.30297969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.966296757 meters 0.07144443614766233 Centerline is valid? [True, True] Translation: X:112.79, Y:-6.56, Z:-13.04 [[ 9.74001041e-01 2.06540389e-01 9.30754561e-02 1.12787049e+02] [-2.05975790e-01 9.78430529e-01 -1.57376475e-02 -6.55605604e+00] [-9.43183276e-02 -3.84280552e-03 9.95534673e-01 -1.30357491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.026296757 meters 0.07102331849209888 Centerline is valid? [True, True] Translation: X:112.85, Y:-6.57, Z:-13.04 [[ 9.74413627e-01 2.03556752e-01 9.53033705e-02 1.12845779e+02] [-2.02950313e-01 9.79056392e-01 -1.61168422e-02 -6.56630029e+00] [-9.65880661e-02 -3.63737819e-03 9.95317796e-01 -1.30440743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.086296757 meters 0.07035495434197106 Centerline is valid? [True, True] Translation: X:112.90, Y:-6.58, Z:-13.05 [[ 9.75608045e-01 1.97287703e-01 9.62626890e-02 1.12903808e+02] [-1.96637394e-01 9.80340935e-01 -1.62907050e-02 -6.57848030e+00] [-9.75842103e-02 -3.03550153e-03 9.95222642e-01 -1.30528464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14629675699999 meters 0.06989553038365896 Centerline is valid? [True, True] Translation: X:112.96, Y:-6.59, Z:-13.06 [[ 9.76774727e-01 1.91048749e-01 9.70129261e-02 1.12961382e+02] [-1.90357421e-01 9.81577543e-01 -1.64188747e-02 -6.59253501e+00] [-9.83625151e-02 -2.42958860e-03 9.95147684e-01 -1.30622822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20629675699999 meters 0.06864855669014107 Centerline is valid? [True, True] Translation: X:113.02, Y:-6.61, Z:-13.07 [[ 9.77693600e-01 1.85685140e-01 9.81644201e-02 1.13020482e+02] [-1.84949325e-01 9.82607454e-01 -1.66234559e-02 -6.61148182e+00] [-9.95438197e-02 -1.90279673e-03 9.95031360e-01 -1.30662322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26629675699999 meters 0.06901565296263792 Centerline is valid? [True, True] Translation: X:113.08, Y:-6.62, Z:-13.07 [[ 9.78404858e-01 1.82938975e-01 9.62146854e-02 1.13079648e+02] [-1.82218877e-01 9.83122984e-01 -1.62935247e-02 -6.62364835e+00] [-9.75715893e-02 -1.59046825e-03 9.95227238e-01 -1.30727403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.326296757 meters 0.0693957230730988 Centerline is valid? [True, True] Translation: X:113.14, Y:-6.63, Z:-13.08 [[ 9.78644112e-01 1.83287244e-01 9.30671186e-02 1.13139575e+02] [-1.82613187e-01 9.83058177e-01 -1.57811244e-02 -6.63418844e+00] [-9.43828708e-02 -1.55117861e-03 9.95534765e-01 -1.30824353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.386296757 meters 0.0694561717647374 Centerline is valid? [True, True] Translation: X:113.20, Y:-6.65, Z:-13.09 [[ 9.78387932e-01 1.85963839e-01 9.04129658e-02 1.13200662e+02] [-1.85337006e-01 9.82555058e-01 -1.53542211e-02 -6.64521785e+00] [-9.16910468e-02 -1.73448371e-03 9.95785993e-01 -1.30874195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.446296757 meters 0.06969799988914367 Centerline is valid? [True, True] Translation: X:113.26, Y:-6.65, Z:-13.09 [[ 9.77843897e-01 1.88941911e-01 9.01236263e-02 1.13262118e+02] [-1.88331469e-01 9.81986220e-01 -1.53075943e-02 -6.65354234e+00] [-9.13924052e-02 -2.00467726e-03 9.95812939e-01 -1.30939138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50629675699999 meters 0.07049325264626198 Centerline is valid? [True, True] Translation: X:113.32, Y:-6.66, Z:-13.10 [[ 9.77099369e-01 1.93598566e-01 8.82973339e-02 1.13323149e+02] [-1.93029166e-01 9.81077983e-01 -1.50244001e-02 -6.66057545e+00] [-8.95352726e-02 -2.36362888e-03 9.95980847e-01 -1.31013320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56629675699999 meters 0.07090479290671982 Centerline is valid? [True, True] Translation: X:113.38, Y:-6.67, Z:-13.11 [[ 9.77080797e-01 1.94867929e-01 8.56715029e-02 1.13383685e+02] [-1.94336492e-01 9.80826549e-01 -1.45810898e-02 -6.67208098e+00] [-8.68702714e-02 -2.40219650e-03 9.96216736e-01 -1.31091833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62629675699999 meters 0.07120976586164522 Centerline is valid? [True, True] Translation: X:113.44, Y:-6.68, Z:-13.12 [[ 9.76837312e-01 1.96393960e-01 8.49604570e-02 1.13443067e+02] [-1.95876931e-01 9.80521844e-01 -1.44616991e-02 -6.68295270e+00] [-8.61457743e-02 -2.51506633e-03 9.96279368e-01 -1.31177735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.686296757 meters 0.07077297629589092 Centerline is valid? [True, True] Translation: X:113.50, Y:-6.70, Z:-13.12 [[ 9.76516752e-01 1.96706392e-01 8.78728012e-02 1.13504205e+02] [-1.96152302e-01 9.80458976e-01 -1.49823316e-02 -6.69606414e+00] [-8.91027971e-02 -2.60595444e-03 9.96019026e-01 -1.31222568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.746296757 meters 0.07092376325950317 Centerline is valid? [True, True] Translation: X:113.56, Y:-6.71, Z:-13.13 [[ 9.76488543e-01 1.95965587e-01 8.98199006e-02 1.13564338e+02] [-1.95383075e-01 9.80607352e-01 -1.53191198e-02 -6.71214488e+00] [-9.10800752e-02 -2.59034342e-03 9.95840203e-01 -1.31272295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.806296757 meters 0.07126056645893944 Centerline is valid? [True, True] Translation: X:113.62, Y:-6.72, Z:-13.14 [[ 9.76515031e-01 1.95420025e-01 9.07160881e-02 1.13624329e+02] [-1.94821310e-01 9.80716346e-01 -1.54953184e-02 -6.72305546e+00] [-9.19948460e-02 -2.54201578e-03 9.95756238e-01 -1.31351764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86629675699999 meters 0.0713236358965458 Centerline is valid? [True, True] Translation: X:113.68, Y:-6.74, Z:-13.15 [[ 9.77195603e-01 1.91941280e-01 9.08146349e-02 1.13683709e+02] [-1.91323708e-01 9.81403969e-01 -1.55398762e-02 -6.73629676e+00] [-9.21085869e-02 -2.18949403e-03 9.95746561e-01 -1.31460059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92629675699999 meters 0.07076764835347875 Centerline is valid? [True, True] Translation: X:113.74, Y:-6.76, Z:-13.15 [[ 9.77976474e-01 1.87547450e-01 9.15858682e-02 1.13742706e+02] [-1.86899823e-01 9.82253917e-01 -1.56747721e-02 -6.75699457e+00] [-9.29003413e-02 -1.78782413e-03 9.95673807e-01 -1.31519854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98629675699999 meters 0.0702201886701072 Centerline is valid? [True, True] Translation: X:113.80, Y:-6.77, Z:-13.16 [[ 9.78386155e-01 1.83378379e-01 9.55662159e-02 1.13801860e+02] [-1.82652722e-01 9.83041340e-01 -1.63617763e-02 -6.77310773e+00] [-9.69459370e-02 -1.44729400e-03 9.95288597e-01 -1.31581238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.046296757 meters 0.06986243787540225 Centerline is valid? [True, True] Translation: X:113.86, Y:-6.79, Z:-13.16 [[ 9.78650173e-01 1.81133608e-01 9.71311204e-02 1.13862385e+02] [-1.80372890e-01 9.83457709e-01 -1.66299242e-02 -6.78564172e+00] [-9.85365874e-02 -1.24494268e-03 9.95132650e-01 -1.31645928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.106296757 meters 0.07004585390737927 Centerline is valid? [True, True] Translation: X:113.92, Y:-6.80, Z:-13.17 [[ 9.78509118e-01 1.81258141e-01 9.83127318e-02 1.13923116e+02] [-1.80476904e-01 9.83434760e-01 -1.68570236e-02 -6.79719978e+00] [-9.97396306e-02 -1.24842617e-03 9.95012788e-01 -1.31713178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.166296757 meters 0.0702171151412243 Centerline is valid? [True, True] Translation: X:113.98, Y:-6.81, Z:-13.18 [[ 9.77988667e-01 1.84198323e-01 9.80262504e-02 1.13982883e+02] [-1.83433788e-01 9.82887925e-01 -1.68336728e-02 -6.80624162e+00] [-9.94495522e-02 -1.51818515e-03 9.95041447e-01 -1.31794041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22629675699999 meters 0.07103876448572871 Centerline is valid? [True, True] Translation: X:114.04, Y:-6.81, Z:-13.19 [[ 9.76761540e-01 1.91359145e-01 9.65327500e-02 1.14042760e+02] [-1.90651349e-01 9.81517620e-01 -1.65898871e-02 -6.80895656e+00] [-9.79232216e-02 -2.19973534e-03 9.95191541e-01 -1.31902859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28629675699999 meters 0.07192030813523993 Centerline is valid? [True, True] Translation: X:114.10, Y:-6.81, Z:-13.20 [[ 9.75255832e-01 1.99682544e-01 9.48838457e-02 1.14103583e+02] [-1.99037016e-01 9.79856134e-01 -1.63163214e-02 -6.81382139e+00] [-9.62306028e-02 -2.97280986e-03 9.95354627e-01 -1.31995383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34629675699999 meters 0.07348391116733538 Centerline is valid? [True, True] Translation: X:114.16, Y:-6.82, Z:-13.21 [[ 9.74134618e-01 2.06061959e-01 9.27373407e-02 1.14164105e+02] [-2.05473949e-01 9.78532620e-01 -1.59489350e-02 -6.81830516e+00] [-9.40329818e-02 -3.51869795e-03 9.95562864e-01 -1.32089226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40629675699999 meters 0.07422219771644722 Centerline is valid? [True, True] Translation: X:114.22, Y:-6.83, Z:-13.22 [[ 9.73779600e-01 2.07640607e-01 9.29444387e-02 1.14223995e+02] [-2.07055287e-01 9.78198334e-01 -1.60039901e-02 -6.82762641e+00] [-9.42411733e-02 -3.66027831e-03 9.95542668e-01 -1.32164380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.466296757 meters 0.07346142461408074 Centerline is valid? [True, True] Translation: X:114.28, Y:-6.84, Z:-13.22 [[ 9.73702330e-01 2.08490611e-01 9.18446380e-02 1.14283876e+02] [-2.07920947e-01 9.78017453e-01 -1.58348483e-02 -6.84449382e+00] [-9.31270761e-02 -3.67799541e-03 9.95647438e-01 -1.32210313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.526296757 meters 0.07368479390105763 Centerline is valid? [True, True] Translation: X:114.34, Y:-6.86, Z:-13.23 [[ 9.73871407e-01 2.08017810e-01 9.11212001e-02 1.14344596e+02] [-2.07452486e-01 9.78118498e-01 -1.57375323e-02 -6.85555261e+00] [-9.24010184e-02 -3.57698679e-03 9.95715450e-01 -1.32288450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.586296757 meters 0.07271708408412593 Centerline is valid? [True, True] Translation: X:114.41, Y:-6.87, Z:-13.23 [[ 9.73987225e-01 2.07815993e-01 9.03404622e-02 1.14405300e+02] [-2.07259108e-01 9.78161592e-01 -1.56065111e-02 -6.87176372e+00] [-9.16108528e-02 -3.52334112e-03 9.95788651e-01 -1.32344527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64629675699999 meters 0.07269430956836283 Centerline is valid? [True, True] Translation: X:114.47, Y:-6.89, Z:-13.24 [[ 9.74318135e-01 2.06427551e-01 8.99546474e-02 1.14465505e+02] [-2.05866869e-01 9.78456154e-01 -1.55687746e-02 -6.88614924e+00] [-9.12305024e-02 -3.34974217e-03 9.95824169e-01 -1.32409984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70629675699999 meters 0.072432478681718 Centerline is valid? [True, True] Translation: X:114.53, Y:-6.90, Z:-13.25 [[ 9.74367610e-01 2.06069355e-01 9.02395742e-02 1.14526132e+02] [-2.05501468e-01 9.78531810e-01 -1.56410832e-02 -6.89858607e+00] [-9.15254418e-02 -3.30420011e-03 9.95797256e-01 -1.32486067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76629675699999 meters 0.07551692667761913 Centerline is valid? [True, True] Translation: X:114.59, Y:-6.90, Z:-13.26 [[ 9.73991655e-01 2.08054833e-01 8.97409720e-02 1.14586751e+02] [-2.07499450e-01 9.78111086e-01 -1.55782365e-02 -6.90040995e+00] [-9.10177670e-02 -3.44812991e-03 9.95843299e-01 -1.32623791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.826296757 meters 0.07431423140290748 Centerline is valid? [True, True] Translation: X:114.65, Y:-6.91, Z:-13.27 [[ 9.73056121e-01 2.12869391e-01 8.85912401e-02 1.14646890e+02] [-2.12345747e-01 9.77073183e-01 -1.54038303e-02 -6.91421224e+00] [-8.98391289e-02 -3.82318170e-03 9.95948952e-01 -1.32668895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.886296757 meters 0.07551512862121326 Centerline is valid? [True, True] Translation: X:114.71, Y:-6.92, Z:-13.27 [[ 9.72269149e-01 2.16174266e-01 8.92266143e-02 1.14706274e+02] [-2.15656637e-01 9.76345954e-01 -1.55175086e-02 -6.92100574e+00] [-9.04705299e-02 -4.15511669e-03 9.95890465e-01 -1.32740025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.946296757 meters 0.07613086872376842 Centerline is valid? [True, True] Translation: X:114.77, Y:-6.93, Z:-13.28 [[ 9.72237075e-01 2.17318618e-01 8.67622463e-02 1.14766929e+02] [-2.16832893e-01 9.76091969e-01 -1.50985122e-02 -6.93273819e+00] [-8.79691197e-02 -4.13357544e-03 9.96114626e-01 -1.32809179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00629675699999 meters 0.0771765623615106 Centerline is valid? [True, True] Translation: X:114.83, Y:-6.94, Z:-13.29 [[ 9.72538410e-01 2.17053693e-01 8.40043715e-02 1.14826341e+02] [-2.16597317e-01 9.76151564e-01 -1.46193791e-02 -6.94285287e+00] [-8.51741888e-02 -3.97721379e-03 9.96358138e-01 -1.32901862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06629675699999 meters 0.07575576423734806 Centerline is valid? [True, True] Translation: X:114.89, Y:-6.96, Z:-13.30 [[ 9.72842888e-01 2.16017836e-01 8.31445104e-02 1.14886574e+02] [-2.15565495e-01 9.76381909e-01 -1.44874120e-02 -6.95917838e+00] [-8.43103352e-02 -3.82911179e-03 9.96432188e-01 -1.32950338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12629675699999 meters 0.0766721825283564 Centerline is valid? [True, True] Translation: X:114.95, Y:-6.97, Z:-13.30 [[ 9.72670266e-01 2.16205455e-01 8.46625948e-02 1.14946287e+02] [-2.15735172e-01 9.76340125e-01 -1.47748120e-02 -6.96887256e+00] [-8.58538834e-02 -3.89367912e-03 9.96300130e-01 -1.33032127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.186296757 meters 0.07575154296419497 Centerline is valid? [True, True] Translation: X:115.01, Y:-6.98, Z:-13.31 [[ 9.72337649e-01 2.16591761e-01 8.74500198e-02 1.15006632e+02] [-2.16089679e-01 9.76253915e-01 -1.52821502e-02 -6.98189827e+00] [-8.86834120e-02 -4.03763667e-03 9.96051680e-01 -1.33072628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.246296757 meters 0.07562681135264349 Centerline is valid? [True, True] Translation: X:115.07, Y:-6.99, Z:-13.31 [[ 9.71855962e-01 2.16830150e-01 9.20905773e-02 1.15066119e+02] [-2.16271698e-01 9.76200101e-01 -1.61218991e-02 -6.99121849e+00] [-9.33945446e-02 -4.24842178e-03 9.95620113e-01 -1.33117775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.306296757 meters 0.07536439924492644 Centerline is valid? [True, True] Translation: X:115.13, Y:-7.00, Z:-13.32 [[ 9.71602757e-01 2.18151006e-01 9.16418044e-02 1.15126577e+02] [-2.17603749e-01 9.75905318e-01 -1.60442578e-02 -7.00325525e+00] [-9.29337953e-02 -4.35295503e-03 9.95662775e-01 -1.33181400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36629675699999 meters 0.07575114395349228 Centerline is valid? [True, True] Translation: X:115.19, Y:-7.01, Z:-13.33 [[ 9.71888565e-01 2.18259380e-01 8.82919009e-02 1.15187538e+02] [-2.17749942e-01 9.75881836e-01 -1.54791775e-02 -7.01159943e+00] [-8.95409380e-02 -4.18152069e-03 9.95974365e-01 -1.33297602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42629675699999 meters 0.07558783861813184 Centerline is valid? [True, True] Translation: X:115.25, Y:-7.02, Z:-13.34 [[ 9.72661351e-01 2.15838640e-01 8.56946810e-02 1.15247865e+02] [-2.15347555e-01 9.76421571e-01 -1.50448142e-02 -7.02354854e+00] [-8.69213873e-02 -3.82063075e-03 9.96207847e-01 -1.33389730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48629675699999 meters 0.07571313290520737 Centerline is valid? [True, True] Translation: X:115.31, Y:-7.03, Z:-13.35 [[ 9.72941572e-01 2.14858090e-01 8.49746898e-02 1.15308179e+02] [-2.14369643e-01 9.76638345e-01 -1.49398741e-02 -7.03369079e+00] [-8.61994932e-02 -3.68036935e-03 9.96271099e-01 -1.33479072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.546296757 meters 0.07651278178539107 Centerline is valid? [True, True] Translation: X:115.37, Y:-7.04, Z:-13.36 [[ 9.72548487e-01 2.15916549e-01 8.67726041e-02 1.15368890e+02] [-2.15409381e-01 9.76404300e-01 -1.52787861e-02 -7.03824620e+00] [-8.80240866e-02 -3.83227260e-03 9.96110975e-01 -1.33558257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.606296757 meters 0.0761804423958395 Centerline is valid? [True, True] Translation: X:115.43, Y:-7.05, Z:-13.36 [[ 9.72140599e-01 2.17228532e-01 8.80591832e-02 1.15429701e+02] [-2.16709777e-01 9.76112616e-01 -1.55252256e-02 -7.04806414e+00] [-8.93282017e-02 -3.99058385e-03 9.95994251e-01 -1.33623649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.666296757 meters 0.07568120016929515 Centerline is valid? [True, True] Translation: X:115.49, Y:-7.06, Z:-13.37 [[ 9.71769559e-01 2.18681077e-01 8.85579460e-02 1.15490674e+02] [-2.18160438e-01 9.75787663e-01 -1.56352343e-02 -7.05844820e+00] [-8.98328810e-02 -4.12599563e-03 9.95948307e-01 -1.33651449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72629675699999 meters 0.07717772896139463 Centerline is valid? [True, True] Translation: X:115.55, Y:-7.06, Z:-13.37 [[ 9.71184546e-01 2.21796044e-01 8.72186462e-02 1.15550963e+02] [-2.21301039e-01 9.75083514e-01 -1.54269398e-02 -7.05992245e+00] [-8.84670983e-02 -4.31917147e-03 9.96069735e-01 -1.33749178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78629675699999 meters 0.07864675976801448 Centerline is valid? [True, True] Translation: X:115.61, Y:-7.06, Z:-13.39 [[ 9.70534152e-01 2.25587279e-01 8.46985215e-02 1.15612084e+02] [-2.25135211e-01 9.74212416e-01 -1.49768462e-02 -7.06364516e+00] [-8.58929372e-02 -4.53307880e-03 9.96294060e-01 -1.33852626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84629675699999 meters 0.07845796837981081 Centerline is valid? [True, True] Translation: X:115.67, Y:-7.07, Z:-13.39 [[ 9.70837348e-01 2.23641287e-01 8.63679293e-02 1.15671892e+02] [-2.23161461e-01 9.74661480e-01 -1.52958061e-02 -7.07312474e+00] [-8.76002675e-02 -4.42425348e-03 9.96145882e-01 -1.33911706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90629675699999 meters 0.07658070994652016 Centerline is valid? [True, True] Translation: X:115.73, Y:-7.09, Z:-13.39 [[ 9.71271091e-01 2.21013133e-01 8.82363979e-02 1.15731244e+02] [-2.20501199e-01 9.75261462e-01 -1.56301843e-02 -7.08702952e+00] [-8.95080344e-02 -4.27508537e-03 9.95976925e-01 -1.33949890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.966296757 meters 0.0754240710398235 Centerline is valid? [True, True] Translation: X:115.79, Y:-7.10, Z:-13.40 [[ 9.71605765e-01 2.18826766e-01 8.99837979e-02 1.15791174e+02] [-2.18284820e-01 9.75754887e-01 -1.59417169e-02 -7.09764399e+00] [-9.12906048e-02 -4.15303312e-03 9.95815634e-01 -1.34018120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.026296757 meters 0.07483338486454626 Centerline is valid? [True, True] Translation: X:115.85, Y:-7.11, Z:-13.41 [[ 9.71917683e-01 2.17122307e-01 9.07409559e-02 1.15850978e+02] [-2.16563653e-01 9.76136108e-01 -1.60774179e-02 -7.10792117e+00] [-9.20662896e-02 -4.02526610e-03 9.95744744e-01 -1.34094369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.086296757 meters 0.07391663995584098 Centerline is valid? [True, True] Translation: X:115.91, Y:-7.12, Z:-13.42 [[ 9.72108747e-01 2.16213537e-01 9.08641290e-02 1.15911871e+02] [-2.15648698e-01 9.76338162e-01 -1.61069202e-02 -7.11956685e+00] [-9.21966509e-02 -3.93705311e-03 9.95733035e-01 -1.34156602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14629675699999 meters 0.07385331762472688 Centerline is valid? [True, True] Translation: X:115.97, Y:-7.12, Z:-13.42 [[ 9.72033991e-01 2.16066722e-01 9.20059345e-02 1.15973079e+02] [-2.15484734e-01 9.76370611e-01 -1.63327643e-02 -7.12470715e+00] [-9.33608574e-02 -3.94987225e-03 9.95624502e-01 -1.34233765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20629675699999 meters 0.07302771330722287 Centerline is valid? [True, True] Translation: X:116.03, Y:-7.14, Z:-13.43 [[ 9.72183790e-01 2.16026465e-01 9.05054940e-02 1.16034315e+02] [-2.15461134e-01 9.76379880e-01 -1.60882128e-02 -7.13680883e+00] [-9.18432230e-02 -3.85971666e-03 9.95765999e-01 -1.34275560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26629675699999 meters 0.07337093231905197 Centerline is valid? [True, True] Translation: X:116.09, Y:-7.14, Z:-13.44 [[ 9.72440260e-01 2.15258882e-01 8.95742997e-02 1.16094986e+02] [-2.14699768e-01 9.76549915e-01 -1.59459193e-02 -7.14262729e+00] [-9.09062756e-02 -3.72512752e-03 9.95852485e-01 -1.34357373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.326296757 meters 0.07338109796176086 Centerline is valid? [True, True] Translation: X:116.16, Y:-7.15, Z:-13.44 [[ 9.72725031e-01 2.15286210e-01 8.63589087e-02 1.16155536e+02] [-2.14764576e-01 9.76544472e-01 -1.53971321e-02 -7.15293871e+00] [-8.76481051e-02 -3.56965856e-03 9.96145103e-01 -1.34433698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.386296757 meters 0.07322042721304227 Centerline is valid? [True, True] Translation: X:116.22, Y:-7.16, Z:-13.45 [[ 9.72682094e-01 2.15348206e-01 8.66873323e-02 1.16216816e+02] [-2.14822702e-01 9.76530737e-01 -1.54572355e-02 -7.16200267e+00] [-8.79815325e-02 -3.58743084e-03 9.96115646e-01 -1.34497501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.446296757 meters 0.07240553577374689 Centerline is valid? [True, True] Translation: X:116.28, Y:-7.18, Z:-13.46 [[ 9.73432879e-01 2.11430378e-01 8.78955414e-02 1.16276191e+02] [-2.10871680e-01 9.77387653e-01 -1.57006263e-02 -7.17695578e+00] [-8.92276063e-02 -3.25117457e-03 9.96005956e-01 -1.34551940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50629675699999 meters 0.07117588705649085 Centerline is valid? [True, True] Translation: X:116.34, Y:-7.19, Z:-13.46 [[ 9.74783759e-01 2.05581069e-01 8.67931257e-02 1.16335785e+02] [-2.05012863e-01 9.78636426e-01 -1.55071420e-02 -7.19468329e+00] [-8.81268891e-02 -2.67759704e-03 9.96105658e-01 -1.34597936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56629675699999 meters 0.07088551357556788 Centerline is valid? [True, True] Translation: X:116.39, Y:-7.21, Z:-13.47 [[ 9.75825421e-01 2.00806486e-01 8.62641421e-02 1.16393915e+02] [-2.00226138e-01 9.79628396e-01 -1.54175291e-02 -7.20755898e+00] [-8.76027429e-02 -2.22751921e-03 9.96152999e-01 -1.34679439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62629675699999 meters 0.07023789858256228 Centerline is valid? [True, True] Translation: X:116.45, Y:-7.23, Z:-13.47 [[ 9.77243732e-01 1.93886586e-01 8.60388246e-02 1.16453033e+02] [-1.93282423e-01 9.81022643e-01 -1.53778807e-02 -7.22587281e+00] [-8.73875999e-02 -1.60185494e-03 9.96173098e-01 -1.34741088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.686296757 meters 0.070030028533414 Centerline is valid? [True, True] Translation: X:116.51, Y:-7.24, Z:-13.48 [[ 9.77799135e-01 1.90821056e-01 8.65804595e-02 1.16513063e+02] [-1.90197276e-01 9.81623929e-01 -1.54744196e-02 -7.24145257e+00] [-8.79422959e-02 -1.33649350e-03 9.96124674e-01 -1.34788993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.746296757 meters 0.070312781809066 Centerline is valid? [True, True] Translation: X:116.57, Y:-7.25, Z:-13.49 [[ 9.77412674e-01 1.92094851e-01 8.81137536e-02 1.16572554e+02] [-1.91451869e-01 9.81375286e-01 -1.57711591e-02 -7.25033323e+00] [-8.95022186e-02 -1.45461198e-03 9.95985561e-01 -1.34867135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.806296757 meters 0.0708025285474459 Centerline is valid? [True, True] Translation: X:116.63, Y:-7.26, Z:-13.49 [[ 9.76744963e-01 1.95645418e-01 8.77048910e-02 1.16633807e+02] [-1.95020937e-01 9.80673136e-01 -1.57173465e-02 -7.25951933e+00] [-8.90848573e-02 -1.75245098e-03 9.96022498e-01 -1.34935615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86629675699999 meters 0.07143739714967713 Centerline is valid? [True, True] Translation: X:116.69, Y:-7.27, Z:-13.50 [[ 9.76418418e-01 1.98685613e-01 8.44458457e-02 1.16694196e+02] [-1.98116015e-01 9.80061376e-01 -1.51572772e-02 -7.26872057e+00] [-8.57736447e-02 -1.93022986e-03 9.96312780e-01 -1.35026914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92629675699999 meters 0.07237836967713682 Centerline is valid? [True, True] Translation: X:116.75, Y:-7.27, Z:-13.51 [[ 9.75436874e-01 2.03154322e-01 8.51541280e-02 1.16754793e+02] [-2.02592143e-01 9.79143928e-01 -1.52837414e-02 -7.27305523e+00] [-8.64831054e-02 -2.34323235e-03 9.96250562e-01 -1.35126495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98629675699999 meters 0.07292401870462732 Centerline is valid? [True, True] Translation: X:116.81, Y:-7.28, Z:-13.52 [[ 9.75128666e-01 2.04899918e-01 8.44991572e-02 1.16814686e+02] [-2.04351273e-01 9.78779838e-01 -1.51850481e-02 -7.28200517e+00] [-8.58174865e-02 -2.46013465e-03 9.96307837e-01 -1.35202150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.046296757 meters 0.073308667167126 Centerline is valid? [True, True] Translation: X:116.88, Y:-7.29, Z:-13.53 [[ 9.74796767e-01 2.06256865e-01 8.50256879e-02 1.16875449e+02] [-2.05704892e-01 9.78494487e-01 -1.52982269e-02 -7.29305706e+00] [-8.63525313e-02 -2.57753778e-03 9.96261309e-01 -1.35276142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.106296757 meters 0.07338066999495597 Centerline is valid? [True, True] Translation: X:116.94, Y:-7.30, Z:-13.54 [[ 9.74460626e-01 2.07546332e-01 8.57380251e-02 1.16936423e+02] [-2.06988272e-01 9.78221477e-01 -1.54465637e-02 -7.30418488e+00] [-8.70766552e-02 -2.69469756e-03 9.96197970e-01 -1.35355661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.166296757 meters 0.07236921907083813 Centerline is valid? [True, True] Translation: X:117.00, Y:-7.32, Z:-13.54 [[ 9.74430080e-01 2.07141761e-01 8.70534852e-02 1.16996375e+02] [-2.06562979e-01 9.78307269e-01 -1.57042531e-02 -7.32229377e+00] [-8.84180640e-02 -2.67933064e-03 9.96079850e-01 -1.35380371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22629675699999 meters 0.07173436465050874 Centerline is valid? [True, True] Translation: X:117.06, Y:-7.34, Z:-13.54 [[ 9.74753338e-01 2.05510517e-01 8.73003818e-02 1.17056038e+02] [-2.04919945e-01 9.78651671e-01 -1.57709572e-02 -7.33833869e+00] [-8.86777621e-02 -2.51679618e-03 9.96057187e-01 -1.35431082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28629675699999 meters 0.07148707843917196 Centerline is valid? [True, True] Translation: X:117.11, Y:-7.35, Z:-13.55 [[ 9.75922178e-01 2.00563644e-01 8.57328877e-02 1.17114455e+02] [-1.99972735e-01 9.79678626e-01 -1.55143277e-02 -7.35413746e+00] [-8.71022878e-02 -2.00346360e-03 9.96197359e-01 -1.35520482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34629675699999 meters 0.07137339577122874 Centerline is valid? [True, True] Translation: X:117.17, Y:-7.37, Z:-13.56 [[ 9.76980495e-01 1.96099701e-01 8.39882144e-02 1.17173694e+02] [-1.95516265e-01 9.80582700e-01 -1.51973412e-02 -7.37058735e+00] [-8.53375841e-02 -1.57355601e-03 9.96350852e-01 -1.35610467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40629675699999 meters 0.07086226540073927 Centerline is valid? [True, True] Translation: X:117.23, Y:-7.39, Z:-13.56 [[ 9.78029397e-01 1.90661414e-01 8.43013926e-02 1.17232693e+02] [-1.90051086e-01 9.81655269e-01 -1.52812728e-02 -7.39025433e+00] [-8.56684554e-02 -1.07603721e-03 9.96323119e-01 -1.35644886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.466296757 meters 0.0708952563771338 Centerline is valid? [True, True] Translation: X:117.29, Y:-7.40, Z:-13.57 [[ 9.78297875e-01 1.88640882e-01 8.57198096e-02 1.17291608e+02] [-1.88002225e-01 9.82045711e-01 -1.55365698e-02 -7.40273617e+00] [-8.71116036e-02 -9.16121771e-04 9.96198138e-01 -1.35730847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.526296757 meters 0.07073202767610103 Centerline is valid? [True, True] Translation: X:117.35, Y:-7.41, Z:-13.58 [[ 9.77518022e-01 1.91819648e-01 8.75427898e-02 1.17352954e+02] [-1.91164508e-01 9.81429451e-01 -1.58859500e-02 -7.41414457e+00] [-8.89643095e-02 -1.20627188e-03 9.96034084e-01 -1.35766417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.586296757 meters 0.07132164663218325 Centerline is valid? [True, True] Translation: X:117.41, Y:-7.42, Z:-13.59 [[ 9.76476864e-01 1.96898039e-01 8.78868349e-02 1.17412870e+02] [-1.96256168e-01 9.80422578e-01 -1.59713967e-02 -7.42243051e+00] [-8.93109739e-02 -1.65263407e-03 9.96002419e-01 -1.35858687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64629675699999 meters 0.0719926836159795 Centerline is valid? [True, True] Translation: X:117.47, Y:-7.43, Z:-13.60 [[ 9.75933062e-01 2.00219248e-01 8.64112850e-02 1.17473388e+02] [-1.99609626e-01 9.79749276e-01 -1.57274605e-02 -7.43207857e+00] [-8.78103343e-02 -1.89957563e-03 9.96135401e-01 -1.35953894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70629675699999 meters 0.07311729043345606 Centerline is valid? [True, True] Translation: X:117.53, Y:-7.44, Z:-13.60 [[ 9.75409127e-01 2.04200180e-01 8.29416758e-02 1.17533231e+02] [-2.03652433e-01 9.78926768e-01 -1.51019385e-02 -7.44256453e+00] [-8.42776452e-02 -2.16070540e-03 9.96439968e-01 -1.36030077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76629675699999 meters 0.07603926463102328 Centerline is valid? [True, True] Translation: X:117.59, Y:-7.45, Z:-13.61 [[ 9.74589675e-01 2.06184061e-01 8.75391298e-02 1.17594718e+02] [-2.05581697e-01 9.78510130e-01 -1.59402227e-02 -7.45337420e+00] [-8.89445452e-02 -2.46126646e-03 9.96033539e-01 -1.36056055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.826296757 meters 0.08407609055825659 Centerline is valid? [True, True] Translation: X:117.66, Y:-7.46, Z:-13.61 [[ 9.71801850e-01 2.14818987e-01 9.72315115e-02 1.17655146e+02] [-2.14115935e-01 9.76647295e-01 -1.77321177e-02 -7.46400847e+00] [-9.87700883e-02 -3.58671114e-03 9.95103816e-01 -1.36148522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.886296757 meters 0.08770345941087958 Centerline is valid? [True, True] Translation: X:117.72, Y:-7.47, Z:-13.62 [[ 9.70356688e-01 2.18999554e-01 1.02211022e-01 1.17715929e+02] [-2.18242648e-01 9.75715956e-01 -1.86686883e-02 -7.47485302e+00] [-1.03817359e-01 -4.19151748e-03 9.94587546e-01 -1.36231127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.946296757 meters 0.10615365099735723 Centerline is valid? [True, False] Translation: X:117.70, Y:-7.47, Z:-13.63 [[ 9.70922476e-01 2.12370224e-01 1.10491782e-01 1.17704472e+02] [-2.11311420e-01 9.77185750e-01 -2.13423094e-02 -7.47145218e+00] [-1.12503466e-01 -2.62644751e-03 9.93647861e-01 -1.36257835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00629675699999 meters 0.11321476279521171 Centerline is valid? [False, False] Translation: X:117.68, Y:-7.46, Z:-13.63 [[ 9.72938876e-01 2.00037568e-01 1.15649968e-01 1.17680232e+02] [-1.99384327e-01 9.79768494e-01 -1.73086435e-02 -7.46493996e+00] [-1.16772574e-01 -6.21853887e-03 9.93139213e-01 -1.36262362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06629675699999 meters 0.12483177490632226 Centerline is valid? [False, False] Translation: X:117.66, Y:-7.46, Z:-13.62 [[ 9.75357977e-01 1.85011656e-01 1.20197773e-01 1.17658237e+02] [-1.84760530e-01 9.82693188e-01 -1.33283486e-02 -7.45825310e+00] [-1.20583433e-01 -9.20789313e-03 9.92660491e-01 -1.36244137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12629675699999 meters 0.14139601793383733 Centerline is valid? [False, False] Translation: X:117.65, Y:-7.46, Z:-13.63 [[ 9.77959708e-01 1.75941247e-01 1.12425473e-01 1.17651714e+02] [-1.75473698e-01 9.84382869e-01 -1.41190657e-02 -7.45527481e+00] [-1.13153836e-01 -5.91983619e-03 9.93559845e-01 -1.36272286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.186296757 meters 0.1543639420205643 Centerline is valid? [False, False] Translation: X:117.64, Y:-7.45, Z:-13.63 [[ 9.79649057e-01 1.70594310e-01 1.05760608e-01 1.17644542e+02] [-1.70378619e-01 9.85315717e-01 -1.11383727e-02 -7.45018189e+00] [-1.06107732e-01 -7.10765001e-03 9.94329236e-01 -1.36296177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.246296757 meters 0.17088281873696481 Centerline is valid? [False, False] Translation: X:117.65, Y:-7.45, Z:-13.62 [[ 9.81644412e-01 1.68440955e-01 8.94533007e-02 1.17648893e+02] [-1.67923155e-01 9.85709859e-01 -1.33374957e-02 -7.44534461e+00] [-9.04215809e-02 -1.92860228e-03 9.95901711e-01 -1.36244298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.306296757 meters 0.1860777512435587 Centerline is valid? [False, False] Translation: X:117.64, Y:-7.44, Z:-13.62 [[ 9.83314180e-01 1.61625919e-01 8.34882326e-02 1.17639120e+02] [-1.61530192e-01 9.86835789e-01 -7.94498313e-03 -7.44208283e+00] [-8.36732910e-02 -5.67345566e-03 9.96477091e-01 -1.36172308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36629675699999 meters 0.19966674294402192 Centerline is valid? [False, False] Translation: X:117.63, Y:-7.44, Z:-13.62 [[ 9.84761190e-01 1.56369452e-01 7.61182779e-02 1.17633308e+02] [-1.56683727e-01 9.87647073e-01 -1.86259395e-03 -7.43901982e+00] [-7.54692471e-02 -1.00922853e-02 9.97097056e-01 -1.36157886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42629675699999 meters 0.1916107185224529 Centerline is valid? [False, False] Translation: X:117.63, Y:-7.43, Z:-13.62 [[ 9.86098138e-01 1.50943923e-01 6.94722615e-02 1.17625621e+02] [-1.51397059e-01 9.88472209e-01 1.27367133e-03 -7.43408557e+00] [-6.84791468e-02 -1.17738610e-02 9.97583071e-01 -1.36178052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48629675699999 meters 0.20191750266224193 Centerline is valid? [False, False] Translation: X:117.62, Y:-7.43, Z:-13.62 [[ 9.87590680e-01 1.43886904e-01 6.29381295e-02 1.17615959e+02] [-1.44440652e-01 9.89504058e-01 4.31481790e-03 -7.43078862e+00] [-6.16566888e-02 -1.33520984e-02 9.98008103e-01 -1.36150499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.546296757 meters 0.2129689162388328 Centerline is valid? [False, False] Translation: X:117.61, Y:-7.43, Z:-13.61 [[ 9.88159708e-01 1.39981922e-01 6.28128360e-02 1.17614947e+02] [-1.40235304e-01 9.90118133e-01 -3.78302002e-04 -7.42887840e+00] [-6.22450833e-02 -8.43475438e-03 9.98025252e-01 -1.36146405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.606296757 meters 0.21857309187183116 Centerline is valid? [False, False] Translation: X:117.61, Y:-7.43, Z:-13.61 [[ 9.88676903e-01 1.36317696e-01 6.27332960e-02 1.17613447e+02] [-1.36309069e-01 9.90656422e-01 -4.43740670e-03 -7.42741220e+00] [-6.27520397e-02 -4.16395565e-03 9.98020462e-01 -1.36131238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.666296757 meters 0.2198571670738735 Centerline is valid? [False, False] Translation: X:117.60, Y:-7.42, Z:-13.62 [[ 9.89350213e-01 1.27394497e-01 7.04045299e-02 1.17603726e+02] [-1.27289579e-01 9.91847491e-01 -5.99307503e-03 -7.42348418e+00] [-7.05940411e-02 -3.03251292e-03 9.97500519e-01 -1.36182239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72629675699999 meters 0.2194616283955779 Centerline is valid? [False, False] Translation: X:117.61, Y:-7.42, Z:-13.61 [[ 9.91108080e-01 1.22475088e-01 5.20060173e-02 1.17612653e+02] [-1.22328722e-01 9.92471501e-01 -6.00024827e-03 -7.42200833e+00] [-5.23493710e-02 -4.14935096e-04 9.98628745e-01 -1.36143921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78629675699999 meters 0.21969162418202343 Centerline is valid? [False, False] Translation: X:117.62, Y:-7.42, Z:-13.62 [[ 9.91315629e-01 1.21176398e-01 5.10842914e-02 1.17616411e+02] [-1.20890954e-01 9.92628084e-01 -8.65244931e-03 -7.41794533e+00] [-5.17561749e-02 2.40167953e-03 9.98656863e-01 -1.36187842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84629675699999 meters 0.21945540072200656 Centerline is valid? [False, False] Translation: X:117.63, Y:-7.41, Z:-13.62 [[ 9.92380923e-01 1.18864084e-01 3.24257973e-02 1.17626879e+02] [-1.18627430e-01 9.92896825e-01 -9.13389577e-03 -7.41280110e+00] [-3.32811634e-02 5.21771493e-03 9.99432409e-01 -1.36158254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90629675699999 meters 0.2171919300996049 Centerline is valid? [False, False] Translation: X:117.64, Y:-7.41, Z:-13.62 [[ 9.92581183e-01 1.18003117e-01 2.92892341e-02 1.17639262e+02] [-1.17829388e-01 9.93004815e-01 -7.59426478e-03 -7.40699400e+00] [-2.99804974e-02 4.08679180e-03 9.99542129e-01 -1.36181259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.966296757 meters 0.21719673467741415 Centerline is valid? [False, False] Translation: X:117.65, Y:-7.40, Z:-13.62 [[ 9.94213571e-01 1.02863519e-01 3.09592011e-02 1.17648653e+02] [-1.02629848e-01 9.94678459e-01 -9.04864266e-03 -7.39659822e+00] [-3.17252257e-02 5.81894521e-03 9.99479690e-01 -1.36214199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.026296757 meters 0.21561978573392276 Centerline is valid? [False, False] Translation: X:117.69, Y:-7.39, Z:-13.62 [[ 9.95372330e-01 9.48475872e-02 1.54227077e-02 1.17689216e+02] [-9.47064982e-02 9.95458598e-01 -9.63634023e-03 -7.39275682e+00] [-1.62666506e-02 8.13111579e-03 9.99834627e-01 -1.36175197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.086296757 meters 0.21007990922992179 Centerline is valid? [False, False] Translation: X:117.74, Y:-7.39, Z:-13.62 [[ 9.96429010e-01 8.44270300e-02 -1.14179875e-03 1.17740612e+02] [-8.44337637e-02 9.96391635e-01 -8.63998783e-03 -7.38963003e+00] [ 4.08230211e-04 8.70554089e-03 9.99962023e-01 -1.36159039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14629675699999 meters 0.2153439405367348 Centerline is valid? [False, False] Translation: X:117.79, Y:-7.38, Z:-13.62 [[ 9.97964983e-01 6.36077515e-02 -4.46613859e-03 1.17788975e+02] [-6.36507653e-02 9.97919499e-01 -1.02592854e-02 -7.38498183e+00] [ 3.80427670e-03 1.05226807e-02 9.99937398e-01 -1.36177519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20629675699999 meters 0.21057519497881091 Centerline is valid? [False, False] Translation: X:117.83, Y:-7.38, Z:-13.62 [[ 9.99048630e-01 4.33560730e-02 -4.69950800e-03 1.17833000e+02] [-4.34032034e-02 9.99003094e-01 -1.04393596e-02 -7.38176423e+00] [ 4.24221340e-03 1.06334016e-02 9.99934465e-01 -1.36185994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26629675699999 meters 0.2106224605190234 Centerline is valid? [False, False] Translation: X:117.83, Y:-7.38, Z:-13.62 [[ 9.99520293e-01 3.06425712e-02 4.49625438e-03 1.17829453e+02] [-3.06063542e-02 9.99500185e-01 -7.91401337e-03 -7.38309501e+00] [-4.73651280e-03 7.77260301e-03 9.99958575e-01 -1.36195105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.326296757 meters 0.21113443963723522 Centerline is valid? [False, False] Translation: X:117.83, Y:-7.38, Z:-13.62 [[ 9.99635282e-01 2.66609608e-02 4.30079108e-03 1.17829053e+02] [-2.66104020e-02 9.99580725e-01 -1.14132116e-02 -7.38488659e+00] [-4.60327505e-03 1.12946032e-02 9.99925618e-01 -1.36182597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.386296757 meters 0.2111469499999739 Centerline is valid? [False, False] Translation: X:117.85, Y:-7.38, Z:-13.61 [[ 9.99984181e-01 5.47559576e-03 -1.28676773e-03 1.17852758e+02] [-5.48282491e-03 9.99968819e-01 -5.68334744e-03 -7.38362241e+00] [ 1.25560789e-03 5.69031265e-03 9.99983022e-01 -1.36145788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.446296757 meters 0.20754204969248533 Centerline is valid? [False, False] Translation: X:117.85, Y:-7.38, Z:-13.62 [[ 9.99953976e-01 9.38912931e-03 -1.97223091e-03 1.17854760e+02] [-9.39205727e-03 9.99954797e-01 -1.48061475e-03 -7.38438567e+00] [ 1.95824007e-03 1.49906992e-03 9.99996959e-01 -1.36152489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50629675699999 meters 0.2023372505404432 Centerline is valid? [False, False] Translation: X:117.86, Y:-7.38, Z:-13.62 [[ 9.99958582e-01 8.74506276e-03 -2.52161920e-03 1.17857405e+02] [-8.75279775e-03 9.99956972e-01 -3.07292292e-03 -7.38100555e+00] [ 2.49463779e-03 3.09486687e-03 9.99992099e-01 -1.36183765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56629675699999 meters 0.20736207926453873 Centerline is valid? [False, False] Translation: X:117.86, Y:-7.38, Z:-13.62 [[ 9.99961938e-01 8.19313841e-03 -2.99902198e-03 1.17859460e+02] [-8.20545459e-03 9.99957857e-01 -4.11772484e-03 -7.37961618e+00] [ 2.96515850e-03 4.14217645e-03 9.99987025e-01 -1.36203467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62629675699999 meters 0.1996146059263451 Centerline is valid? [False, False] Translation: X:117.86, Y:-7.38, Z:-13.62 [[ 9.99963375e-01 8.02813090e-03 -2.96614009e-03 1.17859462e+02] [-8.04221839e-03 9.99956291e-01 -4.76843453e-03 -7.37793060e+00] [ 2.92772882e-03 4.79211423e-03 9.99984232e-01 -1.36205068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.686296757 meters 0.20135045924506453 Centerline is valid? [False, False] Translation: X:117.86, Y:-7.38, Z:-13.62 [[ 9.99964191e-01 7.97423721e-03 -2.83347286e-03 1.17859465e+02] [-7.98872861e-03 9.99954877e-01 -5.14039053e-03 -7.37692497e+00] [ 2.79235431e-03 5.16284231e-03 9.99982774e-01 -1.36210805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.746296757 meters 0.19437826364082134 Centerline is valid? [False, False] Translation: X:117.87, Y:-7.38, Z:-13.62 [[ 9.99995062e-01 2.91426386e-03 -1.17576297e-03 1.17873235e+02] [-2.91688250e-03 9.99993256e-01 -2.23165800e-03 -7.37819792e+00] [ 1.16925140e-03 2.23507655e-03 9.99996819e-01 -1.36231283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.806296757 meters 0.19976800920531465 Centerline is valid? [False, False] Translation: X:117.87, Y:-7.38, Z:-13.62 [[ 9.99994676e-01 2.89590359e-03 -1.50367392e-03 1.17874039e+02] [-2.89885858e-03 9.99993864e-01 -1.96673726e-03 -7.37936123e+00] [ 1.49796921e-03 1.97108572e-03 9.99996935e-01 -1.36232472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86629675699999 meters 0.1958166842997394 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.38, Z:-13.62 [[ 9.99994082e-01 2.51966580e-03 -2.34242237e-03 1.17876171e+02] [-2.52224308e-03 9.99996216e-01 -1.09796215e-03 -7.38357023e+00] [ 2.33964701e-03 1.10386381e-03 9.99996654e-01 -1.36234524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92629675699999 meters 0.1934604211135329 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.39, Z:-13.62 [[ 9.99992821e-01 2.26821181e-03 -3.03540159e-03 1.17877855e+02] [-2.26985954e-03 9.99997278e-01 -5.39501381e-04 -7.38626567e+00] [ 3.03416962e-03 5.46387443e-04 9.99995248e-01 -1.36236141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98629675699999 meters 0.19218045653808535 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.39, Z:-13.62 [[ 9.99994436e-01 -1.65714066e-03 -2.89523176e-03 1.17876905e+02] [ 1.64527460e-03 9.99990258e-01 -4.09606765e-03 -7.38787696e+00] [ 2.90199132e-03 4.09128140e-03 9.99987420e-01 -1.36223657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.046296757 meters 0.18641399775560236 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.39, Z:-13.62 [[ 9.99995116e-01 -1.39275984e-03 -2.79800396e-03 1.17876362e+02] [ 1.38265356e-03 9.99992526e-01 -3.61065175e-03 -7.38888824e+00] [ 2.80301182e-03 3.60676545e-03 9.99989567e-01 -1.36217313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.106296757 meters 0.18537673273977653 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.39, Z:-13.62 [[ 9.99991009e-01 2.72352570e-03 -3.25017652e-03 1.17877719e+02] [-2.72102360e-03 9.99995998e-01 7.74008118e-04 -7.38994014e+00] [ 3.25227154e-03 -7.65157352e-04 9.99994419e-01 -1.36222805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.166296757 meters 0.18055216507344737 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.39, Z:-13.62 [[ 9.99992714e-01 2.16706921e-03 -3.14269799e-03 1.17878398e+02] [-2.16957438e-03 9.99997331e-01 -7.93951517e-04 -7.38548899e+00] [ 3.14096906e-03 8.00764049e-04 9.99994747e-01 -1.36241491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22629675699999 meters 0.17638664727167994 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.38, Z:-13.63 [[ 9.99994255e-01 1.76693496e-03 -2.89273891e-03 1.17878410e+02] [-1.77286217e-03 9.99996332e-01 -2.04771359e-03 -7.38197543e+00] [ 2.88911012e-03 2.05283025e-03 9.99993719e-01 -1.36251972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28629675699999 meters 0.1772931504507972 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.38, Z:-13.63 [[ 9.99994818e-01 1.51774011e-03 -2.83899078e-03 1.17878446e+02] [-1.52580983e-03 9.99994796e-01 -2.84245923e-03 -7.37981335e+00] [ 2.83466189e-03 2.84677626e-03 9.99991930e-01 -1.36254584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34629675699999 meters 0.17557596927331745 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.38, Z:-13.63 [[ 9.99982591e-01 5.21351809e-03 -2.76347099e-03 1.17879062e+02] [-5.21375511e-03 9.99986405e-01 -7.85730077e-05 -7.37540204e+00] [ 2.76302378e-03 9.29797009e-05 9.99996179e-01 -1.36269342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40629675699999 meters 0.171621691495349 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.37, Z:-13.63 [[ 9.99985113e-01 4.70830615e-03 -2.75773537e-03 1.17879853e+02] [-4.71195526e-03 9.99988030e-01 -1.31822772e-03 -7.37213721e+00] [ 2.75149574e-03 1.33120242e-03 9.99995329e-01 -1.36284811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.466296757 meters 0.16941745541856137 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.37, Z:-13.63 [[ 9.99986723e-01 4.08130251e-03 -3.14607310e-03 1.17882014e+02] [-4.08835399e-03 9.99989138e-01 -2.23819633e-03 -7.37094974e+00] [ 3.13690417e-03 2.25102887e-03 9.99992546e-01 -1.36307788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.526296757 meters 0.16609510730191404 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.37, Z:-13.63 [[ 9.99988561e-01 3.57132863e-03 -3.18189641e-03 1.17882903e+02] [-3.58193891e-03 9.99988023e-01 -3.33514189e-03 -7.36790599e+00] [ 3.16994741e-03 3.34650109e-03 9.99989376e-01 -1.36323290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.586296757 meters 0.1649345927782865 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.37, Z:-13.63 [[ 9.99989495e-01 3.46301212e-03 -3.00278081e-03 1.17882330e+02] [-3.47461104e-03 9.99986490e-01 -3.86615335e-03 -7.36561899e+00] [ 2.98935171e-03 3.87654623e-03 9.99988018e-01 -1.36320304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64629675699999 meters 0.16135420110117246 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.37, Z:-13.63 [[ 9.99987842e-01 3.43586789e-03 -3.53705396e-03 1.17883564e+02] [-3.44801487e-03 9.99988160e-01 -3.43385911e-03 -7.36776198e+00] [ 3.52521379e-03 3.44601318e-03 9.99987849e-01 -1.36319991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70629675699999 meters 0.159472117687745 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.37, Z:-13.63 [[ 9.99988679e-01 3.10364122e-03 -3.60677694e-03 1.17884224e+02] [-3.11835710e-03 9.99986808e-01 -4.08162712e-03 -7.36605510e+00] [ 3.59406145e-03 4.09282813e-03 9.99985166e-01 -1.36329835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76629675699999 meters 0.15714649959239022 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.37, Z:-13.63 [[ 9.99989040e-01 3.03117299e-03 -3.56813163e-03 1.17884112e+02] [-3.04633772e-03 9.99986319e-01 -4.25231526e-03 -7.36518160e+00] [ 3.55519331e-03 4.26313839e-03 9.99984593e-01 -1.36330014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.826296757 meters 0.15741048001803787 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.37, Z:-13.63 [[ 9.99987675e-01 3.23783055e-03 -3.76374593e-03 1.17884020e+02] [-3.25166350e-03 9.99987960e-01 -3.67502530e-03 -7.36701621e+00] [ 3.75180151e-03 3.68721844e-03 9.99986164e-01 -1.36320134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.886296757 meters 0.1575566797708713 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.36, Z:-13.63 [[ 9.99989689e-01 2.59958994e-03 -3.72339300e-03 1.17884867e+02] [-2.61860535e-03 9.99983509e-01 -5.11127564e-03 -7.36255933e+00] [ 3.71004437e-03 5.12097303e-03 9.99980005e-01 -1.36338669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.946296757 meters 0.15840900014340667 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.36, Z:-13.63 [[ 9.99990894e-01 2.35035157e-03 -3.56193203e-03 1.17884636e+02] [-2.37130045e-03 9.99979851e-01 -5.88855664e-03 -7.35997536e+00] [ 3.54802008e-03 5.89694943e-03 9.99976318e-01 -1.36342162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00629675699999 meters 0.16011021102057257 Centerline is valid? [False, False] Translation: X:117.89, Y:-7.36, Z:-13.63 [[ 9.99990651e-01 2.13354076e-03 -3.76098384e-03 1.17885403e+02] [-2.15722762e-03 9.99977795e-01 -6.30528394e-03 -7.35926208e+00] [ 3.74744774e-03 6.31333829e-03 9.99973049e-01 -1.36347184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06629675699999 meters 0.16225413781666562 Centerline is valid? [False, False] Translation: X:117.89, Y:-7.36, Z:-13.64 [[ 9.99991205e-01 1.83133970e-03 -3.77313457e-03 1.17885854e+02] [-1.85790477e-03 9.99973429e-01 -7.04914756e-03 -7.35716084e+00] [ 3.76012493e-03 7.05609569e-03 9.99968036e-01 -1.36356012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12629675699999 meters 0.1651771496499823 Centerline is valid? [False, False] Translation: X:117.89, Y:-7.36, Z:-13.64 [[ 9.99974439e-01 6.17181601e-03 -3.60969468e-03 1.17885375e+02] [-6.18240757e-03 9.99976595e-01 -2.93043729e-03 -7.35632425e+00] [ 3.59152408e-03 2.95267899e-03 9.99989191e-01 -1.36353156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.186296757 meters 0.16802059054047047 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.35, Z:-13.64 [[ 9.99976850e-01 5.93364850e-03 -3.33030836e-03 1.17884956e+02] [-5.94677744e-03 9.99974531e-01 -3.94630052e-03 -7.35298793e+00] [ 3.30680758e-03 3.96601376e-03 9.99986668e-01 -1.36357668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.246296757 meters 0.1713705883533108 Centerline is valid? [False, False] Translation: X:117.89, Y:-7.35, Z:-13.64 [[ 9.99978709e-01 5.62407319e-03 -3.30934716e-03 1.17885716e+02] [-5.64120109e-03 9.99970624e-01 -5.18924373e-03 -7.34887326e+00] [ 3.28006526e-03 5.20780193e-03 9.99981060e-01 -1.36374906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.306296757 meters 0.1766447518414874 Centerline is valid? [False, False] Translation: X:117.89, Y:-7.35, Z:-13.64 [[ 9.99978311e-01 5.26804936e-03 -3.95296564e-03 1.17887801e+02] [-5.28896384e-03 9.99971972e-01 -5.29916391e-03 -7.34969172e+00] [ 3.92493859e-03 5.31995607e-03 9.99978146e-01 -1.36384320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36629675699999 meters 0.18366593169012663 Centerline is valid? [False, False] Translation: X:117.90, Y:-7.35, Z:-13.64 [[ 9.99989464e-01 -3.41012515e-03 3.07302312e-03 1.17897619e+02] [ 3.42494156e-03 9.99982474e-01 -4.82914768e-03 -7.35163178e+00] [-3.05650126e-03 4.83962172e-03 9.99983618e-01 -1.36402014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42629675699999 meters 0.19430067396217934 Centerline is valid? [False, False] Translation: X:117.92, Y:-7.35, Z:-13.64 [[ 9.99977453e-01 -3.32665127e-03 5.83318060e-03 1.17922945e+02] [ 3.37048100e-03 9.99966043e-01 -7.52020219e-03 -7.35334391e+00] [-5.80796543e-03 7.53969326e-03 9.99954709e-01 -1.36403856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48629675699999 meters 0.20947606875831845 Centerline is valid? [False, False] Translation: X:117.95, Y:-7.35, Z:-13.64 [[ 9.99965974e-01 -4.33177749e-03 7.02050155e-03 1.17952296e+02] [ 4.39986529e-03 9.99943156e-01 -9.71217261e-03 -7.35497517e+00] [-6.97803150e-03 9.74273140e-03 9.99928191e-01 -1.36398737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.546296757 meters 0.23234976862832157 Centerline is valid? [False, False] Translation: X:117.95, Y:-7.36, Z:-13.64 [[ 9.99969881e-01 -4.42696671e-03 6.37488336e-03 1.17953560e+02] [ 4.48265879e-03 9.99951683e-01 -8.74854720e-03 -7.35855261e+00] [-6.33584582e-03 8.77686013e-03 9.99941410e-01 -1.36394544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.606296757 meters 0.2613832638019764 Centerline is valid? [False, False] Translation: X:117.98, Y:-7.36, Z:-13.64 [[ 9.99939874e-01 -4.38138010e-03 1.00524340e-02 1.17978616e+02] [ 4.50614758e-03 9.99912681e-01 -1.24227745e-02 -7.35846508e+00] [-9.99712730e-03 1.24673253e-02 9.99872303e-01 -1.36422311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.666296757 meters 0.2638782796060731 Centerline is valid? [False, False] Translation: X:117.98, Y:-7.36, Z:-13.64 [[ 9.99941147e-01 -4.43349335e-03 9.90183967e-03 1.17979102e+02] [ 4.55585783e-03 9.99913115e-01 -1.23695757e-02 -7.35876653e+00] [-9.84613892e-03 1.24139591e-02 9.99874466e-01 -1.36424115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72629675699999 meters 0.27275517904222796 Centerline is valid? [False, False] Translation: X:117.98, Y:-7.36, Z:-13.64 [[ 9.99941391e-01 -4.51816926e-03 9.83870875e-03 1.17979590e+02] [ 4.63954565e-03 9.99912985e-01 -1.23489402e-02 -7.35915970e+00] [-9.78205803e-03 1.23938636e-02 9.99875344e-01 -1.36429152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78629675699999 meters 0.27827067081353557 Centerline is valid? [False, False] Translation: X:117.98, Y:-7.36, Z:-13.65 [[ 9.99949974e-01 -4.09740831e-03 9.12472311e-03 1.17983812e+02] [ 4.20786434e-03 9.99917708e-01 -1.21190210e-02 -7.35902921e+00] [-9.07431565e-03 1.21568104e-02 9.99884928e-01 -1.36468656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84629675699999 meters 0.2841717604203978 Centerline is valid? [False, False] Translation: X:117.98, Y:-7.36, Z:-13.64 [[ 9.99985256e-01 -2.68892576e-04 -5.42359634e-03 1.17983329e+02] [ 2.27973385e-04 9.99971519e-01 -7.54386770e-03 -7.36012970e+00] [ 5.42547036e-03 7.54252004e-03 9.99956836e-01 -1.36424656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90629675699999 meters 0.2838933178227876 Centerline is valid? [False, False] Translation: X:117.98, Y:-7.36, Z:-13.64 [[ 9.99988490e-01 1.56786400e-04 -4.79532165e-03 1.17982275e+02] [-1.94778937e-04 9.99968590e-01 -7.92339353e-03 -7.35933727e+00] [ 4.79392875e-03 7.92423636e-03 9.99957111e-01 -1.36435112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.966296757 meters 0.2975032474369749 Centerline is valid? [False, False] Translation: X:117.98, Y:-7.36, Z:-13.64 [[ 9.99989157e-01 5.72920860e-04 -4.62151912e-03 1.17981748e+02] [-6.06861907e-04 9.99972833e-01 -7.34607617e-03 -7.36117402e+00] [ 4.61718485e-03 7.34880114e-03 9.99962338e-01 -1.36434505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.026296757 meters 0.2970204150958635 Centerline is valid? [False, False] Translation: X:117.98, Y:-7.36, Z:-13.64 [[ 9.99991834e-01 1.23094067e-03 -3.84920118e-03 1.17979912e+02] [-1.25777242e-03 9.99974876e-01 -6.97609778e-03 -7.36207521e+00] [ 3.84051731e-03 6.98088223e-03 9.99968258e-01 -1.36437164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.086296757 meters 0.28582499998566896 Centerline is valid? [False, False] Translation: X:117.98, Y:-7.36, Z:-13.64 [[ 9.99992783e-01 1.72982081e-03 -3.38264846e-03 1.17978236e+02] [-1.75223214e-03 9.99976462e-01 -6.63367987e-03 -7.36218160e+00] [ 3.37109376e-03 6.63955918e-03 9.99972276e-01 -1.36428321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14629675699999 meters 0.2806801176019499 Centerline is valid? [False, False] Translation: X:117.98, Y:-7.36, Z:-13.64 [[ 9.99994351e-01 -1.78796864e-03 -2.84637704e-03 1.17975934e+02] [ 1.75890802e-03 9.99946639e-01 -1.01796599e-02 -7.36321664e+00] [ 2.86442607e-03 1.01745959e-02 9.99944135e-01 -1.36411230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20629675699999 meters 0.2741862952359374 Centerline is valid? [False, False] Translation: X:117.95, Y:-7.36, Z:-13.65 [[ 9.99979361e-01 -3.38084713e-03 5.46331459e-03 1.17952592e+02] [ 3.43211552e-03 9.99949909e-01 -9.40215009e-03 -7.36129653e+00] [-5.43125370e-03 9.42070676e-03 9.99940874e-01 -1.36456962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26629675699999 meters 0.2605796425879345 Centerline is valid? [False, False] Translation: X:117.93, Y:-7.36, Z:-13.64 [[ 9.99981558e-01 6.07297532e-03 -5.80452633e-05 1.17930579e+02] [-6.07320860e-03 9.99892192e-01 -1.33686694e-02 -7.36205336e+00] [-2.31485937e-05 1.33687754e-02 9.99910634e-01 -1.36418184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.326296757 meters 0.25462695334435403 Centerline is valid? [False, False] Translation: X:117.92, Y:-7.36, Z:-13.64 [[ 9.99970264e-01 3.84540018e-03 -6.68458809e-03 1.17919858e+02] [-3.87460392e-03 9.99982983e-01 -4.36137101e-03 -7.36471890e+00] [ 6.66770312e-03 4.38714145e-03 9.99968147e-01 -1.36372046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.386296757 meters 0.24168614541195008 Centerline is valid? [False, False] Translation: X:117.90, Y:-7.36, Z:-13.64 [[ 9.99989614e-01 4.33279813e-03 -1.41344802e-03 1.17895099e+02] [-4.33453789e-03 9.99989849e-01 -1.23013024e-03 -7.36209968e+00] [ 1.40810376e-03 1.23624411e-03 9.99998244e-01 -1.36389953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.446296757 meters 0.23091626069019902 Centerline is valid? [False, False] Translation: X:117.89, Y:-7.36, Z:-13.64 [[ 9.99988700e-01 4.51781418e-03 -1.47930358e-03 1.17894834e+02] [-4.51914292e-03 9.99989387e-01 -8.96112515e-04 -7.36254983e+00] [ 1.47523941e-03 9.02787573e-04 9.99998504e-01 -1.36382394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50629675699999 meters 0.22256369628600967 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.36, Z:-13.64 [[ 9.99975538e-01 -1.12329639e-04 -6.99368069e-03 1.17882003e+02] [ 1.39655414e-04 9.99992359e-01 3.90684364e-03 -7.36479557e+00] [ 6.99318839e-03 -3.90772477e-03 9.99967912e-01 -1.36351239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56629675699999 meters 0.21225665411624015 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.36, Z:-13.64 [[ 9.99977708e-01 -1.80556564e-04 -6.67470869e-03 1.17881776e+02] [ 2.00958219e-04 9.99995310e-01 3.05601679e-03 -7.36230588e+00] [ 6.67412561e-03 -3.05729000e-03 9.99973054e-01 -1.36361499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62629675699999 meters 0.2067280757303183 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.36, Z:-13.64 [[ 9.99978823e-01 -8.11622179e-05 -6.50747346e-03 1.17881421e+02] [ 1.00125136e-04 9.99995750e-01 2.91374879e-03 -7.36164007e+00] [ 6.50720932e-03 -2.91433864e-03 9.99974581e-01 -1.36362338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.686296757 meters 0.19491983378361447 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.36, Z:-13.64 [[ 9.99972172e-01 -4.00391650e-03 -6.29476132e-03 1.17880860e+02] [ 3.99836710e-03 9.99991607e-01 -8.93927132e-04 -7.36267484e+00] [ 6.29828769e-03 8.68733489e-04 9.99979788e-01 -1.36360644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.746296757 meters 0.18464292488018638 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.37, Z:-13.64 [[ 9.99974197e-01 -3.52379531e-03 -6.26002846e-03 1.17880463e+02] [ 3.52544000e-03 9.99993754e-01 2.51713982e-04 -7.36542568e+00] [ 6.25910237e-03 -2.73776842e-04 9.99980374e-01 -1.36353551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.806296757 meters 0.17032511946927872 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.37, Z:-13.63 [[ 9.99975542e-01 -3.28102178e-03 -6.17665753e-03 1.17880093e+02] [ 3.28543214e-03 9.99994355e-01 7.04026304e-04 -7.36628417e+00] [ 6.17431273e-03 -7.24302074e-04 9.99980676e-01 -1.36349923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86629675699999 meters 0.12295630184839787 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.37, Z:-13.63 [[ 9.99976259e-01 -2.85123269e-03 -6.27312823e-03 1.17880041e+02] [ 2.86295744e-03 9.99994170e-01 1.86085709e-03 -7.36956863e+00] [ 6.26778593e-03 -1.87877261e-03 9.99978592e-01 -1.36345274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92629675699999 meters 0.11203252375089201 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.37, Z:-13.63 [[ 9.99975848e-01 -2.71758864e-03 -6.39669184e-03 1.17880287e+02] [ 2.73363135e-03 9.99993137e-01 2.50056406e-03 -7.37140957e+00] [ 6.38985244e-03 -2.51798986e-03 9.99976414e-01 -1.36344899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98629675699999 meters 0.10305175077166459 Centerline is valid? [False, False] Translation: X:117.88, Y:-7.37, Z:-13.63 [[ 9.99977792e-01 -2.19338984e-03 -6.29325565e-03 1.17879627e+02] [ 2.21507397e-03 9.99991627e-01 3.44071591e-03 -7.37357563e+00] [ 6.28565612e-03 -3.45457953e-03 9.99974278e-01 -1.36336888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.046296757 meters 0.09590359048972454 Centerline is valid? [False, True] Translation: X:117.88, Y:-7.37, Z:-13.63 [[ 9.99978860e-01 -1.85909071e-03 -6.23079016e-03 1.17879276e+02] [ 1.88388122e-03 9.99990324e-01 3.97520579e-03 -7.37482021e+00] [ 6.22333961e-03 -3.98685982e-03 9.99972687e-01 -1.36333476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.106296757 meters 0.08904266437996686 Centerline is valid? [True, True] Translation: X:117.94, Y:-7.37, Z:-13.63 [[ 9.99917838e-01 4.21184432e-03 1.21069368e-02 1.17939979e+02] [-4.21439047e-03 9.99991102e-01 1.84799592e-04 -7.36808378e+00] [-1.21060507e-02 -2.35807767e-04 9.99926691e-01 -1.36300103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.166296757 meters 0.08374981329763594 Centerline is valid? [True, True] Translation: X:118.00, Y:-7.36, Z:-13.63 [[ 9.99277800e-01 9.47879167e-03 3.67971647e-02 1.18000220e+02] [-9.50596792e-03 9.99954658e-01 5.63652636e-04 -7.36379208e+00] [-3.67901535e-02 -9.13038233e-04 9.99322596e-01 -1.36330727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22629675699999 meters 0.08050865249397157 Centerline is valid? [True, True] Translation: X:118.06, Y:-7.36, Z:-13.64 [[ 9.98421508e-01 1.50414949e-02 5.41132771e-02 1.18060491e+02] [-1.51084292e-02 9.99885518e-01 8.28036799e-04 -7.35921656e+00] [-5.40946272e-02 -1.64429637e-03 9.98534460e-01 -1.36358253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28629675699999 meters 0.07973994300757249 Centerline is valid? [True, True] Translation: X:118.12, Y:-7.35, Z:-13.64 [[ 9.97101556e-01 2.13141936e-02 7.30355497e-02 1.18119109e+02] [-2.14529822e-02 9.99769235e-01 1.11626363e-03 -7.34570530e+00] [-7.29949034e-02 -2.67985855e-03 9.97328713e-01 -1.36442780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34629675699999 meters 0.07551368385039879 Centerline is valid? [True, True] Translation: X:118.18, Y:-7.35, Z:-13.64 [[ 9.95295317e-01 2.75429113e-02 9.28903689e-02 1.18180869e+02] [-2.77948975e-02 9.99612639e-01 1.41983590e-03 -7.34594117e+00] [-9.28152803e-02 -3.99503430e-03 9.95675330e-01 -1.36387421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40629675699999 meters 0.07519750867010518 Centerline is valid? [True, True] Translation: X:118.24, Y:-7.34, Z:-13.64 [[ 9.95063741e-01 3.03698432e-02 9.44765784e-02 1.18242471e+02] [-3.06432633e-02 9.99529341e-01 1.44428184e-03 -7.34414031e+00] [-9.43882496e-02 -4.33222315e-03 9.95526037e-01 -1.36444913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.466296757 meters 0.07486872703397202 Centerline is valid? [True, True] Translation: X:118.30, Y:-7.34, Z:-13.65 [[ 9.95220891e-01 3.01389204e-02 9.28817771e-02 1.18304756e+02] [-3.04018538e-02 9.99536753e-01 1.41687035e-03 -7.34363580e+00] [-9.27960470e-02 -4.23387718e-03 9.95676136e-01 -1.36523578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.526296757 meters 0.0741366821798784 Centerline is valid? [True, True] Translation: X:118.37, Y:-7.34, Z:-13.66 [[ 9.95399485e-01 2.95113349e-02 9.11534193e-02 1.18366508e+02] [-2.97595428e-02 9.99556155e-01 1.36470137e-03 -7.34463790e+00] [-9.10726871e-02 -4.07110712e-03 9.95835926e-01 -1.36603076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.586296757 meters 0.07458176503518466 Centerline is valid? [True, True] Translation: X:118.43, Y:-7.34, Z:-13.67 [[ 9.95456889e-01 2.84912870e-02 9.08505831e-02 1.18427221e+02] [-2.87314940e-02 9.99586271e-01 1.33696840e-03 -7.34227599e+00] [-9.07749036e-02 -3.94116739e-03 9.95863637e-01 -1.36679420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64629675699999 meters 0.07222608853104968 Centerline is valid? [True, True] Translation: X:118.49, Y:-7.35, Z:-13.67 [[ 9.95647998e-01 2.34947299e-02 9.01834904e-02 1.18487954e+02] [-2.37087254e-02 9.99718061e-01 1.30222418e-03 -7.35197345e+00] [-9.01274687e-02 -3.43469251e-03 9.95924316e-01 -1.36730608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70629675699999 meters 0.07134650594312779 Centerline is valid? [True, True] Translation: X:118.55, Y:-7.36, Z:-13.68 [[ 9.95659439e-01 1.72926158e-02 9.14507908e-02 1.18547531e+02] [-1.74864289e-02 9.99846231e-01 1.31842740e-03 -7.35508065e+00] [-9.14139295e-02 -2.91185243e-03 9.95808724e-01 -1.36797867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76629675699999 meters 0.07049241139425017 Centerline is valid? [True, True] Translation: X:118.61, Y:-7.36, Z:-13.69 [[ 9.95662172e-01 1.18466050e-02 9.22848751e-02 1.18608039e+02] [-1.20206927e-02 9.99926863e-01 1.33077527e-03 -7.36053056e+00] [-9.22623605e-02 -2.43433071e-03 9.95731756e-01 -1.36854860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.826296757 meters 0.06974378879125628 Centerline is valid? [True, True] Translation: X:118.67, Y:-7.37, Z:-13.69 [[ 9.95666676e-01 9.36743205e-03 9.25209265e-02 1.18669941e+02] [-9.53197239e-03 9.99953676e-01 1.33666130e-03 -7.36601503e+00] [-9.25041195e-02 -2.21277603e-03 9.95709843e-01 -1.36912138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.886296757 meters 0.06973230170626735 Centerline is valid? [True, True] Translation: X:118.73, Y:-7.37, Z:-13.70 [[ 9.95697358e-01 9.96330780e-03 9.21276440e-02 1.18731794e+02] [-1.01267858e-02 9.99947868e-01 1.30715868e-03 -7.36582854e+00] [-9.21098176e-02 -2.23449136e-03 9.95746347e-01 -1.36991652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.946296757 meters 0.06967235601810134 Centerline is valid? [True, True] Translation: X:118.79, Y:-7.37, Z:-13.71 [[ 9.95622755e-01 1.34484567e-02 9.24903676e-02 1.18793201e+02] [-1.36259776e-02 9.99906332e-01 1.28809489e-03 -7.36510835e+00] [-9.24643814e-02 -2.54272826e-03 9.95712746e-01 -1.37056201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00629675699999 meters 0.07037684326535168 Centerline is valid? [True, True] Translation: X:118.85, Y:-7.36, Z:-13.71 [[ 9.95447098e-01 1.80566709e-02 9.35897008e-02 1.18854036e+02] [-1.82563884e-02 9.99832521e-01 1.27815374e-03 -7.36043946e+00] [-9.35509473e-02 -2.98094436e-03 9.95610031e-01 -1.37134460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06629675699999 meters 0.07137898736946187 Centerline is valid? [True, True] Translation: X:118.91, Y:-7.36, Z:-13.72 [[ 9.95780577e-01 2.17492115e-02 8.91516345e-02 1.18913212e+02] [-2.19428287e-02 9.99758516e-01 1.19216237e-03 -7.35523822e+00] [-8.91041772e-02 -3.14337117e-03 9.96017352e-01 -1.37234493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12629675699999 meters 0.07160689206338709 Centerline is valid? [True, True] Translation: X:118.98, Y:-7.36, Z:-13.73 [[ 9.95894365e-01 2.13021353e-02 8.79808646e-02 1.18975811e+02] [-2.14894985e-02 9.99768374e-01 1.18286270e-03 -7.35521312e+00] [-8.79352885e-02 -3.06867095e-03 9.96121463e-01 -1.37320631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.186296757 meters 0.07094799708840645 Centerline is valid? [True, True] Translation: X:119.04, Y:-7.36, Z:-13.74 [[ 9.95840331e-01 1.83827017e-02 8.92418748e-02 1.19037680e+02] [-1.85609880e-02 9.99827047e-01 1.16826450e-03 -7.35867515e+00] [-8.92049643e-02 -2.81982228e-03 9.96009299e-01 -1.37368327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.246296757 meters 0.07047206283198253 Centerline is valid? [True, True] Translation: X:119.10, Y:-7.36, Z:-13.74 [[ 9.95858048e-01 1.62481498e-02 8.94580687e-02 1.19098092e+02] [-1.64186006e-02 9.99864521e-01 1.16978861e-03 -7.36082003e+00] [-8.94269422e-02 -2.63371970e-03 9.95989902e-01 -1.37429117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.306296757 meters 0.07043518192155333 Centerline is valid? [True, True] Translation: X:119.16, Y:-7.36, Z:-13.75 [[ 9.95938265e-01 1.57318785e-02 8.86537151e-02 1.19160196e+02] [-1.58954470e-02 9.99873010e-01 1.13929958e-03 -7.36160440e+00] [-8.86245337e-02 -2.54386247e-03 9.96061856e-01 -1.37503064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36629675699999 meters 0.07046715409727429 Centerline is valid? [True, True] Translation: X:119.22, Y:-7.36, Z:-13.76 [[ 9.96066351e-01 1.46448532e-02 8.73919450e-02 1.19220523e+02] [-1.47973834e-02 9.99889910e-01 1.09775230e-03 -7.36145079e+00] [-8.73662476e-02 -2.38660624e-03 9.96173400e-01 -1.37576789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42629675699999 meters 0.06995472352610967 Centerline is valid? [True, True] Translation: X:119.28, Y:-7.36, Z:-13.76 [[ 9.96057069e-01 1.30891828e-02 8.77438808e-02 1.19282159e+02] [-1.32352014e-02 9.99911825e-01 1.08255120e-03 -7.36418437e+00] [-8.77219742e-02 -2.23959071e-03 9.96142480e-01 -1.37638166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48629675699999 meters 0.06920372664132107 Centerline is valid? [True, True] Translation: X:119.34, Y:-7.37, Z:-13.77 [[ 9.96135685e-01 1.01654981e-02 8.72373707e-02 1.19343996e+02] [-1.02968064e-02 9.99946430e-01 1.05531304e-03 -7.36729326e+00] [-8.72219696e-02 -1.94950129e-03 9.96186994e-01 -1.37708414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.546296757 meters 0.06921452603638178 Centerline is valid? [True, True] Translation: X:119.40, Y:-7.37, Z:-13.78 [[ 9.96470386e-01 7.36773571e-03 8.36210865e-02 1.19404406e+02] [-7.47688421e-03 9.99971555e-01 9.92184607e-04 -7.36865240e+00] [-8.36113978e-02 -1.61390776e-03 9.96497130e-01 -1.37808942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.606296757 meters 0.06915731542011512 Centerline is valid? [True, True] Translation: X:119.47, Y:-7.37, Z:-13.79 [[ 9.96630515e-01 5.34067683e-03 8.18479969e-02 1.19465438e+02] [-5.43706341e-03 9.99984763e-01 9.54792328e-04 -7.37129431e+00] [-8.18416506e-02 -1.39658792e-03 9.96644367e-01 -1.37893035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.666296757 meters 0.06939670150942567 Centerline is valid? [True, True] Translation: X:119.53, Y:-7.37, Z:-13.80 [[ 9.96767592e-01 5.70949312e-03 8.01359388e-02 1.19526842e+02] [-5.80149649e-03 9.99982752e-01 9.15307783e-04 -7.37217110e+00] [-8.01293307e-02 -1.37725750e-03 9.96783524e-01 -1.37957086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72629675699999 meters 0.06883679918448006 Centerline is valid? [True, True] Translation: X:119.59, Y:-7.37, Z:-13.80 [[ 9.96592743e-01 8.08486484e-03 8.20825132e-02 1.19589552e+02] [-8.18791961e-03 9.99966056e-01 9.18963735e-04 -7.37313418e+00] [-8.20722973e-02 -1.58791761e-03 9.96625113e-01 -1.37958482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78629675699999 meters 0.0686901106996868 Centerline is valid? [True, True] Translation: X:119.65, Y:-7.37, Z:-13.80 [[ 9.96803480e-01 1.29406668e-02 7.88375633e-02 1.19650645e+02] [-1.30488354e-02 9.99914493e-01 8.57005748e-04 -7.37396331e+00] [-7.88197319e-02 -1.88300470e-03 9.96887107e-01 -1.37990721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84629675699999 meters 0.06967200849867036 Centerline is valid? [True, True] Translation: X:119.71, Y:-7.37, Z:-13.81 [[ 9.96920407e-01 1.71833228e-02 7.65142823e-02 1.19709386e+02] [-1.72974974e-02 9.99850043e-01 8.29677109e-04 -7.36927583e+00] [-7.64885518e-02 -2.15062764e-03 9.97068140e-01 -1.38098233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90629675699999 meters 0.07016985444063499 Centerline is valid? [True, True] Translation: X:119.77, Y:-7.37, Z:-13.82 [[ 9.97052150e-01 2.12748680e-02 7.37183223e-02 1.19769998e+02] [-2.13920321e-02 9.99770844e-01 8.00057753e-04 -7.36904293e+00] [-7.36844082e-02 -2.37468402e-03 9.97278782e-01 -1.38164116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.966296757 meters 0.06979848817783964 Centerline is valid? [True, True] Translation: X:119.83, Y:-7.37, Z:-13.82 [[ 9.96939625e-01 1.95277885e-02 7.56970907e-02 1.19831306e+02] [-1.96463710e-02 9.99806653e-01 8.22130749e-04 -7.37229278e+00] [-7.56664005e-02 -2.30678785e-03 9.97130520e-01 -1.38226308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.026296757 meters 0.06928047629165823 Centerline is valid? [True, True] Translation: X:119.89, Y:-7.38, Z:-13.83 [[ 9.96989126e-01 1.59544794e-02 7.58823958e-02 1.19891673e+02] [-1.60626781e-02 9.99870654e-01 8.15730676e-04 -7.37652759e+00] [-7.58595661e-02 -2.03214911e-03 9.97116441e-01 -1.38275930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.086296757 meters 0.06907832816858683 Centerline is valid? [True, True] Translation: X:119.95, Y:-7.38, Z:-13.84 [[ 9.97038301e-01 1.06070014e-02 7.61716341e-02 1.19952914e+02] [-1.07004363e-02 9.99942414e-01 8.18602391e-04 -7.38158367e+00] [-7.61585647e-02 -1.63124766e-03 9.97094385e-01 -1.38354114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14629675699999 meters 0.06892180188120046 Centerline is valid? [True, True] Translation: X:120.01, Y:-7.39, Z:-13.84 [[ 9.96983329e-01 6.78709531e-03 7.73186657e-02 1.20013234e+02] [-6.87152656e-03 9.99976050e-01 8.25992854e-04 -7.38556016e+00] [-7.73112078e-02 -1.35479837e-03 9.97006089e-01 -1.38429682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20629675699999 meters 0.06840414590818952 Centerline is valid? [True, True] Translation: X:120.08, Y:-7.39, Z:-13.85 [[ 9.97057790e-01 4.59619444e-03 7.65156028e-02 1.20075249e+02] [-4.67278912e-03 9.99988745e-01 8.22029490e-04 -7.39077326e+00] [-7.65109634e-02 -1.17715218e-03 9.97068045e-01 -1.38462580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26629675699999 meters 0.06831278476896693 Centerline is valid? [True, True] Translation: X:120.14, Y:-7.40, Z:-13.85 [[ 9.97154657e-01 3.02416282e-03 7.53222731e-02 1.20136818e+02] [-3.09247395e-03 9.99994906e-01 7.90302575e-04 -7.39524009e+00] [-7.53194995e-02 -1.02098606e-03 9.97158929e-01 -1.38514935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.326296757 meters 0.06859012203334955 Centerline is valid? [True, True] Translation: X:120.20, Y:-7.39, Z:-13.86 [[ 9.97101928e-01 5.00577831e-03 7.59123642e-02 1.20197895e+02] [-5.07940695e-03 9.99986798e-01 7.76872718e-04 -7.39311041e+00] [-7.59074731e-02 -1.16021108e-03 9.97114191e-01 -1.38615950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.386296757 meters 0.06905812312342809 Centerline is valid? [True, True] Translation: X:120.26, Y:-7.39, Z:-13.87 [[ 9.97150205e-01 1.07889543e-02 7.46663662e-02 1.20258400e+02] [-1.08741561e-02 9.99940605e-01 7.34647201e-04 -7.38945807e+00] [-7.46540053e-02 -1.54448733e-03 9.97208300e-01 -1.38678538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.446296757 meters 0.07006500982667896 Centerline is valid? [True, True] Translation: X:120.32, Y:-7.38, Z:-13.88 [[ 9.97177580e-01 1.91541406e-02 7.25947187e-02 1.20319107e+02] [-1.92566691e-02 9.99814319e-01 7.12649984e-04 -7.38285322e+00] [-7.25675891e-02 -2.10857106e-03 9.97361268e-01 -1.38750371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50629675699999 meters 0.07094913735047002 Centerline is valid? [True, True] Translation: X:120.38, Y:-7.38, Z:-13.88 [[ 9.97147612e-01 2.20958874e-02 7.21693199e-02 1.20378858e+02] [-2.22051747e-02 9.99753181e-01 7.12259395e-04 -7.37902542e+00] [-7.21357691e-02 -2.31276011e-03 9.97392141e-01 -1.38844883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56629675699999 meters 0.07296085415119194 Centerline is valid? [True, True] Translation: X:120.44, Y:-7.37, Z:-13.90 [[ 9.97219100e-01 2.91307834e-02 6.85963873e-02 1.20438481e+02] [-2.92452820e-02 9.99572044e-01 6.65298735e-04 -7.37200908e+00] [-6.85476503e-02 -2.66956930e-03 9.97644272e-01 -1.38952524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62629675699999 meters 0.07276532776190017 Centerline is valid? [True, True] Translation: X:120.50, Y:-7.37, Z:-13.90 [[ 9.97052294e-01 2.90480624e-02 7.10136169e-02 1.20500186e+02] [-2.91704246e-02 9.99574217e-01 6.86411316e-04 -7.37304370e+00] [-7.09634416e-02 -2.75588534e-03 9.97475110e-01 -1.39010377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.686296757 meters 0.07162276998454879 Centerline is valid? [True, True] Translation: X:120.56, Y:-7.38, Z:-13.91 [[ 9.96947167e-01 2.40752298e-02 7.42746835e-02 1.20559765e+02] [-2.41948662e-02 9.99707008e-01 7.11243816e-04 -7.37830614e+00] [-7.42357983e-02 -2.50613854e-03 9.97237567e-01 -1.39053000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.746296757 meters 0.07024980619045702 Centerline is valid? [True, True] Translation: X:120.62, Y:-7.39, Z:-13.91 [[ 9.96815355e-01 1.68091486e-02 7.79525593e-02 1.20620427e+02] [-1.69188988e-02 9.99856586e-01 7.47636645e-04 -7.38550312e+00] [-7.79288126e-02 -2.06412715e-03 9.96956789e-01 -1.39109155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.806296757 meters 0.06972491665845809 Centerline is valid? [True, True] Translation: X:120.68, Y:-7.39, Z:-13.92 [[ 9.96584098e-01 1.37121658e-02 8.14377748e-02 1.20681111e+02] [-1.38216806e-02 9.99904171e-01 7.81152874e-04 -7.38733490e+00] [-8.14192594e-02 -1.90409145e-03 9.96678122e-01 -1.39168788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86629675699999 meters 0.06934233941995872 Centerline is valid? [True, True] Translation: X:120.74, Y:-7.39, Z:-13.92 [[ 9.96437144e-01 1.14926229e-02 8.35520111e-02 1.20742125e+02] [-1.16000230e-02 9.99932397e-01 8.00073284e-04 -7.38990250e+00] [-8.35371678e-02 -1.76642798e-03 9.96503096e-01 -1.39226696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92629675699999 meters 0.06967664993708025 Centerline is valid? [True, True] Translation: X:120.80, Y:-7.39, Z:-13.93 [[ 9.96260846e-01 1.23910459e-02 8.55031543e-02 1.20802342e+02] [-1.25069689e-02 9.99921448e-01 8.20214391e-04 -7.38702991e+00] [-8.54862746e-02 -1.88653278e-03 9.96337562e-01 -1.39307861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98629675699999 meters 0.07026002608656576 Centerline is valid? [True, True] Translation: X:120.86, Y:-7.38, Z:-13.94 [[ 9.96367301e-01 1.73939303e-02 8.33645782e-02 1.20862630e+02] [-1.75196193e-02 9.99846218e-01 7.76353296e-04 -7.38263803e+00] [-8.33382544e-02 -2.23404871e-03 9.96518813e-01 -1.39380500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.046296757 meters 0.0714556556312679 Centerline is valid? [True, True] Translation: X:120.92, Y:-7.38, Z:-13.95 [[ 9.96341233e-01 2.29263777e-02 8.23318147e-02 1.20922176e+02] [-2.30676317e-02 9.99733614e-01 7.64736857e-04 -7.37606536e+00] [-8.22923500e-02 -2.66113884e-03 9.96604680e-01 -1.39464475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.106296757 meters 0.0725256270437682 Centerline is valid? [True, True] Translation: X:120.98, Y:-7.37, Z:-13.95 [[ 9.96135460e-01 2.71375695e-02 8.35326103e-02 1.20984112e+02] [-2.72979112e-02 9.99627040e-01 7.77768850e-04 -7.36928442e+00] [-8.34803492e-02 -3.05502891e-03 9.96504741e-01 -1.39529443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.166296757 meters 0.07404207751364475 Centerline is valid? [True, True] Translation: X:121.04, Y:-7.36, Z:-13.96 [[ 9.95820306e-01 3.22230792e-02 8.54610494e-02 1.21044713e+02] [-3.24089511e-02 9.99474381e-01 7.88072434e-04 -7.36039381e+00] [-8.53907353e-02 -3.55448150e-03 9.96341201e-01 -1.39598842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22629675699999 meters 0.07402178784900315 Centerline is valid? [True, True] Translation: X:121.11, Y:-7.36, Z:-13.97 [[ 9.95589276e-01 3.49044646e-02 8.70842774e-02 1.21106730e+02] [-3.51080503e-02 9.99383197e-01 8.06838234e-04 -7.35853085e+00] [-8.70024013e-02 -3.86063868e-03 9.96200621e-01 -1.39656285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28629675699999 meters 0.07491092366230792 Centerline is valid? [True, True] Translation: X:121.17, Y:-7.35, Z:-13.97 [[ 9.95529546e-01 3.71016860e-02 8.68584415e-02 1.21168046e+02] [-3.73102409e-02 9.99303427e-01 7.78337423e-04 -7.35272784e+00] [-8.67690607e-02 -4.01556727e-03 9.96220360e-01 -1.39749576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34629675699999 meters 0.07505141559699445 Centerline is valid? [True, True] Translation: X:121.23, Y:-7.35, Z:-13.98 [[ 9.95499282e-01 3.64273907e-02 8.74884306e-02 1.21228818e+02] [-3.66359750e-02 9.99328374e-01 7.79093726e-04 -7.34999153e+00] [-8.74012907e-02 -3.98081120e-03 9.96165231e-01 -1.39820082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40629675699999 meters 0.07411481718800698 Centerline is valid? [True, True] Translation: X:121.29, Y:-7.35, Z:-13.99 [[ 9.95403775e-01 3.30114416e-02 8.98975532e-02 1.21288168e+02] [-3.32163577e-02 9.99447877e-01 7.83921546e-04 -7.34937355e+00] [-8.98220403e-02 -3.76638775e-03 9.95950709e-01 -1.39865870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.466296757 meters 0.07204719482853415 Centerline is valid? [True, True] Translation: X:121.35, Y:-7.35, Z:-13.99 [[ 9.95354973e-01 2.84261642e-02 9.19806035e-02 1.21348956e+02] [-2.86214431e-02 9.99589999e-01 8.04368174e-04 -7.35365368e+00] [-9.19200262e-02 -3.43324947e-03 9.95760474e-01 -1.39905875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.526296757 meters 0.07182383034102464 Centerline is valid? [True, True] Translation: X:121.41, Y:-7.35, Z:-14.00 [[ 9.95318071e-01 2.43290858e-02 9.35416066e-02 1.21408178e+02] [-2.45128385e-02 9.99699182e-01 8.15722312e-04 -7.35114877e+00] [-9.34936218e-02 -3.10487345e-03 9.95615037e-01 -1.39966595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.586296757 meters 0.07036931645927563 Centerline is valid? [True, True] Translation: X:121.47, Y:-7.35, Z:-14.00 [[ 9.95256042e-01 2.19093956e-02 9.47912925e-02 1.21469617e+02] [-2.20874186e-02 9.99755699e-01 8.29124124e-04 -7.35308624e+00] [-9.47499694e-02 -2.91888576e-03 9.95496822e-01 -1.40008845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64629675699999 meters 0.07025037488969463 Centerline is valid? [True, True] Translation: X:121.53, Y:-7.35, Z:-14.01 [[ 9.95234787e-01 2.11979787e-02 9.51754434e-02 1.21531610e+02] [-2.13741788e-02 9.99771200e-01 8.32122553e-04 -7.35230824e+00] [-9.51360279e-02 -2.86245425e-03 9.95460166e-01 -1.40070526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70629675699999 meters 0.07101061041152636 Centerline is valid? [True, True] Translation: X:121.59, Y:-7.34, Z:-14.02 [[ 9.95501916e-01 2.35336418e-02 9.17720207e-02 1.21592250e+02] [-2.37049168e-02 9.99718697e-01 7.76581375e-04 -7.34479552e+00] [-9.17279292e-02 -2.94853637e-03 9.95779741e-01 -1.40166022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76629675699999 meters 0.07127600999724125 Centerline is valid? [True, True] Translation: X:121.65, Y:-7.34, Z:-14.02 [[ 9.95497351e-01 2.57441774e-02 9.12264325e-02 1.21653224e+02] [-2.59227017e-02 9.99663652e-01 7.72391082e-04 -7.34035508e+00] [-9.11758641e-02 -3.13374887e-03 9.95829876e-01 -1.40242326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.826296757 meters 0.07182897658156329 Centerline is valid? [True, True] Translation: X:121.71, Y:-7.34, Z:-14.03 [[ 9.95200672e-01 2.83112634e-02 9.36701413e-02 1.21714453e+02] [-2.85087516e-02 9.99593246e-01 7.70587922e-04 -7.33556465e+00] [-9.36102242e-02 -3.43730841e-03 9.95602989e-01 -1.40278087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.886296757 meters 0.07210559413905619 Centerline is valid? [True, True] Translation: X:121.78, Y:-7.33, Z:-14.04 [[ 9.95121189e-01 3.16252759e-02 9.34540591e-02 1.21775645e+02] [-3.18344015e-02 9.99492878e-01 7.47420495e-04 -7.32889602e+00] [-9.33830290e-02 -3.71882801e-03 9.95623312e-01 -1.40351755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.946296757 meters 0.07380295361521363 Centerline is valid? [True, True] Translation: X:121.84, Y:-7.32, Z:-14.05 [[ 9.95235805e-01 3.62956289e-02 9.04893372e-02 1.21835028e+02] [-3.65086140e-02 9.99333094e-01 6.99051788e-04 -7.31843902e+00] [-9.04036168e-02 -3.99936165e-03 9.95897179e-01 -1.40460357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.006296757 meters 0.07446958958884134 Centerline is valid? [True, True] Translation: X:121.90, Y:-7.32, Z:-14.05 [[ 9.95392672e-01 3.79045877e-02 8.80719652e-02 1.21895491e+02] [-3.81125244e-02 9.99273222e-01 6.79990220e-04 -7.31594040e+00] [-8.79821817e-02 -4.03350221e-03 9.96113882e-01 -1.40542847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.066296757 meters 0.07389742491642681 Centerline is valid? [True, True] Translation: X:121.96, Y:-7.32, Z:-14.06 [[ 9.95286196e-01 3.79450488e-02 8.92499896e-02 1.21957385e+02] [-3.81587177e-02 9.99271454e-01 6.88413361e-04 -7.31561499e+00] [-8.91588450e-02 -4.09083347e-03 9.96009019e-01 -1.40597284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.126296757 meters 0.07485015943864201 Centerline is valid? [True, True] Translation: X:122.02, Y:-7.31, Z:-14.07 [[ 9.95078804e-01 3.83649607e-02 9.13581072e-02 1.22017999e+02] [-3.85884366e-02 9.99254957e-01 6.80379470e-04 -7.30808498e+00] [-9.12639388e-02 -4.20239772e-03 9.95817872e-01 -1.40665542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.186296757 meters 0.07459703302211211 Centerline is valid? [True, True] Translation: X:122.08, Y:-7.31, Z:-14.07 [[ 9.94901583e-01 3.87324621e-02 9.31162576e-02 1.22079704e+02] [-3.89642295e-02 9.99240380e-01 6.71562556e-04 -7.30538217e+00] [-9.30195134e-02 -4.29634188e-03 9.95655016e-01 -1.40712400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.246296757 meters 0.07429170043083193 Centerline is valid? [True, True] Translation: X:122.14, Y:-7.30, Z:-14.08 [[ 9.94808458e-01 3.85623492e-02 9.41757764e-02 1.22141408e+02] [-3.87964220e-02 9.99246921e-01 6.55158420e-04 -7.30307446e+00] [-9.40795902e-02 -4.30544030e-03 9.95555370e-01 -1.40777638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.306296757 meters 0.07503277385784289 Centerline is valid? [True, True] Translation: X:122.20, Y:-7.29, Z:-14.09 [[ 9.94672588e-01 4.09114221e-02 9.46187017e-02 1.22202983e+02] [-4.11557620e-02 9.99152543e-01 6.31553568e-04 -7.29458846e+00] [-9.45126787e-02 -4.52229379e-03 9.95513386e-01 -1.40854816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36629675700001 meters 0.0746983765362039 Centerline is valid? [True, True] Translation: X:122.26, Y:-7.29, Z:-14.09 [[ 9.94573751e-01 4.25842391e-02 9.49191076e-02 1.22264759e+02] [-4.28373348e-02 9.99081862e-01 6.29460638e-04 -7.29217909e+00] [-9.48051536e-02 -4.69212661e-03 9.95484790e-01 -1.40923553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42629675700002 meters 0.07607585764068103 Centerline is valid? [True, True] Translation: X:122.32, Y:-7.29, Z:-14.10 [[ 9.94666737e-01 4.32040960e-02 9.36562293e-02 1.22324897e+02] [-4.34507847e-02 9.99055391e-01 5.95424241e-04 -7.28503945e+00] [-9.35420361e-02 -4.66168534e-03 9.95604418e-01 -1.41008022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48629675700002 meters 0.07529888180039643 Centerline is valid? [True, True] Translation: X:122.39, Y:-7.28, Z:-14.11 [[ 9.94866453e-01 4.05944587e-02 9.26975203e-02 1.22385511e+02] [-4.08235136e-02 9.99166207e-01 5.75342989e-04 -7.28296243e+00] [-9.25968741e-02 -4.35662792e-03 9.95694149e-01 -1.41103176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.546296757 meters 0.07426430875311264 Centerline is valid? [True, True] Translation: X:122.45, Y:-7.28, Z:-14.12 [[ 9.94998360e-01 3.56889610e-02 9.32982361e-02 1.22445710e+02] [-3.58992000e-02 9.99355250e-01 5.75515665e-04 -7.28275896e+00] [-9.32175425e-02 -3.92196918e-03 9.95638041e-01 -1.41171326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.606296757 meters 0.07329403692583424 Centerline is valid? [True, True] Translation: X:122.51, Y:-7.28, Z:-14.12 [[ 9.95187235e-01 3.21431543e-02 9.25698923e-02 1.22507182e+02] [-3.23346576e-02 9.99476936e-01 5.69269179e-04 -7.28423502e+00] [-9.25031743e-02 -3.55974520e-03 9.95706026e-01 -1.41237131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.666296757 meters 0.07268591346563197 Centerline is valid? [True, True] Translation: X:122.57, Y:-7.28, Z:-14.13 [[ 9.95252997e-01 2.88244288e-02 9.29549551e-02 1.22568059e+02] [-2.90026189e-02 9.99579175e-01 5.66346201e-04 -7.28426652e+00] [-9.28995128e-02 -3.25959489e-03 9.95670154e-01 -1.41305114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.726296757 meters 0.07326572150781556 Centerline is valid? [True, True] Translation: X:122.63, Y:-7.28, Z:-14.14 [[ 9.95153652e-01 2.83254848e-02 9.41640915e-02 1.22628144e+02] [-2.85060955e-02 9.99593454e-01 5.73209511e-04 -7.27700690e+00] [-9.41095731e-02 -3.25468212e-03 9.95556525e-01 -1.41391879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.786296757 meters 0.07246864705626596 Centerline is valid? [True, True] Translation: X:122.69, Y:-7.28, Z:-14.15 [[ 9.95257365e-01 2.91522011e-02 9.28058513e-02 1.22689949e+02] [-2.93293140e-02 9.99569655e-01 5.44795418e-04 -7.27724445e+00] [-9.27500307e-02 -3.26414361e-03 9.95684075e-01 -1.41467506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.846296757 meters 0.07506139956840724 Centerline is valid? [True, True] Translation: X:122.75, Y:-7.27, Z:-14.16 [[ 9.95524217e-01 3.20441700e-02 8.89084094e-02 1.22748848e+02] [-3.22158093e-02 9.99480813e-01 4.95850235e-04 -7.26515598e+00] [-8.88463602e-02 -3.35788728e-03 9.96039682e-01 -1.41593541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.906296757 meters 0.07321554478050032 Centerline is valid? [True, True] Translation: X:122.81, Y:-7.27, Z:-14.16 [[ 9.95406753e-01 3.44124513e-02 8.93374424e-02 1.22810526e+02] [-3.45954854e-02 9.99401272e-01 5.00711086e-04 -7.26895166e+00] [-8.92667229e-02 -3.58908338e-03 9.96001290e-01 -1.41620456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.966296757 meters 0.07359919395835957 Centerline is valid? [True, True] Translation: X:122.87, Y:-7.26, Z:-14.17 [[ 9.95215199e-01 3.77959023e-02 9.01009257e-02 1.22871714e+02] [-3.79951043e-02 9.99277802e-01 4.96100775e-04 -7.26337306e+00] [-9.00171044e-02 -3.91712110e-03 9.95932516e-01 -1.41676606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.026296757 meters 0.07482704459376927 Centerline is valid? [True, True] Translation: X:122.93, Y:-7.26, Z:-14.17 [[ 9.95176233e-01 4.13441409e-02 8.89658737e-02 1.22931281e+02] [-4.15501870e-02 9.99136310e-01 4.64517274e-04 -7.25686111e+00] [-8.88698297e-02 -4.15882524e-03 9.96034566e-01 -1.41743311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.086296757 meters 0.07596043935087508 Centerline is valid? [True, True] Translation: X:122.99, Y:-7.25, Z:-14.18 [[ 9.95265750e-01 4.41142813e-02 8.66026356e-02 1.22990411e+02] [-4.43199110e-02 9.99017288e-01 4.52178106e-04 -7.25088088e+00] [-8.64975826e-02 -4.28825848e-03 9.96242831e-01 -1.41828116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14629675700002 meters 0.07596761763329743 Centerline is valid? [True, True] Translation: X:123.05, Y:-7.25, Z:-14.19 [[ 9.95433163e-01 4.23542680e-02 8.55507736e-02 1.23052498e+02] [-4.25486113e-02 9.99094297e-01 4.48751967e-04 -7.25005954e+00] [-8.54542835e-02 -4.08676920e-03 9.96333711e-01 -1.41908576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20629675700002 meters 0.07328179917737526 Centerline is valid? [True, True] Translation: X:123.11, Y:-7.26, Z:-14.19 [[ 9.95623095e-01 3.67976220e-02 8.59103493e-02 1.23113434e+02] [-3.69722164e-02 9.99316196e-01 4.41540700e-04 -7.25962070e+00] [-8.58353558e-02 -3.61590414e-03 9.96302774e-01 -1.41937782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26629675700002 meters 0.07186484189102978 Centerline is valid? [True, True] Translation: X:123.17, Y:-7.26, Z:-14.20 [[ 9.95717664e-01 3.05639141e-02 8.72478166e-02 1.23174013e+02] [-3.07200410e-02 9.99527928e-01 4.47022766e-04 -7.26410643e+00] [-8.71929666e-02 -3.12536497e-03 9.96186538e-01 -1.41986938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.326296757 meters 0.07167432469926577 Centerline is valid? [True, True] Translation: X:123.23, Y:-7.26, Z:-14.21 [[ 9.95771689e-01 2.85115070e-02 8.73260393e-02 1.23234554e+02] [-2.86603602e-02 9.99589106e-01 4.50993363e-04 -7.26483403e+00] [-8.72772991e-02 -2.95188216e-03 9.96179682e-01 -1.42062069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.386296757 meters 0.07110970667791518 Centerline is valid? [True, True] Translation: X:123.30, Y:-7.27, Z:-14.21 [[ 9.95815543e-01 2.67221440e-02 8.73918263e-02 1.23296219e+02] [-2.68626791e-02 9.99639040e-01 4.32248316e-04 -7.26970352e+00] [-8.73487307e-02 -2.77801817e-03 9.96173921e-01 -1.42133683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.446296757 meters 0.07129768264886052 Centerline is valid? [True, True] Translation: X:123.36, Y:-7.27, Z:-14.22 [[ 9.95795793e-01 2.64260864e-02 8.77063261e-02 1.23357191e+02] [-2.65644547e-02 9.99647018e-01 4.10618322e-04 -7.26982531e+00] [-8.76645163e-02 -2.73876273e-03 9.96146290e-01 -1.42218304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.506296757 meters 0.07202771128878149 Centerline is valid? [True, True] Translation: X:123.42, Y:-7.27, Z:-14.23 [[ 9.95906362e-01 2.80841325e-02 8.59173967e-02 1.23417444e+02] [-2.82222313e-02 9.99601596e-01 3.92889215e-04 -7.26908487e+00] [-8.58721329e-02 -2.81606151e-03 9.96302186e-01 -1.42317333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.566296757 meters 0.07193337876085258 Centerline is valid? [True, True] Translation: X:123.48, Y:-7.27, Z:-14.24 [[ 9.95927273e-01 3.07455587e-02 8.47559872e-02 1.23477938e+02] [-3.08876717e-02 9.99522795e-01 3.65613064e-04 -7.27236025e+00] [-8.47043002e-02 -2.98203913e-03 9.96401670e-01 -1.42372414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.626296757 meters 0.07334364370803632 Centerline is valid? [True, True] Translation: X:123.54, Y:-7.26, Z:-14.25 [[ 9.95617982e-01 3.60889423e-02 8.62694794e-02 1.23537177e+02] [-3.62558596e-02 9.99342472e-01 3.68298830e-04 -7.26434571e+00] [-8.61994633e-02 -3.49445907e-03 9.96271771e-01 -1.42457861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.686296757 meters 0.07356984991576351 Centerline is valid? [True, True] Translation: X:123.60, Y:-7.26, Z:-14.25 [[ 9.95478845e-01 4.21207462e-02 8.51334947e-02 1.23598392e+02] [-4.23045854e-02 9.99104697e-01 3.55729668e-04 -7.26363081e+00] [-8.50422909e-02 -3.95565856e-03 9.96369490e-01 -1.42506135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.746296757 meters 0.07462527521069977 Centerline is valid? [True, True] Translation: X:123.66, Y:-7.26, Z:-14.26 [[ 9.95438409e-01 4.52184740e-02 8.40098959e-02 1.23659276e+02] [-4.54083642e-02 9.98968447e-01 3.49971792e-04 -7.25858195e+00] [-8.39074100e-02 -4.16312731e-03 9.96464859e-01 -1.42586894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.806296757 meters 0.07463076807055354 Centerline is valid? [True, True] Translation: X:123.72, Y:-7.26, Z:-14.26 [[ 9.95410240e-01 4.64396992e-02 8.36768075e-02 1.23720700e+02] [-4.66323353e-02 9.98912060e-01 3.48107640e-04 -7.25862482e+00] [-8.35696062e-02 -4.24855486e-03 9.96492885e-01 -1.42644881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86629675700001 meters 0.07449894542735133 Centerline is valid? [True, True] Translation: X:123.78, Y:-7.26, Z:-14.27 [[ 9.95410741e-01 4.64112583e-02 8.36866245e-02 1.23782623e+02] [-4.66032171e-02 9.98913422e-01 3.40724666e-04 -7.25981973e+00] [-8.35798790e-02 -4.23922693e-03 9.96492064e-01 -1.42704708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92629675700002 meters 0.07291472227189601 Centerline is valid? [True, True] Translation: X:123.84, Y:-7.27, Z:-14.28 [[ 9.95528315e-01 4.50270864e-02 8.30417733e-02 1.23844896e+02] [-4.52092716e-02 9.98977489e-01 3.13868869e-04 -7.26509187e+00] [-8.29427295e-02 -4.06672343e-03 9.96546018e-01 -1.42763075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98629675700002 meters 0.07290888086617413 Centerline is valid? [True, True] Translation: X:123.90, Y:-7.27, Z:-14.28 [[ 9.95570416e-01 4.20321323e-02 8.41002143e-02 1.23904233e+02] [-4.22074810e-02 9.99108820e-01 3.07316069e-04 -7.26770785e+00] [-8.40123487e-02 -3.85561298e-03 9.96457254e-01 -1.42820149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.046296757 meters 0.07263188994713289 Centerline is valid? [True, True] Translation: X:123.96, Y:-7.27, Z:-14.29 [[ 9.95510565e-01 4.04152007e-02 8.55881157e-02 1.23964980e+02] [-4.05911307e-02 9.99175791e-01 3.15572966e-04 -7.26784575e+00] [-8.55048192e-02 -3.78827461e-03 9.96330555e-01 -1.42878914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.106296757 meters 0.07300602065405185 Centerline is valid? [True, True] Translation: X:124.03, Y:-7.27, Z:-14.30 [[ 9.95438186e-01 4.15331978e-02 8.58941901e-02 1.24026717e+02] [-4.17147007e-02 9.99129512e-01 3.18558646e-04 -7.26511613e+00] [-8.58061895e-02 -3.90015587e-03 9.96304214e-01 -1.42959803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.166296757 meters 0.07559463801475631 Centerline is valid? [True, True] Translation: X:124.09, Y:-7.26, Z:-14.31 [[ 9.95527506e-01 4.34388293e-02 8.38931078e-02 1.24086200e+02] [-4.36165484e-02 9.99048305e-01 2.85897340e-04 -7.25738778e+00] [-8.38008481e-02 -3.94374646e-03 9.96474719e-01 -1.43067407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.226296757 meters 0.07404691951718753 Centerline is valid? [True, True] Translation: X:124.15, Y:-7.26, Z:-14.31 [[ 9.95528898e-01 4.49458911e-02 8.30787625e-02 1.24148146e+02] [-4.51253846e-02 9.98981291e-01 2.83105909e-04 -7.26034733e+00] [-8.29814049e-02 -4.03080122e-03 9.96542944e-01 -1.43117100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.286296757 meters 0.07493146474274599 Centerline is valid? [True, True] Translation: X:124.21, Y:-7.26, Z:-14.32 [[ 9.95589039e-01 4.55395483e-02 8.20281395e-02 1.24208266e+02] [-4.57164044e-02 9.98954420e-01 2.78173707e-04 -7.25554126e+00] [-8.19297046e-02 -4.02697829e-03 9.96629975e-01 -1.43207495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.346296757 meters 0.07257319342900201 Centerline is valid? [True, True] Translation: X:124.27, Y:-7.26, Z:-14.32 [[ 9.95326563e-01 4.61039556e-02 8.48496187e-02 1.24270393e+02] [-4.62937128e-02 9.98927835e-01 2.69153729e-04 -7.26059357e+00] [-8.47462368e-02 -4.19589974e-03 9.96393732e-01 -1.43220027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.406296757 meters 0.0735023577799721 Centerline is valid? [True, True] Translation: X:124.33, Y:-7.26, Z:-14.33 [[ 9.95195840e-01 4.79510529e-02 8.53576921e-02 1.24330729e+02] [-4.81475706e-02 9.98840203e-01 2.43945416e-04 -7.25703913e+00] [-8.52469971e-02 -4.35253897e-03 9.96350342e-01 -1.43276782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.466296757 meters 0.07378870401306256 Centerline is valid? [True, True] Translation: X:124.39, Y:-7.25, Z:-14.34 [[ 9.95276306e-01 4.94767111e-02 8.35292187e-02 1.24391443e+02] [-4.96699614e-02 9.98765658e-01 2.35795391e-04 -7.25499953e+00] [-8.34144487e-02 -4.38357464e-03 9.96505301e-01 -1.43361036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.526296757 meters 0.07480360686689692 Centerline is valid? [True, True] Translation: X:124.45, Y:-7.25, Z:-14.34 [[ 9.95389158e-01 5.12010799e-02 8.11102570e-02 1.24452429e+02] [-5.13887196e-02 9.98678701e-01 2.26191265e-04 -7.25315394e+00] [-8.09915048e-02 -4.39330059e-03 9.96705109e-01 -1.43437544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.586296757 meters 0.07513166661711031 Centerline is valid? [True, True] Translation: X:124.51, Y:-7.25, Z:-14.35 [[ 9.95492489e-01 5.11446422e-02 7.98682047e-02 1.24513633e+02] [-5.13266451e-02 9.98681893e-01 2.26142468e-04 -7.25445268e+00] [-7.97513640e-02 -4.32449013e-03 9.96805407e-01 -1.43515430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64629675700002 meters 0.0729352554111112 Centerline is valid? [True, True] Translation: X:124.58, Y:-7.26, Z:-14.35 [[ 9.95314410e-01 5.15272093e-02 8.18179164e-02 1.24576004e+02] [-5.17178894e-02 9.98661712e-01 2.11561886e-04 -7.26073879e+00] [-8.16975193e-02 -4.44202055e-03 9.96647272e-01 -1.43544142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70629675700002 meters 0.07470315257815721 Centerline is valid? [True, True] Translation: X:124.64, Y:-7.26, Z:-14.36 [[ 9.94999577e-01 5.29570947e-02 8.46840506e-02 1.24637038e+02] [-5.31646344e-02 9.98585742e-01 1.95893986e-04 -7.25666686e+00] [-8.45539115e-02 -4.69711102e-03 9.96407835e-01 -1.43613467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76629675700002 meters 0.07409429772604259 Centerline is valid? [True, True] Translation: X:124.70, Y:-7.26, Z:-14.37 [[ 9.94839987e-01 5.47352877e-02 8.54251051e-02 1.24698911e+02] [-5.49509773e-02 9.98489038e-01 1.73775227e-04 -7.25781796e+00] [-8.52865194e-02 -4.86707156e-03 9.96344580e-01 -1.43667256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.826296757 meters 0.07300232716141418 Centerline is valid? [True, True] Translation: X:124.76, Y:-7.26, Z:-14.37 [[ 9.94859203e-01 5.54637541e-02 8.47286187e-02 1.24760182e+02] [-5.56783948e-02 9.98448740e-01 1.70521839e-04 -7.26054081e+00] [-8.45877248e-02 -4.88719870e-03 9.96404051e-01 -1.43730863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.886296757 meters 0.07338051958934588 Centerline is valid? [True, True] Translation: X:124.82, Y:-7.26, Z:-14.38 [[ 9.94932589e-01 5.39359278e-02 8.48531645e-02 1.24820229e+02] [-5.41434828e-02 9.98533155e-01 1.44995253e-04 -7.25827008e+00] [-8.47208776e-02 -4.73850635e-03 9.96393456e-01 -1.43804291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.946296757 meters 0.07299224598202854 Centerline is valid? [True, True] Translation: X:124.88, Y:-7.26, Z:-14.39 [[ 9.95124485e-01 5.28160883e-02 8.32929826e-02 1.24881400e+02] [-5.30125230e-02 9.98593837e-01 1.46943667e-04 -7.25856316e+00] [-8.31680980e-02 -4.56179839e-03 9.96525091e-01 -1.43880414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.006296757 meters 0.07285757926772643 Centerline is valid? [True, True] Translation: X:124.94, Y:-7.26, Z:-14.40 [[ 9.95230413e-01 5.08542609e-02 8.32482408e-02 1.24942027e+02] [-5.10414442e-02 9.98696529e-01 1.20407257e-04 -7.25534309e+00] [-8.31336059e-02 -4.36894340e-03 9.96528833e-01 -1.43970015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.066296757 meters 0.07273879172842863 Centerline is valid? [True, True] Translation: X:125.00, Y:-7.25, Z:-14.40 [[ 9.95187590e-01 4.87105068e-02 8.50232211e-02 1.25003291e+02] [-4.88977793e-02 9.98803781e-01 1.20259325e-04 -7.25454279e+00] [-8.49156568e-02 -4.27712729e-03 9.96378963e-01 -1.44031413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.126296757 meters 0.0720221240769184 Centerline is valid? [True, True] Translation: X:125.06, Y:-7.26, Z:-14.41 [[ 9.95164537e-01 4.60834177e-02 8.67402041e-02 1.25063368e+02] [-4.62679302e-02 9.98929059e-01 1.16879854e-04 -7.25654515e+00] [-8.66419243e-02 -4.12960439e-03 9.96230959e-01 -1.44090436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.186296757 meters 0.07045733648851098 Centerline is valid? [True, True] Translation: X:125.13, Y:-7.26, Z:-14.41 [[ 9.95202092e-01 4.36964051e-02 8.75409580e-02 1.25125040e+02] [-4.38752659e-02 9.99037010e-01 1.19149759e-04 -7.26080334e+00] [-8.74514505e-02 -3.95946090e-03 9.96160914e-01 -1.44138676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.246296757 meters 0.07136659014942892 Centerline is valid? [True, True] Translation: X:125.19, Y:-7.26, Z:-14.42 [[ 9.95366867e-01 4.32228993e-02 8.58870268e-02 1.25186172e+02] [-4.33933111e-02 9.99058060e-01 1.17342645e-04 -7.25942627e+00] [-8.58010545e-02 -3.84372146e-03 9.96304875e-01 -1.44232036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.306296757 meters 0.07068805802414457 Centerline is valid? [True, True] Translation: X:125.25, Y:-7.26, Z:-14.43 [[ 9.95474962e-01 4.30808055e-02 8.46973732e-02 1.25248727e+02] [-4.32441754e-02 9.99064529e-01 9.43268135e-05 -7.26470670e+00] [-8.46140776e-02 -3.75656804e-03 9.96406717e-01 -1.44284355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36629675700001 meters 0.07144326525737375 Centerline is valid? [True, True] Translation: X:125.31, Y:-7.26, Z:-14.44 [[ 9.95691802e-01 4.05822994e-02 8.33721300e-02 1.25309175e+02] [-4.07295858e-02 9.99170204e-01 6.58531519e-05 -7.26433750e+00] [-8.33002756e-02 -3.46128176e-03 9.96518481e-01 -1.44373973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42629675700002 meters 0.07046735195272755 Centerline is valid? [True, True] Translation: X:125.37, Y:-7.27, Z:-14.44 [[ 9.95845850e-01 3.88536516e-02 8.23494784e-02 1.25370689e+02] [-3.89907425e-02 9.99239570e-01 5.66244080e-05 -7.26943292e+00] [-8.22846573e-02 -3.26725649e-03 9.96603512e-01 -1.44425544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48629675700002 meters 0.07033950439662792 Centerline is valid? [True, True] Translation: X:125.43, Y:-7.27, Z:-14.45 [[ 9.95806682e-01 3.84994740e-02 8.29870057e-02 1.25432278e+02] [-3.86357681e-02 9.99253359e-01 3.64801088e-05 -7.26856062e+00] [-8.29236398e-02 -3.24259385e-03 9.96550629e-01 -1.44492783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.546296757 meters 0.07009534830099592 Centerline is valid? [True, True] Translation: X:125.49, Y:-7.26, Z:-14.45 [[ 9.95614777e-01 3.90054607e-02 8.50281677e-02 1.25493895e+02] [-3.91485842e-02 9.99233400e-01 1.58742421e-05 -7.26483712e+00] [-8.49623660e-02 -3.34453701e-03 9.96378548e-01 -1.44541334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.606296757 meters 0.07003796011373818 Centerline is valid? [True, True] Translation: X:125.56, Y:-7.26, Z:-14.46 [[ 9.95518004e-01 4.03295757e-02 8.55419683e-02 1.25555301e+02] [-4.04774592e-02 9.99180452e-01 -5.66042821e-06 -7.25966974e+00] [-8.54720908e-02 -3.45688648e-03 9.96334568e-01 -1.44591555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.666296757 meters 0.069871679984666 Centerline is valid? [True, True] Translation: X:125.62, Y:-7.26, Z:-14.47 [[ 9.95688227e-01 4.03496863e-02 8.35275796e-02 1.25617063e+02] [-4.04892264e-02 9.99179975e-01 -2.33752653e-05 -7.25504548e+00] [-8.34600280e-02 -3.35869260e-03 9.96505466e-01 -1.44662811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.726296757 meters 0.06961680196619935 Centerline is valid? [True, True] Translation: X:125.68, Y:-7.25, Z:-14.47 [[ 9.95799311e-01 3.85566458e-02 8.30488882e-02 1.25678651e+02] [-3.86866881e-02 9.99251389e-01 -4.34027469e-05 -7.25079658e+00] [-8.29883903e-02 -3.16966601e-03 9.96545473e-01 -1.44737118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.786296757 meters 0.06897875097187793 Centerline is valid? [True, True] Translation: X:125.74, Y:-7.25, Z:-14.48 [[ 9.95853209e-01 3.73210425e-02 8.29670131e-02 1.25740596e+02] [-3.74448775e-02 9.99298693e-01 -6.34892907e-05 -7.25144226e+00] [-8.29111972e-02 -3.04346363e-03 9.96552292e-01 -1.44776477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.846296757 meters 0.06814575441474544 Centerline is valid? [True, True] Translation: X:125.80, Y:-7.25, Z:-14.48 [[ 9.95930591e-01 3.43258600e-02 8.33306314e-02 1.25801426e+02] [-3.44381368e-02 9.99406827e-01 -9.00628632e-05 -7.24920812e+00] [-8.32842934e-02 -2.78005532e-03 9.96521950e-01 -1.44836403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.906296757 meters 0.06848186058369106 Centerline is valid? [True, True] Translation: X:125.86, Y:-7.24, Z:-14.49 [[ 9.95949162e-01 3.28357337e-02 8.37083146e-02 1.25861316e+02] [-3.29439561e-02 9.99457197e-01 -8.84614557e-05 -7.24390773e+00] [-8.36657821e-02 -2.66957993e-03 9.96490296e-01 -1.44948544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.966296757 meters 0.06732472456282042 Centerline is valid? [True, True] Translation: X:125.92, Y:-7.25, Z:-14.50 [[ 9.95895691e-01 3.27624046e-02 8.43706011e-02 1.25922967e+02] [-3.28704647e-02 9.99459614e-01 -1.08403209e-04 -7.24633202e+00] [-8.43285600e-02 -2.66534258e-03 9.96434438e-01 -1.44980208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.026296757 meters 0.06719584784667823 Centerline is valid? [True, True] Translation: X:125.98, Y:-7.24, Z:-14.51 [[ 9.95654778e-01 3.34322673e-02 8.69128643e-02 1.25984397e+02] [-3.35475627e-02 9.99437113e-01 -1.34129735e-04 -7.24139654e+00] [-8.68684264e-02 -2.78216785e-03 9.96215908e-01 -1.45061803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.086296757 meters 0.0673323426838113 Centerline is valid? [True, True] Translation: X:126.05, Y:-7.24, Z:-14.51 [[ 9.95612342e-01 3.53400912e-02 8.66437681e-02 1.26046116e+02] [-3.54600324e-02 9.99371083e-01 -1.54880150e-04 -7.23862844e+00] [-8.65947498e-02 -2.91819023e-03 9.96239345e-01 -1.45120550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14629675700002 meters 0.06754872018242304 Centerline is valid? [True, True] Translation: X:126.11, Y:-7.23, Z:-14.52 [[ 9.95571346e-01 3.70063723e-02 8.64188860e-02 1.26107729e+02] [-3.71300958e-02 9.99310425e-01 -1.75820383e-04 -7.23491530e+00] [-8.63658001e-02 -3.03369978e-03 9.96258875e-01 -1.45185803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20629675700002 meters 0.06739025186869768 Centerline is valid? [True, True] Translation: X:126.17, Y:-7.23, Z:-14.53 [[ 9.95680707e-01 3.57774024e-02 8.56732542e-02 1.26168935e+02] [-3.58926647e-02 9.99355632e-01 -1.95098740e-04 -7.23249145e+00] [-8.56250291e-02 -2.88078534e-03 9.96323269e-01 -1.45261980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26629675700002 meters 0.06724468990079704 Centerline is valid? [True, True] Translation: X:126.23, Y:-7.23, Z:-14.53 [[ 9.95769113e-01 3.53991899e-02 8.47984149e-02 1.26231706e+02] [-3.55090691e-02 9.99369332e-01 -2.12627256e-04 -7.23326128e+00] [-8.47524621e-02 -2.79938513e-03 9.96398105e-01 -1.45341211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.326296757 meters 0.06674627666371466 Centerline is valid? [True, True] Translation: X:126.29, Y:-7.24, Z:-14.54 [[ 9.95918075e-01 3.19055381e-02 8.44347382e-02 1.26292937e+02] [-3.19993954e-02 9.99487859e-01 -2.41863890e-04 -7.23584352e+00] [-8.43992125e-02 -2.46098395e-03 9.96428982e-01 -1.45403110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.386296757 meters 0.06685804916585128 Centerline is valid? [True, True] Translation: X:126.35, Y:-7.24, Z:-14.55 [[ 9.95957131e-01 2.91979779e-02 8.49521729e-02 1.26352996e+02] [-2.92828674e-02 9.99571134e-01 -2.46906660e-04 -7.23524060e+00] [-8.49229490e-02 -2.24173476e-03 9.96385000e-01 -1.45480320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.446296757 meters 0.06689214692862418 Centerline is valid? [True, True] Translation: X:126.41, Y:-7.24, Z:-14.55 [[ 9.95925082e-01 2.86255643e-02 8.55208005e-02 1.26414811e+02] [-2.87098262e-02 9.99587758e-01 -2.44707263e-04 -7.23520432e+00] [-8.54925501e-02 -2.21157722e-03 9.96336355e-01 -1.45548455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.506296757 meters 0.06691367991468905 Centerline is valid? [True, True] Translation: X:126.48, Y:-7.24, Z:-14.56 [[ 9.95940373e-01 2.78329557e-02 8.56043218e-02 1.26476458e+02] [-2.79126785e-02 9.99610330e-01 -2.65717903e-04 -7.23640834e+00] [-8.55783601e-02 -2.12480672e-03 9.96329177e-01 -1.45608405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.566296757 meters 0.06684453572621413 Centerline is valid? [True, True] Translation: X:126.54, Y:-7.24, Z:-14.57 [[ 9.95979837e-01 2.68730423e-02 8.54517587e-02 1.26537775e+02] [-2.69471931e-02 9.99636818e-01 -2.85793017e-04 -7.23683264e+00] [-8.54284042e-02 -2.01804096e-03 9.96342268e-01 -1.45682591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.626296757 meters 0.06694084888810338 Centerline is valid? [True, True] Translation: X:126.60, Y:-7.24, Z:-14.57 [[ 9.96142353e-01 2.72944646e-02 8.33991842e-02 1.26599471e+02] [-2.73649687e-02 9.99625465e-01 -2.97815518e-04 -7.23953216e+00] [-8.33760769e-02 -1.98554941e-03 9.96516175e-01 -1.45746392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.686296757 meters 0.06717362214176144 Centerline is valid? [True, True] Translation: X:126.66, Y:-7.24, Z:-14.58 [[ 9.96197226e-01 2.84522424e-02 8.23502103e-02 1.26660759e+02] [-2.85230469e-02 9.99593085e-01 -3.16751701e-04 -7.24046103e+00] [-8.23257130e-02 -2.03333174e-03 9.96603403e-01 -1.45816993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.746296757 meters 0.06850752129895088 Centerline is valid? [True, True] Translation: X:126.72, Y:-7.23, Z:-14.59 [[ 9.96214964e-01 3.35508663e-02 8.01878153e-02 1.26719942e+02] [-3.36333605e-02 9.99434187e-01 -3.22065972e-04 -7.23474840e+00] [-8.01532495e-02 -2.37613876e-03 9.96779720e-01 -1.45911792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.806296757 meters 0.06806708020423007 Centerline is valid? [True, True] Translation: X:126.78, Y:-7.24, Z:-14.59 [[ 9.96201066e-01 3.65652905e-02 7.90342667e-02 1.26781407e+02] [-3.66549642e-02 9.99327931e-01 -3.16339694e-04 -7.23792732e+00] [-7.89927173e-02 -2.58186028e-03 9.96871850e-01 -1.45931945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86629675700001 meters 0.06857585520278163 Centerline is valid? [True, True] Translation: X:126.84, Y:-7.23, Z:-14.60 [[ 9.96050288e-01 4.04813023e-02 7.90258695e-02 1.26842407e+02] [-4.05830216e-02 9.99176119e-01 -3.19137847e-04 -7.23309382e+00] [-7.89736807e-02 -2.88923122e-03 9.96872514e-01 -1.45992705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92629675700002 meters 0.06886846429959008 Centerline is valid? [True, True] Translation: X:126.90, Y:-7.23, Z:-14.60 [[ 9.95875973e-01 4.43320546e-02 7.91562669e-02 1.26903164e+02] [-4.44459692e-02 9.99011737e-01 -3.23032138e-04 -7.22841206e+00] [-7.90923604e-02 -3.19647706e-03 9.96862168e-01 -1.46032083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98629675700002 meters 0.069235054600146 Centerline is valid? [True, True] Translation: X:126.97, Y:-7.22, Z:-14.61 [[ 9.95859583e-01 4.57349068e-02 7.85621309e-02 1.26965144e+02] [-4.58519101e-02 9.98948198e-01 -3.14892026e-04 -7.22375037e+00] [-7.84939007e-02 -3.28863553e-03 9.96909170e-01 -1.46098741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.046296757 meters 0.06899937256685285 Centerline is valid? [True, True] Translation: X:127.03, Y:-7.22, Z:-14.62 [[ 9.95974403e-01 4.62918815e-02 7.67596894e-02 1.27027385e+02] [-4.64033511e-02 9.98922729e-01 -3.31719278e-04 -7.22165098e+00] [-7.66923543e-02 -3.23152291e-03 9.97049567e-01 -1.46156888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.106296757 meters 0.06980939928328737 Centerline is valid? [True, True] Translation: X:127.09, Y:-7.22, Z:-14.63 [[ 9.95959239e-01 4.61431235e-02 7.70454775e-02 1.27087288e+02] [-4.62549467e-02 9.98929611e-01 -3.33450754e-04 -7.21543567e+00] [-7.69783953e-02 -3.23163109e-03 9.97027524e-01 -1.46259869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.166296757 meters 0.06888634311640092 Centerline is valid? [True, True] Translation: X:127.15, Y:-7.22, Z:-14.63 [[ 9.96125228e-01 4.46662705e-02 7.57591885e-02 1.27148877e+02] [-4.47688757e-02 9.98997312e-01 -3.44218159e-04 -7.21767995e+00] [-7.56986006e-02 -3.04876930e-03 9.97126084e-01 -1.46297713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.226296757 meters 0.06873501175892438 Centerline is valid? [True, True] Translation: X:127.21, Y:-7.21, Z:-14.64 [[ 9.96218311e-01 4.28083639e-02 7.56076785e-02 1.27209667e+02] [-4.29037299e-02 9.99079145e-01 -3.63220710e-04 -7.21435823e+00] [-7.55536037e-02 -2.88200429e-03 9.97137577e-01 -1.46379303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.286296757 meters 0.06792867012821016 Centerline is valid? [True, True] Translation: X:127.27, Y:-7.22, Z:-14.64 [[ 9.96161600e-01 4.07432149e-02 7.74729430e-02 1.27271043e+02] [-4.08353182e-02 9.99165812e-01 -3.95640150e-04 -7.21549698e+00] [-7.74244357e-02 -2.76951076e-03 9.96994376e-01 -1.46426797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.346296757 meters 0.06779606279986529 Centerline is valid? [True, True] Translation: X:127.33, Y:-7.22, Z:-14.65 [[ 9.96259929e-01 3.84179593e-02 7.73964746e-02 1.27331394e+02] [-3.85027912e-02 9.99258414e-01 -3.96415082e-04 -7.21586625e+00] [-7.73543079e-02 -2.58504784e-03 9.97000315e-01 -1.46497654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.406296757 meters 0.06749910141231016 Centerline is valid? [True, True] Translation: X:127.39, Y:-7.22, Z:-14.66 [[ 9.96301338e-01 3.87263658e-02 7.67066604e-02 1.27393504e+02] [-3.88093148e-02 9.99246551e-01 -4.09548907e-04 -7.21607799e+00] [-7.66647262e-02 -2.56889881e-03 9.97053620e-01 -1.46566347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.466296757 meters 0.06740506843028839 Centerline is valid? [True, True] Translation: X:127.45, Y:-7.21, Z:-14.66 [[ 9.96392199e-01 4.04374002e-02 7.46150332e-02 1.27454084e+02] [-4.05187133e-02 9.99178690e-01 -4.24293625e-04 -7.21402084e+00] [-7.45709084e-02 -2.60054228e-03 9.97212323e-01 -1.46640874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.526296757 meters 0.06734083814278254 Centerline is valid? [True, True] Translation: X:127.52, Y:-7.22, Z:-14.67 [[ 9.96387144e-01 4.00817392e-02 7.48739803e-02 1.27516106e+02] [-4.01631216e-02 9.99193048e-01 -4.19065252e-04 -7.21505025e+00] [-7.48303575e-02 -2.58962155e-03 9.97192916e-01 -1.46703635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.586296757 meters 0.06745548114770916 Centerline is valid? [True, True] Translation: X:127.58, Y:-7.22, Z:-14.68 [[ 9.96406452e-01 3.95090351e-02 7.49214221e-02 1.27577799e+02] [-3.95874964e-02 9.99216012e-01 -4.38108077e-04 -7.21595181e+00] [-7.48799938e-02 -2.52941781e-03 9.97189344e-01 -1.46779879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64629675700002 meters 0.06709484861663527 Centerline is valid? [True, True] Translation: X:127.64, Y:-7.22, Z:-14.68 [[ 9.96378884e-01 3.73950140e-02 7.63592264e-02 1.27639422e+02] [-3.74683432e-02 9.99297703e-01 -4.72576539e-04 -7.21933129e+00] [-7.63232716e-02 -2.39018842e-03 9.97080260e-01 -1.46837075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70629675700002 meters 0.0674409508744682 Centerline is valid? [True, True] Translation: X:127.70, Y:-7.22, Z:-14.69 [[ 9.96432831e-01 3.65746003e-02 7.60520379e-02 1.27699779e+02] [-3.66450867e-02 9.99328233e-01 -4.68932671e-04 -7.22187114e+00] [-7.60180997e-02 -2.31967361e-03 9.97103740e-01 -1.46910268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76629675700002 meters 0.06721459143066932 Centerline is valid? [True, True] Translation: X:127.76, Y:-7.23, Z:-14.70 [[ 9.96441168e-01 3.68705671e-02 7.57994701e-02 1.27762254e+02] [-3.69403030e-02 9.99317358e-01 -4.82311983e-04 -7.22580858e+00] [-7.57655093e-02 -2.31945988e-03 9.97122965e-01 -1.46965386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.826296757 meters 0.06770732319503397 Centerline is valid? [True, True] Translation: X:127.82, Y:-7.23, Z:-14.71 [[ 9.96501752e-01 3.75566103e-02 7.46576098e-02 1.27824000e+02] [-3.76245178e-02 9.99291823e-01 -4.97144997e-04 -7.22622564e+00] [-7.46234102e-02 -2.31355071e-03 9.97209103e-01 -1.47054202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.886296757 meters 0.06823170968523687 Centerline is valid? [True, True] Translation: X:127.89, Y:-7.23, Z:-14.71 [[ 9.96629142e-01 3.63476925e-02 7.35472562e-02 1.27886060e+02] [-3.64090855e-02 9.99336841e-01 -5.06240364e-04 -7.23068690e+00] [-7.35168834e-02 -2.17325444e-03 9.97291605e-01 -1.47129046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.946296757 meters 0.06830014136421943 Centerline is valid? [True, True] Translation: X:127.95, Y:-7.24, Z:-14.72 [[ 9.96828809e-01 3.36544180e-02 7.21089844e-02 1.27947800e+02] [-3.37048537e-02 9.99431696e-01 -5.17589689e-04 -7.23745346e+00] [-7.20854238e-02 -1.91447446e-03 9.97396624e-01 -1.47195044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.006296757 meters 0.0688566375938696 Centerline is valid? [True, True] Translation: X:128.01, Y:-7.24, Z:-14.73 [[ 9.96971971e-01 3.35716940e-02 7.01415005e-02 1.28007859e+02] [-3.36176925e-02 9.99434628e-01 -5.24887648e-04 -7.23974017e+00] [-7.01194658e-02 -1.83469712e-03 9.97536914e-01 -1.47292725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.066296757 meters 0.06972573510096337 Centerline is valid? [True, True] Translation: X:128.07, Y:-7.24, Z:-14.74 [[ 9.96976409e-01 3.68156172e-02 6.84298922e-02 1.28068244e+02] [-3.68661617e-02 9.99320074e-01 -5.24505186e-04 -7.23943935e+00] [-6.84026750e-02 -1.99982817e-03 9.97655790e-01 -1.47373196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.126296757 meters 0.06969988397301195 Centerline is valid? [True, True] Translation: X:128.13, Y:-7.24, Z:-14.74 [[ 9.96860252e-01 3.78361972e-02 6.95561714e-02 1.28130681e+02] [-3.78910165e-02 9.99281736e-01 -5.31550396e-04 -7.24108179e+00] [-6.95263235e-02 -2.10567258e-03 9.97577895e-01 -1.47423021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.186296757 meters 0.06956239656167498 Centerline is valid? [True, True] Translation: X:128.19, Y:-7.24, Z:-14.75 [[ 9.96682274e-01 4.14137505e-02 7.00667192e-02 1.28192610e+02] [-4.14777204e-02 9.99139282e-01 -5.42287005e-04 -7.24437282e+00] [-7.00288696e-02 -2.36571994e-03 9.97542160e-01 -1.47453994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.246296757 meters 0.07058530812845466 Centerline is valid? [True, True] Translation: X:128.25, Y:-7.24, Z:-14.75 [[ 9.96507869e-01 4.57321698e-02 6.98615502e-02 1.28251619e+02] [-4.58060245e-02 9.98950204e-01 -5.45314979e-04 -7.24089216e+00] [-6.98131483e-02 -2.65666921e-03 9.97556548e-01 -1.47544348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.306296757 meters 0.07117410531853181 Centerline is valid? [True, True] Translation: X:128.31, Y:-7.24, Z:-14.76 [[ 9.96418031e-01 4.86920593e-02 6.91389308e-02 1.28312448e+02] [-4.87709774e-02 9.98809838e-01 -5.47109969e-04 -7.24009332e+00] [-6.90832841e-02 -2.82682299e-03 9.97606891e-01 -1.47619312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36629675700001 meters 0.07141687944540616 Centerline is valid? [True, True] Translation: X:128.37, Y:-7.24, Z:-14.77 [[ 9.96211654e-01 5.00829196e-02 7.10917775e-02 1.28374795e+02] [-5.01699886e-02 9.98740535e-01 -5.61450944e-04 -7.24013838e+00] [-7.10303591e-02 -3.00734970e-03 9.97469621e-01 -1.47675487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42629675700002 meters 0.07116976269453498 Centerline is valid? [True, True] Translation: X:128.44, Y:-7.24, Z:-14.77 [[ 9.96118509e-01 5.03060351e-02 7.22303157e-02 1.28437060e+02] [-5.03961166e-02 9.98729142e-01 -5.75918188e-04 -7.24060995e+00] [-7.21674934e-02 -3.06644464e-03 9.97387813e-01 -1.47729129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48629675700002 meters 0.07079774596895419 Centerline is valid? [True, True] Translation: X:128.50, Y:-7.24, Z:-14.78 [[ 9.96233703e-01 4.87507772e-02 7.17061389e-02 1.28499054e+02] [-4.88342802e-02 9.98806721e-01 -5.89183496e-04 -7.24365418e+00] [-7.16492967e-02 -2.91475322e-03 9.97425628e-01 -1.47793343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.546296757 meters 0.07060170648624199 Centerline is valid? [True, True] Translation: X:128.56, Y:-7.25, Z:-14.79 [[ 9.96471167e-01 4.47230395e-02 7.10286045e-02 1.28559179e+02] [-4.47929359e-02 9.98996107e-01 -6.09236245e-04 -7.24744088e+00] [-7.09845462e-02 -2.57449338e-03 9.97474093e-01 -1.47877049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.606296757 meters 0.07021667086453062 Centerline is valid? [True, True] Translation: X:128.62, Y:-7.25, Z:-14.80 [[ 9.96454781e-01 4.19024258e-02 7.29524197e-02 1.28618662e+02] [-4.19683485e-02 9.99118742e-01 -6.29689541e-04 -7.24852820e+00] [-7.29145153e-02 -2.43423542e-03 9.97335223e-01 -1.47952215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.666296757 meters 0.07015082115756564 Centerline is valid? [True, True] Translation: X:128.68, Y:-7.25, Z:-14.80 [[ 9.96303066e-01 4.15382869e-02 7.51982163e-02 1.28680210e+02] [-4.16074505e-02 9.99133825e-01 -6.47315459e-04 -7.24945928e+00] [-7.51599699e-02 -2.48388368e-03 9.97168396e-01 -1.48010861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.726296757 meters 0.06943961353619318 Centerline is valid? [True, True] Translation: X:128.74, Y:-7.25, Z:-14.80 [[ 9.96295329e-01 4.22932109e-02 7.48792415e-02 1.28742237e+02] [-4.23641366e-02 9.99102031e-01 -6.41586623e-04 -7.25292795e+00] [-7.48391370e-02 -2.53298466e-03 9.97192402e-01 -1.48047279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.786296757 meters 0.06966756750865685 Centerline is valid? [True, True] Translation: X:128.80, Y:-7.25, Z:-14.81 [[ 9.96155753e-01 4.46629311e-02 7.53587365e-02 1.28804236e+02] [-4.47401074e-02 9.98998439e-01 -6.64594620e-04 -7.25048307e+00] [-7.53129429e-02 -2.70951822e-03 9.97156266e-01 -1.48122133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.846296757 meters 0.07008535521793269 Centerline is valid? [True, True] Translation: X:128.86, Y:-7.25, Z:-14.82 [[ 9.96004864e-01 4.99301851e-02 7.40357200e-02 1.28864224e+02] [-5.00172578e-02 9.98748123e-01 -6.78680574e-04 -7.24766343e+00] [-7.39769231e-02 -3.02709454e-03 9.97255359e-01 -1.48191400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.906296757 meters 0.07281525889804129 Centerline is valid? [True, True] Translation: X:128.92, Y:-7.24, Z:-14.83 [[ 9.95988286e-01 5.54310740e-02 7.02476390e-02 1.28922884e+02] [-5.55231928e-02 9.98457191e-01 -6.42083312e-04 -7.23956255e+00] [-7.01748517e-02 -3.26086575e-03 9.97529376e-01 -1.48309944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.966296757 meters 0.07405896796649938 Centerline is valid? [True, True] Translation: X:128.98, Y:-7.24, Z:-14.84 [[ 9.96041692e-01 5.79430355e-02 6.74058787e-02 1.28983362e+02] [-5.80330109e-02 9.98314470e-01 -6.24164556e-04 -7.23645515e+00] [-6.73284300e-02 -3.29007217e-03 9.97725442e-01 -1.48399467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.026296757 meters 0.07216959173302685 Centerline is valid? [True, True] Translation: X:129.04, Y:-7.24, Z:-14.84 [[ 9.96104447e-01 5.46477938e-02 6.92065736e-02 1.29044390e+02] [-5.47346785e-02 9.98500728e-01 -6.41633229e-04 -7.24468593e+00] [-6.91378780e-02 -3.14886585e-03 9.97602144e-01 -1.48410678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.086296757 meters 0.07120955409893491 Centerline is valid? [True, True] Translation: X:129.11, Y:-7.25, Z:-14.85 [[ 9.96294366e-01 4.90230933e-02 7.06701724e-02 1.29105047e+02] [-4.90994883e-02 9.98793677e-01 -6.56741103e-04 -7.25069714e+00] [-7.06171168e-02 -2.81556185e-03 9.97499522e-01 -1.48456821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14629675700002 meters 0.06960499146339813 Centerline is valid? [True, True] Translation: X:129.17, Y:-7.26, Z:-14.85 [[ 9.96422750e-01 4.00318678e-02 7.44254850e-02 1.29166375e+02] [-4.00915797e-02 9.99195770e-01 -6.92113293e-04 -7.26104282e+00] [-7.43933364e-02 -2.29419783e-03 9.97226337e-01 -1.48468783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20629675700002 meters 0.06856903691352992 Centerline is valid? [True, True] Translation: X:129.23, Y:-7.27, Z:-14.85 [[ 9.96732504e-01 3.08679345e-02 7.46423873e-02 1.29226740e+02] [-3.09022677e-02 9.99522169e-01 -6.95183965e-04 -7.26839136e+00] [-7.46281797e-02 -1.61370658e-03 9.97210124e-01 -1.48513996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26629675700002 meters 0.06834418358123408 Centerline is valid? [True, True] Translation: X:129.29, Y:-7.27, Z:-14.86 [[ 9.96996400e-01 2.33463183e-02 7.38452999e-02 1.29287184e+02] [-2.33592297e-02 9.99726899e-01 -6.88933256e-04 -7.27269072e+00] [-7.38412167e-02 -1.03810535e-03 9.97269471e-01 -1.48593286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.326296757 meters 0.06832738718055949 Centerline is valid? [True, True] Translation: X:129.35, Y:-7.28, Z:-14.87 [[ 9.97328681e-01 1.89425318e-02 7.05456039e-02 1.29348876e+02] [-1.89437168e-02 9.99820339e-01 -6.52294567e-04 -7.27746278e+00] [-7.05452857e-02 -6.85843862e-04 9.97508342e-01 -1.48659827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.386296757 meters 0.06824794329046578 Centerline is valid? [True, True] Translation: X:129.41, Y:-7.28, Z:-14.87 [[ 9.97390029e-01 1.75697764e-02 7.00316501e-02 1.29411787e+02] [-1.75664623e-02 9.99845478e-01 -6.63231173e-04 -7.27898419e+00] [-7.00324815e-02 -5.68708183e-04 9.97544549e-01 -1.48723309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.446296757 meters 0.068270251052106 Centerline is valid? [True, True] Translation: X:129.47, Y:-7.28, Z:-14.88 [[ 9.97423836e-01 1.95577887e-02 6.90158195e-02 1.29472001e+02] [-1.95578496e-02 9.99808499e-01 -6.74889058e-04 -7.27617340e+00] [-6.90158023e-02 -6.76650585e-04 9.97615337e-01 -1.48818356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.506296757 meters 0.06805341195232485 Centerline is valid? [True, True] Translation: X:129.53, Y:-7.27, Z:-14.89 [[ 9.97226407e-01 2.60850536e-02 6.97069864e-02 1.29533558e+02] [-2.60996602e-02 9.99659100e-01 -7.01376376e-04 -7.27286773e+00] [-6.97015187e-02 -1.11989762e-03 9.97567263e-01 -1.48859542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.566296757 meters 0.0686461860995239 Centerline is valid? [True, True] Translation: X:129.59, Y:-7.26, Z:-14.90 [[ 9.96979405e-01 3.43958639e-02 6.96346876e-02 1.29593777e+02] [-3.44297407e-02 9.99406866e-01 -7.14014869e-04 -7.26440282e+00] [-6.96179441e-02 -1.68564612e-03 9.97572303e-01 -1.48959447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.626296757 meters 0.06965478722505276 Centerline is valid? [True, True] Translation: X:129.65, Y:-7.26, Z:-14.90 [[ 9.96977500e-01 4.08710431e-02 6.60713452e-02 1.29653978e+02] [-4.09156107e-02 9.99162375e-01 -6.79042904e-04 -7.26152433e+00] [-6.60437554e-02 -2.02635894e-03 9.97814670e-01 -1.49037363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.686296757 meters 0.07029310498010059 Centerline is valid? [True, True] Translation: X:129.72, Y:-7.26, Z:-14.91 [[ 9.96555102e-01 4.64703002e-02 6.86908999e-02 1.29715959e+02] [-4.65319053e-02 9.98916556e-01 -7.03799217e-04 -7.25842825e+00] [-6.86491829e-02 -2.49494375e-03 9.97637742e-01 -1.49110984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.746296757 meters 0.0716184112173769 Centerline is valid? [True, True] Translation: X:129.78, Y:-7.25, Z:-14.92 [[ 9.96252077e-01 5.20518701e-02 6.90825676e-02 1.29775221e+02] [-5.21272125e-02 9.98640198e-01 -7.12858820e-04 -7.25248147e+00] [-6.90257346e-02 -2.89089460e-03 9.97610691e-01 -1.49193850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.806296757 meters 0.07063517838155842 Centerline is valid? [True, True] Translation: X:129.84, Y:-7.26, Z:-14.92 [[ 9.96028403e-01 5.53741441e-02 6.97217697e-02 1.29836515e+02] [-5.54586425e-02 9.98460722e-01 -7.24664318e-04 -7.25750061e+00] [-6.96545762e-02 -3.14488845e-03 9.97566213e-01 -1.49206960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86629675700001 meters 0.07146235248794416 Centerline is valid? [True, True] Translation: X:129.90, Y:-7.26, Z:-14.93 [[ 9.95773288e-01 5.83229471e-02 7.09506327e-02 1.29898431e+02] [-5.84178332e-02 9.98291947e-01 -7.38690748e-04 -7.25579219e+00] [-7.08725279e-02 -3.40921371e-03 9.97479555e-01 -1.49263776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92629675700002 meters 0.07095871483341583 Centerline is valid? [True, True] Translation: X:129.96, Y:-7.26, Z:-14.93 [[ 9.95582435e-01 6.01842397e-02 7.20657457e-02 1.29960284e+02] [-6.02871244e-02 9.98180796e-01 -7.48624608e-04 -7.25676468e+00] [-7.19796988e-02 -3.59931906e-03 9.97399603e-01 -1.49309540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98629675700002 meters 0.07146685336668253 Centerline is valid? [True, True] Translation: X:130.02, Y:-7.26, Z:-14.94 [[ 9.95530984e-01 6.08417980e-02 7.22242046e-02 1.30021596e+02] [-6.09452305e-02 9.98140813e-01 -7.72821514e-04 -7.25636669e+00] [-7.21369461e-02 -3.63235304e-03 9.97388123e-01 -1.49372304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.046296757 meters 0.07139798930489424 Centerline is valid? [True, True] Translation: X:130.08, Y:-7.26, Z:-14.94 [[ 9.95525681e-01 6.11005829e-02 7.20786860e-02 1.30083818e+02] [-6.12039659e-02 9.98124979e-01 -7.75516044e-04 -7.25677930e+00] [-7.19909214e-02 -3.63945530e-03 9.97398647e-01 -1.49439310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.106296757 meters 0.07158873801509158 Centerline is valid? [True, True] Translation: X:130.14, Y:-7.26, Z:-14.95 [[ 9.95580733e-01 6.04985909e-02 7.18256586e-02 1.30144151e+02] [-6.05980442e-02 9.98161933e-01 -7.95609703e-04 -7.25554135e+00] [-7.17417715e-02 -3.56040074e-03 9.97416885e-01 -1.49520293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.166296757 meters 0.0714962828668001 Centerline is valid? [True, True] Translation: X:130.21, Y:-7.26, Z:-14.96 [[ 9.95739250e-01 5.89650344e-02 7.08976100e-02 1.30206458e+02] [-5.90565103e-02 9.98254315e-01 -8.07005139e-04 -7.25673426e+00] [-7.08214302e-02 -3.38339874e-03 9.97483272e-01 -1.49588144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.226296757 meters 0.07117936640291957 Centerline is valid? [True, True] Translation: X:130.27, Y:-7.26, Z:-14.97 [[ 9.95813156e-01 5.68856680e-02 7.15554304e-02 1.30267772e+02] [-5.69729534e-02 9.98375384e-01 -8.22217648e-04 -7.25773022e+00] [-7.14859527e-02 -3.25794905e-03 9.97436286e-01 -1.49655790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.286296757 meters 0.07108927828386759 Centerline is valid? [True, True] Translation: X:130.33, Y:-7.26, Z:-14.97 [[ 9.95829859e-01 5.54201390e-02 7.24672351e-02 1.30328825e+02] [-5.55054757e-02 9.98458032e-01 -8.37246151e-04 -7.25954535e+00] [-7.24018933e-02 -3.18857364e-03 9.97370442e-01 -1.49701361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.346296757 meters 0.0709694730922853 Centerline is valid? [True, True] Translation: X:130.39, Y:-7.26, Z:-14.98 [[ 9.95639043e-01 5.60338596e-02 7.45862047e-02 1.30390723e+02] [-5.61263375e-02 9.98423307e-01 -8.57241920e-04 -7.25883223e+00] [-7.45166397e-02 -3.33274698e-03 9.97214201e-01 -1.49770354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.406296757 meters 0.07125944900540379 Centerline is valid? [True, True] Translation: X:130.45, Y:-7.26, Z:-14.98 [[ 9.95509499e-01 5.71762603e-02 7.54434452e-02 1.30452823e+02] [-5.72728611e-02 9.98358171e-01 -8.84231615e-04 -7.25765349e+00] [-7.53701371e-02 -3.44060099e-03 9.97149690e-01 -1.49844306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.466296757 meters 0.07163443666055537 Centerline is valid? [True, True] Translation: X:130.51, Y:-7.26, Z:-14.99 [[ 9.95446418e-01 5.95359943e-02 7.44438950e-02 1.30513282e+02] [-5.96344423e-02 9.98219876e-01 -9.01628971e-04 -7.25893732e+00] [-7.43650550e-02 -3.54189683e-03 9.97224796e-01 -1.49901953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.526296757 meters 0.07049801585132047 Centerline is valid? [True, True] Translation: X:130.58, Y:-7.26, Z:-14.99 [[ 9.95147835e-01 6.14944082e-02 7.68064063e-02 1.30575961e+02] [-6.16056226e-02 9.98100143e-01 -9.22782924e-04 -7.26123038e+00] [-7.67172311e-02 -3.81340105e-03 9.97045598e-01 -1.49946947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.586296757 meters 0.07187881316111022 Centerline is valid? [True, True] Translation: X:130.64, Y:-7.26, Z:-15.00 [[ 9.95054160e-01 6.37615061e-02 7.61688248e-02 1.30635256e+02] [-6.38751063e-02 9.97957452e-01 -9.46318415e-04 -7.25684618e+00] [-7.60735850e-02 -3.92365371e-03 9.97094486e-01 -1.50035984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64629675700002 meters 0.07182858482690482 Centerline is valid? [True, True] Translation: X:130.70, Y:-7.26, Z:-15.01 [[ 9.94777033e-01 6.54542549e-02 7.83223795e-02 1.30698078e+02] [-6.55803222e-02 9.97846828e-01 -9.64249178e-04 -7.25814694e+00] [-7.82168521e-02 -4.17719394e-03 9.96927618e-01 -1.50087251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70629675700002 meters 0.0711277509889731 Centerline is valid? [True, True] Translation: X:130.76, Y:-7.26, Z:-15.02 [[ 9.94645959e-01 6.58934398e-02 7.96082369e-02 1.30759868e+02] [-6.60232005e-02 9.97817583e-01 -1.00395828e-03 -7.25940793e+00] [-7.95006528e-02 -4.25740754e-03 9.96825722e-01 -1.50151259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76629675700002 meters 0.07173243130981485 Centerline is valid? [True, True] Translation: X:130.82, Y:-7.26, Z:-15.02 [[ 9.94466066e-01 6.59986605e-02 8.17399523e-02 1.30821145e+02] [-6.61340992e-02 9.97810189e-01 -1.05234174e-03 -7.25690728e+00] [-8.16304104e-02 -4.35927996e-03 9.96653136e-01 -1.50220611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.826296757 meters 0.07181226109503364 Centerline is valid? [True, True] Translation: X:130.88, Y:-7.26, Z:-15.03 [[ 9.94318207e-01 6.62857877e-02 8.32916374e-02 1.30882813e+02] [-6.64256639e-02 9.97790777e-01 -1.09375362e-03 -7.25703874e+00] [-8.31801279e-02 -4.44516317e-03 9.96524614e-01 -1.50275604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.886296757 meters 0.07095834925891834 Centerline is valid? [True, True] Translation: X:130.94, Y:-7.26, Z:-15.03 [[ 9.94168371e-01 6.52696644e-02 8.58435831e-02 1.30943760e+02] [-6.54122659e-02 9.97857658e-01 -1.15359375e-03 -7.25736362e+00] [-8.57349714e-02 -4.46835686e-03 9.96307959e-01 -1.50329094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.946296757 meters 0.07177250592279937 Centerline is valid? [True, True] Translation: X:131.00, Y:-7.25, Z:-15.04 [[ 9.94187566e-01 6.59599229e-02 8.50903787e-02 1.31004911e+02] [-6.61027077e-02 9.97812171e-01 -1.14142030e-03 -7.25322286e+00] [-8.49795035e-02 -4.48991856e-03 9.96372583e-01 -1.50422764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.006296757 meters 0.07063544418925964 Centerline is valid? [True, True] Translation: X:131.07, Y:-7.26, Z:-15.05 [[ 9.94384800e-01 6.48250210e-02 8.36455956e-02 1.31066924e+02] [-6.49573513e-02 9.97887388e-01 -1.14134153e-03 -7.25740033e+00] [-8.35428724e-02 -4.29846367e-03 9.96494913e-01 -1.50493999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.066296757 meters 0.06951850314309597 Centerline is valid? [True, True] Translation: X:131.13, Y:-7.26, Z:-15.06 [[ 9.94634025e-01 6.43584557e-02 8.10008972e-02 1.31128381e+02] [-6.44794384e-02 9.97918403e-01 -1.12398756e-03 -7.26001051e+00] [-8.09046241e-02 -4.10493610e-03 9.96713395e-01 -1.50564152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.126296757 meters 0.06974061639253358 Centerline is valid? [True, True] Translation: X:131.19, Y:-7.26, Z:-15.06 [[ 9.94545627e-01 6.44977783e-02 8.19697054e-02 1.31189955e+02] [-6.46204405e-02 9.97909243e-01 -1.15838587e-03 -7.25896726e+00] [-8.18730400e-02 -4.14485088e-03 9.96634148e-01 -1.50640795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.186296757 meters 0.0688218806460733 Centerline is valid? [True, True] Translation: X:131.25, Y:-7.26, Z:-15.07 [[ 9.94508619e-01 6.30634568e-02 8.35200999e-02 1.31251720e+02] [-6.31835913e-02 9.98001191e-01 -1.20664297e-03 -7.26264982e+00] [-8.34292543e-02 -4.07708302e-03 9.96505362e-01 -1.50676963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.246296757 meters 0.06987960878200353 Centerline is valid? [True, True] Translation: X:131.31, Y:-7.26, Z:-15.08 [[ 9.94354485e-01 6.23021624e-02 8.58929518e-02 1.31312099e+02] [-6.24259849e-02 9.98048818e-01 -1.24621995e-03 -7.25758495e+00] [-8.58030012e-02 -4.12276772e-03 9.96303592e-01 -1.50760714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.306296757 meters 0.06888479837202138 Centerline is valid? [True, True] Translation: X:131.37, Y:-7.26, Z:-15.08 [[ 9.94178048e-01 6.26717958e-02 8.76484709e-02 1.31373605e+02] [-6.28023305e-02 9.98025177e-01 -1.27020721e-03 -7.26075935e+00] [-8.75549869e-02 -4.24171612e-03 9.96150657e-01 -1.50808165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36629675700001 meters 0.0693873807826776 Centerline is valid? [True, True] Translation: X:131.44, Y:-7.26, Z:-15.09 [[ 9.94074887e-01 6.45127055e-02 8.74827372e-02 1.31435531e+02] [-6.46475744e-02 9.97907319e-01 -1.29363564e-03 -7.25875220e+00] [-8.73831197e-02 -4.36957606e-03 9.96165196e-01 -1.50876354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42629675700002 meters 0.07037391367347001 Centerline is valid? [True, True] Translation: X:131.50, Y:-7.26, Z:-15.10 [[ 9.93925151e-01 6.69137739e-02 8.73804427e-02 1.31495471e+02] [-6.70569100e-02 9.97748306e-01 -1.29954872e-03 -7.25549007e+00] [-8.72706464e-02 -4.56780833e-03 9.96174166e-01 -1.50967778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48629675700002 meters 0.07054222684363483 Centerline is valid? [True, True] Translation: X:131.56, Y:-7.26, Z:-15.10 [[ 9.93997847e-01 6.72399029e-02 8.62964430e-02 1.31556976e+02] [-6.73810380e-02 9.97726495e-01 -1.27961184e-03 -7.25681062e+00] [-8.61862886e-02 -4.54281249e-03 9.96268682e-01 -1.51039968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.546296757 meters 0.06904102807687025 Centerline is valid? [True, True] Translation: X:131.62, Y:-7.27, Z:-15.11 [[ 9.94300357e-01 6.31131397e-02 8.59274772e-02 1.31617127e+02] [-6.32354085e-02 9.97997791e-01 -1.30091978e-03 -7.26550717e+00] [-8.58375376e-02 -4.14015412e-03 9.96300545e-01 -1.51095511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.606296757 meters 0.06810162409022752 Centerline is valid? [True, True] Translation: X:131.68, Y:-7.28, Z:-15.12 [[ 9.94694441e-01 5.56506306e-02 8.65215347e-02 1.31676878e+02] [-5.57464946e-02 9.98444096e-01 -1.30967719e-03 -7.27500173e+00] [-8.64597998e-02 -3.52054364e-03 9.96249120e-01 -1.51175451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.666296757 meters 0.06738324759260578 Centerline is valid? [True, True] Translation: X:131.74, Y:-7.28, Z:-15.12 [[ 9.94938144e-01 5.00484358e-02 8.71392195e-02 1.31737516e+02] [-5.01241994e-02 9.98742120e-01 -1.31976091e-03 -7.28333291e+00] [-8.70956609e-02 -3.05470314e-03 9.96195269e-01 -1.51238611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.726296757 meters 0.06645121269883401 Centerline is valid? [True, True] Translation: X:131.80, Y:-7.30, Z:-15.13 [[ 9.95360749e-01 4.20777569e-02 8.65242274e-02 1.31797439e+02] [-4.21222384e-02 9.99111603e-01 -1.31237677e-03 -7.29603372e+00] [-8.65025814e-02 -2.33830581e-03 9.96248882e-01 -1.51297857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.786296757 meters 0.06630326554666076 Centerline is valid? [True, True] Translation: X:131.86, Y:-7.30, Z:-15.14 [[ 9.95418742e-01 3.72168691e-02 8.80706098e-02 1.31857742e+02] [-3.72440599e-02 9.99305308e-01 -1.33506102e-03 -7.30374712e+00] [-8.80591146e-02 -1.95116230e-03 9.96113340e-01 -1.51381691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.846296757 meters 0.06606866029406044 Centerline is valid? [True, True] Translation: X:131.92, Y:-7.31, Z:-15.15 [[ 9.95464606e-01 3.54758922e-02 8.82704863e-02 1.31919317e+02] [-3.54965003e-02 9.99368907e-01 -1.33673084e-03 -7.31023443e+00] [-8.82622011e-02 -1.80262511e-03 9.96095645e-01 -1.51457782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.906296757 meters 0.06686531221904947 Centerline is valid? [True, True] Translation: X:131.98, Y:-7.31, Z:-15.15 [[ 9.95544278e-01 3.81712696e-02 8.62238083e-02 1.31981164e+02] [-3.81988941e-02 9.99269271e-01 -1.33009949e-03 -7.31185682e+00] [-8.62115736e-02 -1.96948119e-03 9.96274905e-01 -1.51537783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.966296757 meters 0.06736864237560813 Centerline is valid? [True, True] Translation: X:132.04, Y:-7.31, Z:-15.16 [[ 9.95439648e-01 4.02549111e-02 8.64838065e-02 1.32041203e+02] [-4.02903297e-02 9.99187121e-01 -1.33663323e-03 -7.31064970e+00] [-8.64673116e-02 -2.15392336e-03 9.96252360e-01 -1.51632900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.026296757 meters 0.06762175493031866 Centerline is valid? [True, True] Translation: X:132.10, Y:-7.31, Z:-15.17 [[ 9.95219669e-01 4.43517692e-02 8.70099427e-02 1.32102588e+02] [-4.44012397e-02 9.99012842e-01 -1.36765836e-03 -7.31345489e+00] [-8.69847083e-02 -2.50222882e-03 9.96206504e-01 -1.51705996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.086296757 meters 0.06882294759951668 Centerline is valid? [True, True] Translation: X:132.16, Y:-7.31, Z:-15.18 [[ 9.94827997e-01 4.93880233e-02 8.87585465e-02 1.32162403e+02] [-4.94589037e-02 9.98775176e-01 -1.40188746e-03 -7.31240242e+00] [-8.87190693e-02 -2.99526351e-03 9.96052185e-01 -1.51807917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14629675700002 meters 0.06910629935659408 Centerline is valid? [True, True] Translation: X:132.22, Y:-7.32, Z:-15.19 [[ 9.94511981e-01 5.26153339e-02 9.04297853e-02 1.32223913e+02] [-5.27018471e-02 9.98609265e-01 -1.43250948e-03 -7.31648805e+00] [-9.03793934e-02 -3.34116888e-03 9.95901803e-01 -1.51868569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20629675700002 meters 0.0689611875024123 Centerline is valid? [True, True] Translation: X:132.29, Y:-7.32, Z:-15.19 [[ 9.94260768e-01 5.33488199e-02 9.27331012e-02 1.32285426e+02] [-5.34426832e-02 9.98569833e-01 -1.47260118e-03 -7.32449203e+00] [-9.26790389e-02 -3.49175617e-03 9.95689913e-01 -1.51929164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26629675700002 meters 0.06938066287054713 Centerline is valid? [True, True] Translation: X:132.34, Y:-7.33, Z:-15.20 [[ 9.94136191e-01 5.17065261e-02 9.49719347e-02 1.32344903e+02] [-5.17949080e-02 9.98656562e-01 -1.53591684e-03 -7.32962047e+00] [-9.49237627e-02 -3.39215210e-03 9.95478766e-01 -1.52015965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.326296757 meters 0.0690859583951057 Centerline is valid? [True, True] Translation: X:132.41, Y:-7.33, Z:-15.21 [[ 9.93928822e-01 5.12454001e-02 9.73622386e-02 1.32406521e+02] [-5.13362332e-02 9.98680187e-01 -1.57354528e-03 -7.33454232e+00] [-9.73143756e-02 -3.43421858e-03 9.95247767e-01 -1.52077091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.386296757 meters 0.06915958489643881 Centerline is valid? [True, True] Translation: X:132.47, Y:-7.34, Z:-15.21 [[ 9.93980318e-01 4.94581673e-02 9.77599965e-02 1.32467303e+02] [-4.95387545e-02 9.98770914e-01 -1.60425565e-03 -7.34041834e+00] [-9.77191845e-02 -3.24830992e-03 9.95208727e-01 -1.52144465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.446296757 meters 0.0692120391762176 Centerline is valid? [True, True] Translation: X:132.53, Y:-7.35, Z:-15.22 [[ 9.94176244e-01 4.80163460e-02 9.64781116e-02 1.32528448e+02] [-4.80859991e-02 9.98841911e-01 -1.60431019e-03 -7.34613055e+00] [-9.64434145e-02 -3.04427931e-03 9.95333813e-01 -1.52226842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.506296757 meters 0.06916621235841369 Centerline is valid? [True, True] Translation: X:132.59, Y:-7.35, Z:-15.23 [[ 9.94373625e-01 4.82507506e-02 9.43024825e-02 1.32589525e+02] [-4.83162067e-02 9.98830824e-01 -1.59036479e-03 -7.35051937e+00] [-9.42689626e-02 -2.97492143e-03 9.95542321e-01 -1.52301036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.566296757 meters 0.07002803239945 Centerline is valid? [True, True] Translation: X:132.65, Y:-7.35, Z:-15.24 [[ 9.94186798e-01 5.05882304e-02 9.50444161e-02 1.32649836e+02] [-5.06631740e-02 9.98714473e-01 -1.62596770e-03 -7.34970573e+00] [-9.50044887e-02 -3.19873617e-03 9.95471705e-01 -1.52392205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.626296757 meters 0.07009710049758441 Centerline is valid? [True, True] Translation: X:132.71, Y:-7.35, Z:-15.25 [[ 9.94077329e-01 5.30151274e-02 9.48665415e-02 1.32711846e+02] [-5.30996245e-02 9.98587881e-01 -1.63525393e-03 -7.35156939e+00] [-9.48192719e-02 -3.41180888e-03 9.95488657e-01 -1.52457112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.686296757 meters 0.07060526829417438 Centerline is valid? [True, True] Translation: X:132.77, Y:-7.35, Z:-15.25 [[ 9.93975172e-01 5.68838754e-02 9.36887510e-02 1.32772111e+02] [-5.69827066e-02 9.98373848e-01 -1.62215787e-03 -7.35224401e+00] [-9.36286735e-02 -3.72625396e-03 9.95600214e-01 -1.52526046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.746296757 meters 0.07176934302857706 Centerline is valid? [True, True] Translation: X:132.83, Y:-7.35, Z:-15.26 [[ 9.93965304e-01 6.00837991e-02 9.17764180e-02 1.32833041e+02] [-6.01920683e-02 9.98185547e-01 -1.59030400e-03 -7.35254896e+00] [-9.17054455e-02 -3.94350542e-03 9.95778369e-01 -1.52594098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.806296757 meters 0.07269352742228956 Centerline is valid? [True, True] Translation: X:132.89, Y:-7.35, Z:-15.27 [[ 9.94057488e-01 6.11702296e-02 9.00439585e-02 1.32893071e+02] [-6.12787281e-02 9.98119471e-01 -1.56166678e-03 -7.35289655e+00] [-8.99701558e-02 -3.96539270e-03 9.95936568e-01 -1.52679599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86629675700001 meters 0.0724355846883679 Centerline is valid? [True, True] Translation: X:132.95, Y:-7.36, Z:-15.27 [[ 9.93786951e-01 6.31933803e-02 9.16192837e-02 1.32954346e+02] [-6.33134248e-02 9.97992412e-01 -1.59855658e-03 -7.35501136e+00] [-9.15363681e-02 -4.21210596e-03 9.95792826e-01 -1.52734043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92629675700002 meters 0.07432480213879422 Centerline is valid? [True, True] Translation: X:133.01, Y:-7.35, Z:-15.28 [[ 9.93516103e-01 6.50191979e-02 9.32644484e-02 1.33014792e+02] [-6.51496000e-02 9.97874145e-01 -1.64907267e-03 -7.34912526e+00] [-9.31734032e-02 -4.43776126e-03 9.95640007e-01 -1.52814722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98629675700002 meters 0.0751775412647883 Centerline is valid? [True, True] Translation: X:133.08, Y:-7.35, Z:-15.29 [[ 9.93407457e-01 6.79959049e-02 9.22939975e-02 1.33075827e+02] [-6.81341762e-02 9.97674793e-01 -1.65559748e-03 -7.34640055e+00] [-9.21919687e-02 -4.64369260e-03 9.95730424e-01 -1.52891262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.046296757 meters 0.07407676929759467 Centerline is valid? [True, True] Translation: X:133.14, Y:-7.35, Z:-15.30 [[ 9.93615451e-01 6.91598281e-02 8.91361558e-02 1.33136995e+02] [-6.92931343e-02 9.97595056e-01 -1.60174822e-03 -7.35032301e+00] [-8.90325650e-02 -4.58500184e-03 9.96018163e-01 -1.52961188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.106296757 meters 0.073446224091864 Centerline is valid? [True, True] Translation: X:133.20, Y:-7.35, Z:-15.30 [[ 9.93845783e-01 6.70446507e-02 8.81792200e-02 1.33198256e+02] [-6.71665321e-02 9.97740516e-01 -1.58755937e-03 -7.35249967e+00] [-8.80864178e-02 -4.34490322e-03 9.96103361e-01 -1.53016148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.166296757 meters 0.07228276198649625 Centerline is valid? [True, True] Translation: X:133.26, Y:-7.36, Z:-15.31 [[ 9.94048977e-01 6.45438310e-02 8.77537737e-02 1.33259950e+02] [-6.46545941e-02 9.97906448e-01 -1.58251926e-03 -7.35772908e+00] [-8.76721985e-02 -4.10058296e-03 9.96140939e-01 -1.53051621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.226296757 meters 0.0717951453354146 Centerline is valid? [True, True] Translation: X:133.32, Y:-7.36, Z:-15.31 [[ 9.94302628e-01 6.21210627e-02 8.66213496e-02 1.33321365e+02] [-6.22194415e-02 9.98061265e-01 -1.56626736e-03 -7.36054291e+00] [-8.65507119e-02 -3.83218824e-03 9.96240076e-01 -1.53113580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.286296757 meters 0.07251297022976018 Centerline is valid? [True, True] Translation: X:133.38, Y:-7.36, Z:-15.32 [[ 9.94480797e-01 6.21628298e-02 8.45205758e-02 1.33381490e+02] [-6.22561768e-02 9.98059025e-01 -1.53336711e-03 -7.35824867e+00] [-8.44518419e-02 -3.73702377e-03 9.96420554e-01 -1.53198641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.346296757 meters 0.07263640367988751 Centerline is valid? [True, True] Translation: X:133.44, Y:-7.36, Z:-15.33 [[ 9.94505727e-01 6.26442190e-02 8.38693076e-02 1.33443370e+02] [-6.27372202e-02 9.98028909e-01 -1.52876903e-03 -7.35908492e+00] [-8.37997622e-02 -3.74135766e-03 9.96475590e-01 -1.53269440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.406296757 meters 0.07183420159533113 Centerline is valid? [True, True] Translation: X:133.51, Y:-7.36, Z:-15.33 [[ 9.94385927e-01 6.22323727e-02 8.55789696e-02 1.33505788e+02] [-6.23255102e-02 9.98054616e-01 -1.58563122e-03 -7.36050322e+00] [-8.55111632e-02 -3.75702357e-03 9.96330129e-01 -1.53314812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.466296757 meters 0.07171765068734255 Centerline is valid? [True, True] Translation: X:133.57, Y:-7.36, Z:-15.34 [[ 9.94312561e-01 6.29165706e-02 8.59304127e-02 1.33568045e+02] [-6.30127585e-02 9.98011447e-01 -1.59524867e-03 -7.36070804e+00] [-8.58599031e-02 -3.82853655e-03 9.96299864e-01 -1.53392959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.526296757 meters 0.07232759299593872 Centerline is valid? [True, True] Translation: X:133.63, Y:-7.36, Z:-15.35 [[ 9.94368157e-01 6.46792760e-02 8.39557024e-02 1.33628733e+02] [-6.47747882e-02 9.97898644e-01 -1.58863657e-03 -7.35860258e+00] [-8.38820334e-02 -3.85852322e-03 9.96468221e-01 -1.53469718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.586296757 meters 0.07326530813450764 Centerline is valid? [True, True] Translation: X:133.69, Y:-7.36, Z:-15.35 [[ 9.94392813e-01 6.63751650e-02 8.23241841e-02 1.33688898e+02] [-6.64727223e-02 9.97787026e-01 -1.55824384e-03 -7.35619196e+00] [-8.22454315e-02 -3.92280616e-03 9.96604385e-01 -1.53538929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64629675700002 meters 0.07317962849190521 Centerline is valid? [True, True] Translation: X:133.75, Y:-7.36, Z:-15.36 [[ 9.94576284e-01 6.61964572e-02 8.02249582e-02 1.33750695e+02] [-6.62880074e-02 9.97799367e-01 -1.52449979e-03 -7.35699807e+00] [-8.01493289e-02 -3.80172128e-03 9.96775618e-01 -1.53615394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70629675700002 meters 0.07168055746969156 Centerline is valid? [True, True] Translation: X:133.81, Y:-7.37, Z:-15.37 [[ 9.94930442e-01 6.13007206e-02 7.97222457e-02 1.33811307e+02] [-6.13733654e-02 9.98113688e-01 -1.54108455e-03 -7.36589656e+00] [-7.96663343e-02 -3.35955058e-03 9.96815925e-01 -1.53668951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.766296757 meters 0.0705725370518924 Centerline is valid? [True, True] Translation: X:133.87, Y:-7.37, Z:-15.37 [[ 9.95230987e-01 5.40810765e-02 8.11820112e-02 1.33870357e+02] [-5.41323002e-02 9.98532536e-01 -1.57143001e-03 -7.37384593e+00] [-8.11478641e-02 -2.83063316e-03 9.96698054e-01 -1.53745236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.826296757 meters 0.0704229572932132 Centerline is valid? [True, True] Translation: X:133.93, Y:-7.38, Z:-15.38 [[ 9.95315873e-01 5.23912962e-02 8.12494033e-02 1.33932406e+02] [-5.24373376e-02 9.98622985e-01 -1.56848105e-03 -7.37700333e+00] [-8.12196963e-02 -2.69936830e-03 9.96692568e-01 -1.53815545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.886296757 meters 0.06935819259877968 Centerline is valid? [True, True] Translation: X:133.99, Y:-7.38, Z:-15.39 [[ 9.95418786e-01 4.66046158e-02 8.34832341e-02 1.33993230e+02] [-4.66317602e-02 9.98910825e-01 -1.62577615e-03 -7.38498242e+00] [-8.34680749e-02 -2.27464203e-03 9.96507856e-01 -1.53869537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.946296757 meters 0.06857364247111432 Centerline is valid? [True, True] Translation: X:134.05, Y:-7.39, Z:-15.39 [[ 9.95474156e-01 4.27393135e-02 8.48796493e-02 1.34054202e+02] [-4.27532145e-02 9.99084293e-01 -1.65477479e-03 -7.39168273e+00] [-8.48726484e-02 -1.98159232e-03 9.96389837e-01 -1.53921351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.006296757 meters 0.06883262318389123 Centerline is valid? [True, True] Translation: X:134.12, Y:-7.39, Z:-15.40 [[ 9.95365554e-01 4.35043439e-02 8.57600435e-02 1.34115846e+02] [-4.35215332e-02 9.99051093e-01 -1.67009375e-03 -7.39210958e+00] [-8.57513215e-02 -2.07005478e-03 9.96314421e-01 -1.53998122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.066296757 meters 0.06926389753117182 Centerline is valid? [True, True] Translation: X:134.18, Y:-7.39, Z:-15.41 [[ 9.95342686e-01 4.67182758e-02 8.43228371e-02 1.34176840e+02] [-4.67442845e-02 9.98905498e-01 -1.66693773e-03 -7.39066160e+00] [-8.43084220e-02 -2.28243641e-03 9.96437093e-01 -1.54078971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.126296757 meters 0.07052472602461231 Centerline is valid? [True, True] Translation: X:134.24, Y:-7.39, Z:-15.42 [[ 9.95227416e-01 5.19892741e-02 8.25803047e-02 1.34236507e+02] [-5.20320233e-02 9.98644077e-01 -1.63579680e-03 -7.38702035e+00] [-8.25533761e-02 -2.66883052e-03 9.96583071e-01 -1.54184740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.186296757 meters 0.07179304262241584 Centerline is valid? [True, True] Translation: X:134.30, Y:-7.38, Z:-15.43 [[ 9.95019501e-01 5.62738984e-02 8.22766159e-02 1.34296182e+02] [-5.63307761e-02 9.98410828e-01 -1.63167563e-03 -7.38275858e+00] [-8.22376849e-02 -3.01115656e-03 9.96608196e-01 -1.54271731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.246296757 meters 0.07251105924544989 Centerline is valid? [True, True] Translation: X:134.36, Y:-7.38, Z:-15.43 [[ 9.94528658e-01 6.19181580e-02 8.41361367e-02 1.34356585e+02] [-6.19978217e-02 9.98074891e-01 -1.66811117e-03 -7.37997619e+00] [-8.40774519e-02 -3.55727283e-03 9.96452873e-01 -1.54337026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.306296757 meters 0.07308685982271386 Centerline is valid? [True, True] Translation: X:134.42, Y:-7.38, Z:-15.44 [[ 9.94286242e-01 6.39804736e-02 8.54480411e-02 1.34418324e+02] [-6.40705882e-02 9.97943938e-01 -1.69016625e-03 -7.38280875e+00] [-8.53804922e-02 -3.79419720e-03 9.96341194e-01 -1.54394823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36629675700001 meters 0.07329253454302391 Centerline is valid? [True, True] Translation: X:134.48, Y:-7.39, Z:-15.45 [[ 9.94234277e-01 6.49529914e-02 8.53188750e-02 1.34479737e+02] [-6.50446322e-02 9.97880894e-01 -1.70825303e-03 -7.38639551e+00] [-8.52490314e-02 -3.85113113e-03 9.96352233e-01 -1.54450894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42629675700002 meters 0.07260517472284576 Centerline is valid? [True, True] Translation: X:134.54, Y:-7.39, Z:-15.45 [[ 9.94329738e-01 6.25618902e-02 8.59905951e-02 1.34541134e+02] [-6.26438182e-02 9.98034417e-01 -1.74796151e-03 -7.39186443e+00] [-8.59309292e-02 -3.64872909e-03 9.96294415e-01 -1.54505730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48629675700002 meters 0.07150016462795977 Centerline is valid? [True, True] Translation: X:134.60, Y:-7.40, Z:-15.46 [[ 9.94453387e-01 5.59778460e-02 8.90446076e-02 1.34601821e+02] [-5.60389267e-02 9.98426933e-01 -1.81581602e-03 -7.40049408e+00] [-8.90061800e-02 -3.18421985e-03 9.96025984e-01 -1.54553733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.546296757 meters 0.07033251096233634 Centerline is valid? [True, True] Translation: X:134.66, Y:-7.41, Z:-15.46 [[ 9.94758252e-01 4.82341204e-02 9.01636804e-02 1.34662006e+02] [-4.82649054e-02 9.98832875e-01 -1.84012265e-03 -7.40905822e+00] [-9.01472048e-02 -2.52126431e-03 9.95925261e-01 -1.54633789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.606296757 meters 0.06989218321109844 Centerline is valid? [True, True] Translation: X:134.72, Y:-7.42, Z:-15.47 [[ 9.94829701e-01 4.31488985e-02 9.19349642e-02 1.34721310e+02] [-4.31591126e-02 9.99066446e-01 -1.87795376e-03 -7.41546716e+00] [-9.19301696e-02 -2.09958729e-03 9.95763243e-01 -1.54707031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.666296757 meters 0.06970518151434643 Centerline is valid? [True, True] Translation: X:134.78, Y:-7.42, Z:-15.48 [[ 9.94720507e-01 4.13581161e-02 9.39181484e-02 1.34783365e+02] [-4.13611406e-02 9.99142426e-01 -1.91521775e-03 -7.42294837e+00] [-9.39168165e-02 -1.97945536e-03 9.95578080e-01 -1.54753772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.726296757 meters 0.06980616500113163 Centerline is valid? [True, True] Translation: X:134.85, Y:-7.42, Z:-15.48 [[ 9.94787880e-01 4.23051019e-02 9.27758139e-02 1.34845195e+02] [-4.23100818e-02 9.99102694e-01 -1.91412657e-03 -7.42461626e+00] [-9.27735429e-02 -2.02120236e-03 9.95685183e-01 -1.54829355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.786296757 meters 0.07065605200060518 Centerline is valid? [True, True] Translation: X:134.91, Y:-7.42, Z:-15.49 [[ 9.94716408e-01 4.81693359e-02 9.06586088e-02 1.34906092e+02] [-4.81960530e-02 9.98836096e-01 -1.89575734e-03 -7.41932942e+00] [-9.06444082e-02 -2.48364618e-03 9.95880225e-01 -1.54925291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.846296757 meters 0.07172855025918853 Centerline is valid? [True, True] Translation: X:134.97, Y:-7.42, Z:-15.50 [[ 9.94739112e-01 5.36902958e-02 8.72436315e-02 1.34966358e+02] [-5.37358834e-02 9.98553511e-01 -1.82762266e-03 -7.41619761e+00] [-8.72155602e-02 -2.87010588e-03 9.96185328e-01 -1.55018218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.906296757 meters 0.07284811779525313 Centerline is valid? [True, True] Translation: X:135.03, Y:-7.41, Z:-15.51 [[ 9.94667133e-01 5.75471859e-02 8.55898114e-02 1.35027342e+02] [-5.76051982e-02 9.98337830e-01 -1.79385158e-03 -7.41162697e+00] [-8.55507777e-02 -3.14613284e-03 9.96328844e-01 -1.55105443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.966296757 meters 0.0753193114576792 Centerline is valid? [True, True] Translation: X:135.09, Y:-7.40, Z:-15.52 [[ 9.94173835e-01 6.49671195e-02 8.60096446e-02 1.35086453e+02] [-6.50531851e-02 9.97880166e-01 -1.80474593e-03 -7.40058568e+00] [-8.59445676e-02 -3.80097015e-03 9.96292670e-01 -1.55198141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.026296757 meters 0.07523013637971819 Centerline is valid? [True, True] Translation: X:135.15, Y:-7.40, Z:-15.52 [[ 9.94078215e-01 6.86860243e-02 8.42064892e-02 1.35147382e+02] [-6.87811946e-02 9.97630192e-01 -1.77378826e-03 -7.40187705e+00] [-8.41287705e-02 -4.02853866e-03 9.96446748e-01 -1.55237378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.086296757 meters 0.07459203100454154 Centerline is valid? [True, True] Translation: X:135.21, Y:-7.41, Z:-15.53 [[ 9.94094906e-01 6.76903344e-02 8.48135408e-02 1.35209046e+02] [-6.77834832e-02 9.97698459e-01 -1.78423168e-03 -7.40559188e+00] [-8.47391143e-02 -3.97526160e-03 9.96395243e-01 -1.55290149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14629675700002 meters 0.07283569033435713 Centerline is valid? [True, True] Translation: X:135.27, Y:-7.42, Z:-15.53 [[ 9.94540725e-01 6.08033932e-02 8.48038569e-02 1.35269829e+02] [-6.08692864e-02 9.98144103e-01 -1.81081684e-03 -7.41675573e+00] [-8.47565735e-02 -3.36101915e-03 9.96396019e-01 -1.55339707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20629675700002 meters 0.07189894767038668 Centerline is valid? [True, True] Translation: X:135.33, Y:-7.42, Z:-15.54 [[ 9.94863715e-01 5.54096478e-02 8.47110372e-02 1.35330423e+02] [-5.54557654e-02 9.98459504e-01 -1.81039820e-03 -7.42391278e+00] [-8.46808537e-02 -2.89661593e-03 9.96403915e-01 -1.55403166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.266296757 meters 0.07113595467305961 Centerline is valid? [True, True] Translation: X:135.39, Y:-7.43, Z:-15.55 [[ 9.95226879e-01 4.87290622e-02 8.45513931e-02 1.35389634e+02] [-4.87507869e-02 9.98809335e-01 -1.80894487e-03 -7.43365848e+00] [-8.45388689e-02 -2.32163639e-03 9.96417478e-01 -1.55453705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.326296757 meters 0.0704854012304808 Centerline is valid? [True, True] Translation: X:135.45, Y:-7.44, Z:-15.55 [[ 9.95249880e-01 4.50394638e-02 8.63083062e-02 1.35450834e+02] [-4.50483475e-02 9.98983103e-01 -1.84571808e-03 -7.43990550e+00] [-8.63036697e-02 -2.05109588e-03 9.96266766e-01 -1.55504400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.386296757 meters 0.07072463873895916 Centerline is valid? [True, True] Translation: X:135.51, Y:-7.44, Z:-15.56 [[ 9.95294896e-01 4.56520302e-02 8.54632201e-02 1.35512010e+02] [-4.56631243e-02 9.98955227e-01 -1.82604440e-03 -7.44167260e+00] [-8.54572930e-02 -2.08506497e-03 9.96339653e-01 -1.55574392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.446296757 meters 0.07100314780453407 Centerline is valid? [True, True] Translation: X:135.57, Y:-7.44, Z:-15.56 [[ 9.95326356e-01 4.88151949e-02 8.33218023e-02 1.35573142e+02] [-4.88348554e-02 9.98805239e-01 -1.80329545e-03 -7.44198835e+00] [-8.33102808e-02 -2.27414068e-03 9.96521061e-01 -1.55630914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.506296757 meters 0.07190541987910434 Centerline is valid? [True, True] Translation: X:135.63, Y:-7.44, Z:-15.57 [[ 9.95230022e-01 5.41859112e-02 8.11239205e-02 1.35633905e+02] [-5.42220562e-02 9.98527353e-01 -1.75899116e-03 -7.43821630e+00] [-8.10997661e-02 -2.64810497e-03 9.96702471e-01 -1.55707458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.566296757 meters 0.07324447873424418 Centerline is valid? [True, True] Translation: X:135.69, Y:-7.43, Z:-15.58 [[ 9.95045832e-01 6.14389907e-02 7.81603694e-02 1.35694707e+02] [-6.14947371e-02 9.98105967e-01 -1.69576231e-03 -7.43178709e+00] [-7.81165171e-02 -3.11909016e-03 9.96939357e-01 -1.55784852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.626296757 meters 0.07526747695202851 Centerline is valid? [True, True] Translation: X:135.76, Y:-7.42, Z:-15.59 [[ 9.94757372e-01 6.87862801e-02 7.56717844e-02 1.35755470e+02] [-6.88595508e-02 9.97625010e-01 -1.64351358e-03 -7.42455882e+00] [-7.56051158e-02 -3.57582783e-03 9.97131426e-01 -1.55868749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.686296757 meters 0.0768834293818697 Centerline is valid? [True, True] Translation: X:135.82, Y:-7.42, Z:-15.59 [[ 9.94465442e-01 7.40556410e-02 7.45268131e-02 1.35816090e+02] [-7.41412315e-02 9.97246434e-01 -1.62131307e-03 -7.42071497e+00] [-7.44416659e-02 -3.91316988e-03 9.97217692e-01 -1.55944417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.746296757 meters 0.07656512072056265 Centerline is valid? [True, True] Translation: X:135.88, Y:-7.42, Z:-15.60 [[ 9.94428037e-01 7.52802373e-02 7.37954231e-02 1.35877832e+02] [-7.53675158e-02 9.97154532e-01 -1.60523414e-03 -7.42291733e+00] [-7.37062830e-02 -3.96548788e-03 9.97272109e-01 -1.55996232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.806296757 meters 0.07634531027050823 Centerline is valid? [True, True] Translation: X:135.94, Y:-7.42, Z:-15.60 [[ 9.94287937e-01 7.61848652e-02 7.47486796e-02 1.35940901e+02] [-7.62771280e-02 9.97085334e-01 -1.62388881e-03 -7.42355134e+00] [-7.46545279e-02 -4.08700155e-03 9.97201082e-01 -1.56038373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86629675700001 meters 0.07572998228961003 Centerline is valid? [True, True] Translation: X:136.00, Y:-7.43, Z:-15.61 [[ 9.94436047e-01 7.30847570e-02 7.58654527e-02 1.36000266e+02] [-7.31683419e-02 9.97318188e-01 -1.68088053e-03 -7.42642634e+00] [-7.57848425e-02 -3.87942119e-03 9.97116647e-01 -1.56080401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92629675700002 meters 0.07359781209107452 Centerline is valid? [True, True] Translation: X:136.06, Y:-7.43, Z:-15.61 [[ 9.94847995e-01 6.66898428e-02 7.63539842e-02 1.36060592e+02] [-6.67559368e-02 9.97767905e-01 -1.68916984e-03 -7.43335257e+00] [-7.62962053e-02 -3.41661452e-03 9.97079343e-01 -1.56126968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98629675700002 meters 0.07276983476347691 Centerline is valid? [True, True] Translation: X:136.12, Y:-7.44, Z:-15.62 [[ 9.95152104e-01 6.14399968e-02 7.67946349e-02 1.36119704e+02] [-6.14911286e-02 9.98106181e-01 -1.70082968e-03 -7.43633851e+00] [-7.67536987e-02 -3.02960454e-03 9.97045481e-01 -1.56207286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.046296757 meters 0.0710211532322934 Centerline is valid? [True, True] Translation: X:136.18, Y:-7.44, Z:-15.63 [[ 9.95474658e-01 5.59961454e-02 7.67765338e-02 1.36180354e+02] [-5.60311553e-02 9.98427574e-01 -1.69974357e-03 -7.44261307e+00] [-7.67509874e-02 -2.60982623e-03 9.97046877e-01 -1.56253617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.106296757 meters 0.07051586614186402 Centerline is valid? [True, True] Translation: X:136.24, Y:-7.44, Z:-15.63 [[ 9.95752089e-01 5.27465237e-02 7.54690760e-02 1.36242744e+02] [-5.27711097e-02 9.98605238e-01 -1.66971847e-03 -7.44466196e+00] [-7.54518865e-02 -2.31996123e-03 9.97146745e-01 -1.56315165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.166296757 meters 0.0708926653493202 Centerline is valid? [True, True] Translation: X:136.30, Y:-7.44, Z:-15.64 [[ 9.95710972e-01 5.36393953e-02 7.53822023e-02 1.36304400e+02] [-5.36663761e-02 9.98557527e-01 -1.66912571e-03 -7.44111016e+00] [-7.53629964e-02 -2.38352284e-03 9.97153317e-01 -1.56384745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.226296757 meters 0.07109549329504158 Centerline is valid? [True, True] Translation: X:136.37, Y:-7.44, Z:-15.64 [[ 9.95423597e-01 5.74351503e-02 7.63745171e-02 1.36366585e+02] [-5.74721116e-02 9.98345638e-01 -1.71569941e-03 -7.43764838e+00] [-7.63467075e-02 -2.68155709e-03 9.97077725e-01 -1.56443356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.286296757 meters 0.07169331382390105 Centerline is valid? [True, True] Translation: X:136.43, Y:-7.43, Z:-15.65 [[ 9.95062397e-01 6.25948450e-02 7.70240980e-02 1.36427530e+02] [-6.26472995e-02 9.98034216e-01 -1.73744360e-03 -7.43218813e+00] [-7.69814403e-02 -3.09648694e-03 9.97027718e-01 -1.56509849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.346296757 meters 0.07327615179285672 Centerline is valid? [True, True] Translation: X:136.49, Y:-7.42, Z:-15.66 [[ 9.94709127e-01 6.89225485e-02 7.61802771e-02 1.36488189e+02] [-6.89922474e-02 9.97615714e-01 -1.71959575e-03 -7.42286494e+00] [-7.61171604e-02 -3.54535093e-03 9.97092578e-01 -1.56604480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.406296757 meters 0.07451920556947207 Centerline is valid? [True, True] Translation: X:136.55, Y:-7.42, Z:-15.67 [[ 9.94264440e-01 7.38893886e-02 7.73212927e-02 1.36548772e+02] [-7.39760202e-02 9.97258490e-01 -1.74717386e-03 -7.41637727e+00] [-7.72384132e-02 -3.98276867e-03 9.97004697e-01 -1.56674124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.466296757 meters 0.07440468423009042 Centerline is valid? [True, True] Translation: X:136.61, Y:-7.42, Z:-15.67 [[ 9.93992090e-01 7.53767687e-02 7.93603722e-02 1.36611992e+02] [-7.54733115e-02 9.97146222e-01 -1.78660268e-03 -7.41605694e+00] [-7.92685636e-02 -4.21372117e-03 9.96844391e-01 -1.56721648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.526296757 meters 0.07446858906907121 Centerline is valid? [True, True] Translation: X:136.67, Y:-7.41, Z:-15.68 [[ 9.93849385e-01 7.44283494e-02 8.19989090e-02 1.36672439e+02] [-7.45256785e-02 9.97217328e-01 -1.87734123e-03 -7.41465940e+00] [-8.19104603e-02 -4.24522991e-03 9.96630651e-01 -1.56784147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.586296757 meters 0.07293801769718325 Centerline is valid? [True, True] Translation: X:136.73, Y:-7.42, Z:-15.68 [[ 9.93955235e-01 6.96851752e-02 8.48349366e-02 1.36732916e+02] [-6.97718952e-02 9.97561074e-01 -1.94586964e-03 -7.41997552e+00] [-8.47636288e-02 -3.98498699e-03 9.96393119e-01 -1.56818883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64629675700002 meters 0.07093468232770991 Centerline is valid? [True, True] Translation: X:136.79, Y:-7.43, Z:-15.69 [[ 9.94606752e-01 5.91050294e-02 8.52291266e-02 1.36793230e+02] [-5.91537113e-02 9.98246969e-01 -1.95632453e-03 -7.43015253e+00] [-8.51953459e-02 -3.09584556e-03 9.96359458e-01 -1.56888559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70629675700002 meters 0.07039718229646079 Centerline is valid? [True, True] Translation: X:136.85, Y:-7.43, Z:-15.70 [[ 9.94916125e-01 5.47325986e-02 8.45354740e-02 1.36853730e+02] [-5.47646436e-02 9.98497403e-01 -1.94155854e-03 -7.43338890e+00] [-8.45147178e-02 -2.69786721e-03 9.96418579e-01 -1.56973125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.766296757 meters 0.06929761427720697 Centerline is valid? [True, True] Translation: X:136.91, Y:-7.44, Z:-15.70 [[ 9.95204244e-01 4.89474970e-02 8.46915253e-02 1.36914139e+02] [-4.89584824e-02 9.98798914e-01 -1.94845091e-03 -7.44057178e+00] [-8.46851753e-02 -2.20726194e-03 9.96405314e-01 -1.57023958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.826296757 meters 0.06897472340294568 Centerline is valid? [True, True] Translation: X:136.98, Y:-7.44, Z:-15.71 [[ 9.94980930e-01 4.94380739e-02 8.69989943e-02 1.36975797e+02] [-4.94518781e-02 9.98774509e-01 -1.99786572e-03 -7.43907729e+00] [-8.69911485e-02 -2.31442537e-03 9.96206396e-01 -1.57095717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.886296757 meters 0.06978739572818657 Centerline is valid? [True, True] Translation: X:137.04, Y:-7.44, Z:-15.72 [[ 9.94858865e-01 5.16835904e-02 8.70898647e-02 1.37035952e+02] [-5.17036954e-02 9.98660414e-01 -2.02636771e-03 -7.43530910e+00] [-8.70779302e-02 -2.48691795e-03 9.96198399e-01 -1.57177436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.946296757 meters 0.07030444816075604 Centerline is valid? [True, True] Translation: X:137.10, Y:-7.43, Z:-15.72 [[ 9.94604835e-01 5.81851679e-02 8.58819490e-02 1.37096698e+02] [-5.82285699e-02 9.98301271e-01 -2.00170058e-03 -7.43305799e+00] [-8.58525281e-02 -3.00988200e-03 9.96303309e-01 -1.57224969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.006296757 meters 0.07116046077597152 Centerline is valid? [True, True] Translation: X:137.16, Y:-7.43, Z:-15.73 [[ 9.94322340e-01 6.21618299e-02 8.63654487e-02 1.37156369e+02] [-6.22205695e-02 9.98060391e-01 -2.01420812e-03 -7.42860818e+00] [-8.63231404e-02 -3.37093527e-03 9.96261488e-01 -1.57313668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.066296757 meters 0.07174099692237558 Centerline is valid? [True, True] Translation: X:137.22, Y:-7.43, Z:-15.74 [[ 9.94050983e-01 6.69549282e-02 8.59050670e-02 1.37216778e+02] [-6.70307367e-02 9.97748897e-01 -2.00495698e-03 -7.42672254e+00] [-8.58459276e-02 -3.76525047e-03 9.96301310e-01 -1.57391850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.126296757 meters 0.0723435551437818 Centerline is valid? [True, True] Translation: X:137.28, Y:-7.43, Z:-15.75 [[ 9.93862793e-01 6.77240001e-02 8.74654740e-02 1.37277263e+02] [-6.78058488e-02 9.97696453e-01 -2.03834064e-03 -7.42622379e+00] [-8.74020377e-02 -3.90483978e-03 9.96165466e-01 -1.57463358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.186296757 meters 0.07206841590381531 Centerline is valid? [True, True] Translation: X:137.34, Y:-7.43, Z:-15.75 [[ 9.93851579e-01 6.53662659e-02 8.93660408e-02 1.37337435e+02] [-6.54400433e-02 9.97854278e-01 -2.10726187e-03 -7.42812932e+00] [-8.93120299e-02 -3.75381204e-03 9.95996622e-01 -1.57526252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.246296757 meters 0.07143601517738939 Centerline is valid? [True, True] Translation: X:137.40, Y:-7.43, Z:-15.76 [[ 9.93754293e-01 6.02253757e-02 9.39431180e-02 1.37396969e+02] [-6.02837331e-02 9.98178815e-01 -2.21916852e-03 -7.43426428e+00] [-9.39056805e-02 -3.45793362e-03 9.95575093e-01 -1.57568264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.306296757 meters 0.06929314932843654 Centerline is valid? [True, True] Translation: X:137.46, Y:-7.44, Z:-15.76 [[ 9.93676375e-01 5.71983437e-02 9.66209718e-02 1.37457973e+02] [-5.72459230e-02 9.98357500e-01 -2.28184645e-03 -7.44310400e+00] [-9.65927896e-02 -3.26373980e-03 9.95318633e-01 -1.57613464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36629675700001 meters 0.0694695117024305 Centerline is valid? [True, True] Translation: X:137.52, Y:-7.44, Z:-15.77 [[ 9.93638551e-01 5.71077340e-02 9.70625359e-02 1.37519080e+02] [-5.71552393e-02 9.98362670e-01 -2.29316682e-03 -7.44349370e+00] [-9.70345700e-02 -3.26905351e-03 9.95275643e-01 -1.57704437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42629675700002 meters 0.06936861343040873 Centerline is valid? [True, True] Translation: X:137.58, Y:-7.45, Z:-15.78 [[ 9.93639678e-01 5.71484525e-02 9.70270347e-02 1.37581858e+02] [-5.71938214e-02 9.98360408e-01 -2.31587119e-03 -7.44608465e+00] [-9.70002984e-02 -3.24820538e-03 9.95279052e-01 -1.57782804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48629675700002 meters 0.06966987551635745 Centerline is valid? [True, True] Translation: X:137.64, Y:-7.44, Z:-15.79 [[ 9.93563427e-01 5.91618154e-02 9.66001844e-02 1.37643314e+02] [-5.92135458e-02 9.98242611e-01 -2.33365606e-03 -7.44340093e+00] [-9.65684836e-02 -3.40140413e-03 9.95320530e-01 -1.57862363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.546296757 meters 0.07042316066588584 Centerline is valid? [True, True] Translation: X:137.70, Y:-7.44, Z:-15.79 [[ 9.93518582e-01 6.35703487e-02 9.42318287e-02 1.37704109e+02] [-6.36368158e-02 9.97970468e-01 -2.30253002e-03 -7.44092155e+00] [-9.41869548e-02 -3.70900717e-03 9.95547619e-01 -1.57940085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.606296757 meters 0.0708956101445624 Centerline is valid? [True, True] Translation: X:137.76, Y:-7.44, Z:-15.80 [[ 9.93438117e-01 6.69059233e-02 9.27593933e-02 1.37764713e+02] [-6.69846765e-02 9.97751427e-01 -2.26768948e-03 -7.43954183e+00] [-9.27025390e-02 -3.96064879e-03 9.95685971e-01 -1.58012623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.666296757 meters 0.07194860468787956 Centerline is valid? [True, True] Translation: X:137.83, Y:-7.44, Z:-15.81 [[ 9.93308002e-01 6.84921173e-02 9.29948567e-02 1.37825316e+02] [-6.85780796e-02 9.97643159e-01 -2.27471799e-03 -7.43695511e+00] [-9.29314828e-02 -4.11791311e-03 9.95663991e-01 -1.58095236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.726296757 meters 0.07238213322346428 Centerline is valid? [True, True] Translation: X:137.89, Y:-7.44, Z:-15.82 [[ 9.93121315e-01 7.11698054e-02 9.29780224e-02 1.37886841e+02] [-7.12652424e-02 9.97454754e-01 -2.29763437e-03 -7.43734831e+00] [-9.29048927e-02 -4.34427163e-03 9.95665510e-01 -1.58151417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.786296757 meters 0.07289352837598276 Centerline is valid? [True, True] Translation: X:137.95, Y:-7.44, Z:-15.82 [[ 9.93077695e-01 7.34470603e-02 9.16636280e-02 1.37947947e+02] [-7.35486950e-02 9.97289036e-01 -2.27330633e-03 -7.43787745e+00] [-9.15820988e-02 -4.48417041e-03 9.95787433e-01 -1.58238517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.846296757 meters 0.07432739074038429 Centerline is valid? [True, True] Translation: X:138.01, Y:-7.44, Z:-15.83 [[ 9.93123406e-01 7.54737585e-02 8.94964416e-02 1.38007292e+02] [-7.55766037e-02 9.97137474e-01 -2.24387550e-03 -7.43568027e+00] [-8.94096095e-02 -4.53539183e-03 9.95984614e-01 -1.58321559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.906296757 meters 0.07299635902920172 Centerline is valid? [True, True] Translation: X:138.07, Y:-7.44, Z:-15.83 [[ 9.92877587e-01 7.61483674e-02 9.16270890e-02 1.38069097e+02] [-7.62594906e-02 9.97085369e-01 -2.29281550e-03 -7.44303833e+00] [-9.15346240e-02 -4.71095001e-03 9.95790751e-01 -1.58329079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.966296757 meters 0.07252856656577021 Centerline is valid? [True, True] Translation: X:138.13, Y:-7.45, Z:-15.84 [[ 9.92853307e-01 7.72587604e-02 9.09581999e-02 1.38130915e+02] [-7.73708441e-02 9.96999734e-01 -2.29847554e-03 -7.44533767e+00] [-9.08628784e-02 -4.75546366e-03 9.95852059e-01 -1.58383821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.026296757 meters 0.07465449425077153 Centerline is valid? [True, True] Translation: X:138.19, Y:-7.44, Z:-15.85 [[ 9.93084179e-01 7.87931411e-02 8.70370811e-02 1.38190753e+02] [-7.88992512e-02 9.96880110e-01 -2.22568363e-03 -7.44045417e+00] [-8.69409036e-02 -4.65686933e-03 9.96202586e-01 -1.58497537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.086296757 meters 0.07396250188279212 Centerline is valid? [True, True] Translation: X:138.25, Y:-7.44, Z:-15.86 [[ 9.93135729e-01 7.88039721e-02 8.64370177e-02 1.38253618e+02] [-7.89090466e-02 9.96879379e-01 -2.20578288e-03 -7.44341736e+00] [-8.63411050e-02 -4.63002086e-03 9.96254875e-01 -1.58556483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14629675700002 meters 0.07338873834597394 Centerline is valid? [True, True] Translation: X:138.32, Y:-7.44, Z:-15.86 [[ 9.93247438e-01 7.68760357e-02 8.68884460e-02 1.38315115e+02] [-7.69722835e-02 9.97030701e-01 -2.24706822e-03 -7.44404002e+00] [-8.68031939e-02 -4.45610735e-03 9.96215513e-01 -1.58615551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20629675700002 meters 0.07352672407682208 Centerline is valid? [True, True] Translation: X:138.38, Y:-7.44, Z:-15.87 [[ 9.93481713e-01 7.57210577e-02 8.52080216e-02 1.38375962e+02] [-7.58093363e-02 9.97119896e-01 -2.20382877e-03 -7.44466507e+00] [-8.51294899e-02 -4.27009999e-03 9.96360746e-01 -1.58689447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.266296757 meters 0.07368037388522852 Centerline is valid? [True, True] Translation: X:138.44, Y:-7.45, Z:-15.88 [[ 9.93832933e-01 7.43144920e-02 8.23010163e-02 1.38437094e+02] [-7.43906259e-02 9.97226871e-01 -2.14522722e-03 -7.44594665e+00] [-8.22322065e-02 -3.99042666e-03 9.96605208e-01 -1.58768811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.326296757 meters 0.07172502609583915 Centerline is valid? [True, True] Translation: X:138.50, Y:-7.45, Z:-15.88 [[ 9.94089515e-01 7.15313789e-02 8.16657673e-02 1.38498486e+02] [-7.15948474e-02 9.97431469e-01 -2.15465013e-03 -7.45325568e+00] [-8.16101313e-02 -3.70493304e-03 9.96657444e-01 -1.58827258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.386296757 meters 0.07139088907188865 Centerline is valid? [True, True] Translation: X:138.56, Y:-7.46, Z:-15.89 [[ 9.94211527e-01 6.94766878e-02 8.19538265e-02 1.38559158e+02] [-6.95332580e-02 9.97577280e-01 -2.16705724e-03 -7.45787323e+00] [-8.19058353e-02 -3.54400328e-03 9.96633771e-01 -1.58898790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.446296757 meters 0.07151437685611511 Centerline is valid? [True, True] Translation: X:138.62, Y:-7.46, Z:-15.90 [[ 9.94463430e-01 6.71879646e-02 8.07976780e-02 1.38619535e+02] [-6.72356155e-02 9.97734844e-01 -2.13388056e-03 -7.46232846e+00] [-8.07580297e-02 -3.31041543e-03 9.96728239e-01 -1.58991302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.506296757 meters 0.07068988653766554 Centerline is valid? [True, True] Translation: X:138.68, Y:-7.47, Z:-15.90 [[ 9.94271561e-01 6.74278106e-02 8.29310213e-02 1.38680921e+02] [-6.74773428e-02 9.97718362e-01 -2.20860520e-03 -7.46750681e+00] [-8.28907241e-02 -3.40001161e-03 9.96552842e-01 -1.59041921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.566296757 meters 0.07039835859257862 Centerline is valid? [True, True] Translation: X:138.74, Y:-7.47, Z:-15.91 [[ 9.93804093e-01 6.98948807e-02 8.64183422e-02 1.38743198e+02] [-6.99561535e-02 9.97547363e-01 -2.32291210e-03 -7.46976909e+00] [-8.63687490e-02 -3.73697526e-03 9.96256229e-01 -1.59089540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.626296757 meters 0.07248756367961466 Centerline is valid? [True, True] Translation: X:138.80, Y:-7.46, Z:-15.92 [[ 9.93660287e-01 7.13240367e-02 8.69029071e-02 1.38803808e+02] [-7.13891857e-02 9.97445741e-01 -2.36192185e-03 -7.46399207e+00] [-8.68493963e-02 -3.85697983e-03 9.96213986e-01 -1.59185731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.686296757 meters 0.07186853543625452 Centerline is valid? [True, True] Translation: X:138.87, Y:-7.47, Z:-15.92 [[ 9.93416339e-01 7.36080088e-02 8.77829011e-02 1.38865945e+02] [-7.36813023e-02 9.97278928e-01 -2.40942638e-03 -7.46634209e+00] [-8.77213906e-02 -4.07439494e-03 9.96136716e-01 -1.59238792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.746296757 meters 0.07342231976928831 Centerline is valid? [True, True] Translation: X:138.93, Y:-7.46, Z:-15.93 [[ 9.93141585e-01 7.54028142e-02 8.93543962e-02 1.38926380e+02] [-7.54853755e-02 9.97143875e-01 -2.45974267e-03 -7.46200398e+00] [-8.92846604e-02 -4.30207742e-03 9.95996858e-01 -1.59313396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.806296757 meters 0.07391401162392199 Centerline is valid? [True, True] Translation: X:138.99, Y:-7.46, Z:-15.94 [[ 9.93159563e-01 7.82631383e-02 8.66542756e-02 1.38986427e+02] [-7.83512809e-02 9.96922951e-01 -2.38874391e-03 -7.46021074e+00] [-8.65745868e-02 -4.41706963e-03 9.96235580e-01 -1.59411896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86629675700001 meters 0.07280830638128424 Centerline is valid? [True, True] Translation: X:139.05, Y:-7.47, Z:-15.95 [[ 9.93135420e-01 7.90866150e-02 8.61820430e-02 1.39047697e+02] [-7.91772218e-02 9.96857734e-01 -2.37172904e-03 -7.46504410e+00] [-8.60988082e-02 -4.46820662e-03 9.96276583e-01 -1.59473077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92629675700002 meters 0.07229921638836828 Centerline is valid? [True, True] Translation: X:139.11, Y:-7.47, Z:-15.95 [[ 9.93273363e-01 7.71877529e-02 8.63138256e-02 1.39108868e+02] [-7.72691821e-02 9.97007374e-01 -2.40214609e-03 -7.46870799e+00] [-8.62409368e-02 -4.28341098e-03 9.96265102e-01 -1.59535423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98629675700002 meters 0.07333552324641351 Centerline is valid? [True, True] Translation: X:139.17, Y:-7.47, Z:-15.96 [[ 9.93543067e-01 7.31529950e-02 8.67226217e-02 1.39168268e+02] [-7.32195467e-02 9.97312917e-01 -2.41752193e-03 -7.46645468e+00] [-8.66664397e-02 -3.94787889e-03 9.96229563e-01 -1.59632096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.046296757 meters 0.07187487665949067 Centerline is valid? [True, True] Translation: X:139.23, Y:-7.47, Z:-15.97 [[ 9.93575805e-01 7.16051972e-02 8.76345539e-02 1.39229316e+02] [-7.16672437e-02 9.97425607e-01 -2.44216352e-03 -7.47292750e+00] [-8.75838197e-02 -3.85405235e-03 9.96149698e-01 -1.59668901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.106296757 meters 0.07116857745475302 Centerline is valid? [True, True] Translation: X:139.29, Y:-7.48, Z:-15.97 [[ 9.93771231e-01 6.83517519e-02 8.80157845e-02 1.39290547e+02] [-6.84013856e-02 9.97654860e-01 -2.45556328e-03 -7.47646321e+00] [-8.79772173e-02 -3.58013347e-03 9.96116053e-01 -1.59723599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.166296757 meters 0.07041764433660991 Centerline is valid? [True, True] Translation: X:139.35, Y:-7.48, Z:-15.98 [[ 9.94056985e-01 6.71786724e-02 8.56605921e-02 1.39353056e+02] [-6.72214209e-02 9.97735223e-01 -2.38855123e-03 -7.48183109e+00] [-8.56270497e-02 -3.38387068e-03 9.96321513e-01 -1.59782315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.226296757 meters 0.07055198938855663 Centerline is valid? [True, True] Translation: X:139.41, Y:-7.48, Z:-15.99 [[ 9.94251524e-01 6.66811452e-02 8.37707152e-02 1.39414601e+02] [-6.67181751e-02 9.97769068e-01 -2.36045331e-03 -7.48154432e+00] [-8.37412262e-02 -3.24214495e-03 9.96482261e-01 -1.59868497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.286296757 meters 0.07082584778003345 Centerline is valid? [True, True] Translation: X:139.48, Y:-7.48, Z:-15.99 [[ 9.94579399e-01 6.70064128e-02 7.95107574e-02 1.39475020e+02] [-6.70387234e-02 9.97747801e-01 -2.26595571e-03 -7.48304060e+00] [-7.94835170e-02 -3.07662681e-03 9.96831433e-01 -1.59933836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.346296757 meters 0.07083692512345738 Centerline is valid? [True, True] Translation: X:139.54, Y:-7.48, Z:-16.00 [[ 9.94625863e-01 6.78087283e-02 7.82391743e-02 1.39536316e+02] [-6.78426387e-02 9.97693547e-01 -2.22762550e-03 -7.48421099e+00] [-7.82097718e-02 -3.09229810e-03 9.96932129e-01 -1.59993095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.406296757 meters 0.07216788305648897 Centerline is valid? [True, True] Translation: X:139.60, Y:-7.48, Z:-16.01 [[ 9.94413116e-01 7.09959320e-02 7.81161508e-02 1.39595566e+02] [-7.10386449e-02 9.97471059e-01 -2.23548210e-03 -7.48044932e+00] [-7.80773098e-02 -3.32627278e-03 9.96941758e-01 -1.60071609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.466296757 meters 0.0726732905596519 Centerline is valid? [True, True] Translation: X:139.66, Y:-7.48, Z:-16.01 [[ 9.94265421e-01 7.35533555e-02 7.76284565e-02 1.39656291e+02] [-7.36026126e-02 9.97285155e-01 -2.23032971e-03 -7.48103452e+00] [-7.75817555e-02 -3.49611750e-03 9.96979864e-01 -1.60116148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.526296757 meters 0.07195392964638334 Centerline is valid? [True, True] Translation: X:139.72, Y:-7.49, Z:-16.02 [[ 9.94282980e-01 7.28245767e-02 7.80892926e-02 1.39718259e+02] [-7.28726506e-02 9.97338744e-01 -2.23764005e-03 -7.48733777e+00] [-7.80444322e-02 -3.46572632e-03 9.96943858e-01 -1.60166320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.586296757 meters 0.07280358511849769 Centerline is valid? [True, True] Translation: X:139.78, Y:-7.49, Z:-16.03 [[ 9.94379552e-01 7.27611550e-02 7.69098223e-02 1.39778668e+02] [-7.28060851e-02 9.97343637e-01 -2.22328805e-03 -7.48789446e+00] [-7.68672910e-02 -3.38871090e-03 9.97035574e-01 -1.60256398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64629675700002 meters 0.07291840995304617 Centerline is valid? [True, True] Translation: X:139.84, Y:-7.49, Z:-16.03 [[ 9.94327596e-01 7.31796655e-02 7.71839885e-02 1.39841067e+02] [-7.32249325e-02 9.97312919e-01 -2.24728938e-03 -7.49176579e+00] [-7.71410448e-02 -3.41725050e-03 9.97014334e-01 -1.60328607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70629675700002 meters 0.0733179531496547 Centerline is valid? [True, True] Translation: X:139.90, Y:-7.49, Z:-16.04 [[ 9.94047890e-01 7.41406133e-02 7.98245648e-02 1.39902836e+02] [-7.41902086e-02 9.97241344e-01 -2.34845625e-03 -7.49229161e+00] [-7.97784723e-02 -3.58772314e-03 9.96806162e-01 -1.60399411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.766296757 meters 0.0733523090849883 Centerline is valid? [True, True] Translation: X:139.97, Y:-7.50, Z:-16.05 [[ 9.94166568e-01 7.35948753e-02 7.88456088e-02 1.39965717e+02] [-7.36401188e-02 9.97282141e-01 -2.33761500e-03 -7.49653499e+00] [-7.88033540e-02 -3.48222132e-03 9.96884098e-01 -1.60458040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.826296757 meters 0.07343296980932923 Centerline is valid? [True, True] Translation: X:140.03, Y:-7.50, Z:-16.06 [[ 9.94367521e-01 7.21823721e-02 7.76075921e-02 1.40027184e+02] [-7.22201234e-02 9.97386010e-01 -2.32378047e-03 -7.49726313e+00] [-7.75724626e-02 -3.29413805e-03 9.96981274e-01 -1.60550665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.886296757 meters 0.07361077149148239 Centerline is valid? [True, True] Translation: X:140.09, Y:-7.50, Z:-16.06 [[ 9.94434158e-01 7.04610733e-02 7.83322546e-02 1.40087070e+02] [-7.04923510e-02 9.97509506e-01 -2.36925055e-03 -7.49926573e+00] [-7.83041085e-02 -3.16576111e-03 9.96924493e-01 -1.60629312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.946296757 meters 0.07318943463906893 Centerline is valid? [True, True] Translation: X:140.15, Y:-7.50, Z:-16.07 [[ 9.94565105e-01 6.82823577e-02 7.85988033e-02 1.40148486e+02] [-6.83063473e-02 9.97661540e-01 -2.38645705e-03 -7.50206860e+00] [-7.85779560e-02 -2.99531025e-03 9.96903472e-01 -1.60685889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.006296757 meters 0.07369169985375723 Centerline is valid? [True, True] Translation: X:140.21, Y:-7.50, Z:-16.08 [[ 9.94569796e-01 6.75872016e-02 7.91384276e-02 1.40208986e+02] [-6.76092600e-02 9.97708981e-01 -2.40376324e-03 -7.50025108e+00] [-7.91195836e-02 -2.95978021e-03 9.96860738e-01 -1.60773823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.066296757 meters 0.07403223710208094 Centerline is valid? [True, True] Translation: X:140.27, Y:-7.50, Z:-16.09 [[ 9.94641926e-01 6.84906131e-02 7.74369148e-02 1.40270574e+02] [-6.85127975e-02 9.97647415e-01 -2.37331609e-03 -7.50213964e+00] [-7.74172878e-02 -2.94481998e-03 9.96994429e-01 -1.60856469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.126296757 meters 0.07495854809292041 Centerline is valid? [True, True] Translation: X:140.33, Y:-7.50, Z:-16.09 [[ 9.94491961e-01 7.08437872e-02 7.72456980e-02 1.40331737e+02] [-7.08729058e-02 9.97482543e-01 -2.36784732e-03 -7.49900454e+00] [-7.72189826e-02 -3.11982195e-03 9.97009276e-01 -1.60945993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.186296757 meters 0.07433043153513369 Centerline is valid? [True, True] Translation: X:140.39, Y:-7.50, Z:-16.10 [[ 9.94290817e-01 7.40373447e-02 7.68390753e-02 1.40393204e+02] [-7.40739739e-02 9.97249916e-01 -2.37722512e-03 -7.50341420e+00] [-7.68037648e-02 -3.32812255e-03 9.97040674e-01 -1.60971083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.246296757 meters 0.07450474691675366 Centerline is valid? [True, True] Translation: X:140.46, Y:-7.51, Z:-16.10 [[ 9.94078073e-01 7.64357532e-02 7.72422246e-02 1.40455077e+02] [-7.64798680e-02 9.97068258e-01 -2.39122549e-03 -7.50594297e+00] [-7.71985455e-02 -3.53041031e-03 9.97009489e-01 -1.61020911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.306296757 meters 0.07514528468919358 Centerline is valid? [True, True] Translation: X:140.52, Y:-7.51, Z:-16.11 [[ 9.94151045e-01 7.74434653e-02 7.52742263e-02 1.40515856e+02] [-7.74882321e-02 9.96990544e-01 -2.33008993e-03 -7.50544812e+00] [-7.52281420e-02 -3.51640538e-03 9.97160148e-01 -1.61108670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36629675700001 meters 0.07495018262471913 Centerline is valid? [True, True] Translation: X:140.58, Y:-7.51, Z:-16.12 [[ 9.94242322e-01 7.90161507e-02 7.23785382e-02 1.40576697e+02] [-7.90600293e-02 9.96867288e-01 -2.26294651e-03 -7.50956392e+00] [-7.23306064e-02 -3.47233216e-03 9.97374667e-01 -1.61174881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42629675700002 meters 0.07507310416156775 Centerline is valid? [True, True] Translation: X:140.64, Y:-7.51, Z:-16.12 [[ 9.94032666e-01 8.09508185e-02 7.31165143e-02 1.40638768e+02] [-8.10011956e-02 9.96711395e-01 -2.28086416e-03 -7.51141740e+00] [-7.30607007e-02 -3.65527159e-03 9.97320797e-01 -1.61218821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48629675700002 meters 0.07530296539501541 Centerline is valid? [True, True] Translation: X:140.70, Y:-7.51, Z:-16.13 [[ 9.93879722e-01 8.16960180e-02 7.43563032e-02 1.40701087e+02] [-8.17488033e-02 9.96650222e-01 -2.33842453e-03 -7.51140044e+00] [-7.42982660e-02 -3.75442608e-03 9.97228997e-01 -1.61267608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.546296757 meters 0.07560921888171436 Centerline is valid? [True, True] Translation: X:140.76, Y:-7.51, Z:-16.13 [[ 9.93872687e-01 8.14665572e-02 7.47012916e-02 1.40761583e+02] [-8.15175157e-02 9.96669087e-01 -2.37167132e-03 -7.51147373e+00] [-7.46456800e-02 -3.73232437e-03 9.97203135e-01 -1.61334156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.606296757 meters 0.07566125699714824 Centerline is valid? [True, True] Translation: X:140.82, Y:-7.51, Z:-16.14 [[ 9.94135769e-01 8.06358977e-02 7.20550163e-02 1.40823247e+02] [-8.06806882e-02 9.96737361e-01 -2.29343954e-03 -7.51140353e+00] [-7.20048603e-02 -3.53345802e-03 9.97398022e-01 -1.61419507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.666296757 meters 0.07394320538687253 Centerline is valid? [True, True] Translation: X:140.88, Y:-7.52, Z:-16.15 [[ 9.94557599e-01 7.71154281e-02 7.00599196e-02 1.40884122e+02] [-7.71473451e-02 9.97017154e-01 -2.25416109e-03 -7.51873065e+00] [-7.00247723e-02 -3.16304375e-03 9.97540238e-01 -1.61465430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.726296757 meters 0.0736520528059715 Centerline is valid? [True, True] Translation: X:140.95, Y:-7.52, Z:-16.15 [[ 9.94847148e-01 7.51357514e-02 6.80718133e-02 1.40946011e+02] [-7.51616797e-02 9.97168969e-01 -2.18382847e-03 -7.52268791e+00] [-6.80431835e-02 -2.94381631e-03 9.97678034e-01 -1.61530018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.786296757 meters 0.07344497937774924 Centerline is valid? [True, True] Translation: X:141.01, Y:-7.52, Z:-16.16 [[ 9.94884786e-01 7.38049886e-02 6.89716349e-02 1.41007310e+02] [-7.38266929e-02 9.97268576e-01 -2.23776485e-03 -7.52317747e+00] [-6.89484023e-02 -2.86562950e-03 9.97616112e-01 -1.61613688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.846296757 meters 0.07379752359454918 Centerline is valid? [True, True] Translation: X:141.07, Y:-7.52, Z:-16.17 [[ 9.94695344e-01 7.49679065e-02 7.04342593e-02 1.41069263e+02] [-7.49937068e-02 9.97181397e-01 -2.28171224e-03 -7.52456731e+00] [-7.04067883e-02 -3.01251765e-03 9.97513814e-01 -1.61681041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.906296757 meters 0.0730693067881207 Centerline is valid? [True, True] Translation: X:141.13, Y:-7.53, Z:-16.17 [[ 9.94617732e-01 7.63771151e-02 7.00150215e-02 1.41130515e+02] [-7.64048965e-02 9.97074255e-01 -2.28508528e-03 -7.52977772e+00] [-6.99847036e-02 -3.07670413e-03 9.97543320e-01 -1.61730669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.966296757 meters 0.07378631149874613 Centerline is valid? [True, True] Translation: X:141.19, Y:-7.53, Z:-16.18 [[ 9.94369350e-01 7.83837294e-02 7.13132983e-02 1.41191229e+02] [-7.84164917e-02 9.96917929e-01 -2.34443373e-03 -7.53002613e+00] [-7.12772711e-02 -3.26090562e-03 9.97451210e-01 -1.61809624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.026296757 meters 0.07435623462377274 Centerline is valid? [True, True] Translation: X:141.25, Y:-7.53, Z:-16.19 [[ 9.93949619e-01 8.08686763e-02 7.43263903e-02 1.41253764e+02] [-8.09100172e-02 9.96718375e-01 -2.45962346e-03 -7.52951537e+00] [-7.42813855e-02 -3.56900771e-03 9.97230935e-01 -1.61876218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.086296757 meters 0.07534417962788453 Centerline is valid? [True, True] Translation: X:141.31, Y:-7.53, Z:-16.19 [[ 9.93489628e-01 8.28283325e-02 7.82165385e-02 1.41314524e+02] [-8.28782379e-02 9.96556254e-01 -2.61355191e-03 -7.52997463e+00] [-7.81636567e-02 -3.88591217e-03 9.96932968e-01 -1.61936277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14629675700002 meters 0.07453050100051158 Centerline is valid? [True, True] Translation: X:141.38, Y:-7.53, Z:-16.20 [[ 9.93416325e-01 8.38643817e-02 7.80433871e-02 1.41375623e+02] [-8.39159026e-02 9.96469383e-01 -2.62496384e-03 -7.53406826e+00] [-7.79879867e-02 -3.94139933e-03 9.96946508e-01 -1.62002089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20629675700002 meters 0.0752130658539078 Centerline is valid? [True, True] Translation: X:141.44, Y:-7.53, Z:-16.21 [[ 9.93239348e-01 8.54411013e-02 7.85838102e-02 1.41437431e+02] [-8.54968597e-02 9.96334887e-01 -2.66091496e-03 -7.53419475e+00] [-7.85231432e-02 -4.07574356e-03 9.96903959e-01 -1.62088600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.266296757 meters 0.07461033903249494 Centerline is valid? [True, True] Translation: X:141.50, Y:-7.54, Z:-16.21 [[ 9.93159141e-01 8.33109677e-02 8.18181110e-02 1.41498085e+02] [-8.33619812e-02 9.96515404e-01 -2.79826852e-03 -7.54034353e+00] [-8.17661344e-02 -4.04139387e-03 9.96643350e-01 -1.62147748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.326296757 meters 0.07428883759279545 Centerline is valid? [True, True] Translation: X:141.56, Y:-7.54, Z:-16.22 [[ 9.93032882e-01 8.16041984e-02 8.50085324e-02 1.41557239e+02] [-8.16529093e-02 9.96656579e-01 -2.90956029e-03 -7.54275491e+00] [-8.49617454e-02 -4.05190494e-03 9.96375975e-01 -1.62220869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.386296757 meters 0.07365067916117349 Centerline is valid? [True, True] Translation: X:141.62, Y:-7.55, Z:-16.23 [[ 9.92999222e-01 8.02413138e-02 8.66826237e-02 1.41618802e+02] [-8.02869943e-02 9.96767379e-01 -2.96485273e-03 -7.54771463e+00] [-8.66403153e-02 -4.01539085e-03 9.96231566e-01 -1.62278452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.446296757 meters 0.07271559552489748 Centerline is valid? [True, True] Translation: X:141.68, Y:-7.55, Z:-16.23 [[ 9.93017231e-01 8.09714872e-02 8.57927562e-02 1.41680393e+02] [-8.10189644e-02 9.96708242e-01 -2.93405815e-03 -7.55483823e+00] [-8.57479222e-02 -4.03726996e-03 9.96308684e-01 -1.62338847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.506296757 meters 0.0740430372125736 Centerline is valid? [True, True] Translation: X:141.74, Y:-7.55, Z:-16.24 [[ 9.93088331e-01 8.32658090e-02 8.27186261e-02 1.41739592e+02] [-8.33156498e-02 9.96519117e-01 -2.85511122e-03 -7.55379002e+00] [-8.26684254e-02 -4.05637845e-03 9.96568852e-01 -1.62445050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.566296757 meters 0.07584425162054878 Centerline is valid? [True, True] Translation: X:141.80, Y:-7.55, Z:-16.25 [[ 9.93030751e-01 8.67772028e-02 7.97473840e-02 1.41798678e+02] [-8.68347570e-02 9.96218926e-01 -2.75253955e-03 -7.55153211e+00] [-7.96847110e-02 -4.19148830e-03 9.96811305e-01 -1.62542793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.626296757 meters 0.07624302576261435 Centerline is valid? [True, True] Translation: X:141.86, Y:-7.55, Z:-16.26 [[ 9.92737133e-01 9.00833387e-02 7.97369212e-02 1.41859104e+02] [-9.01515278e-02 9.95924259e-01 -2.75171313e-03 -7.55398081e+00] [-7.96598177e-02 -4.45667746e-03 9.96812145e-01 -1.62602736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.686296757 meters 0.07649768809018898 Centerline is valid? [True, True] Translation: X:141.92, Y:-7.56, Z:-16.27 [[ 9.92244861e-01 9.30198413e-02 8.24466213e-02 1.41920770e+02] [-9.31028736e-02 9.95652429e-01 -2.84527236e-03 -7.55658450e+00] [-8.23528456e-02 -4.85281048e-03 9.96591420e-01 -1.62651246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.746296757 meters 0.07703296022563838 Centerline is valid? [True, True] Translation: X:141.98, Y:-7.56, Z:-16.27 [[ 9.92039633e-01 9.36652761e-02 8.41675808e-02 1.41982602e+02] [-9.37540079e-02 9.95591150e-01 -2.90644380e-03 -7.55922973e+00] [-8.40687315e-02 -5.00774060e-03 9.96447375e-01 -1.62715996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.806296757 meters 0.07748853667409175 Centerline is valid? [True, True] Translation: X:142.04, Y:-7.56, Z:-16.28 [[ 9.92051105e-01 9.19269926e-02 8.59304009e-02 1.42042902e+02] [-9.20107208e-02 9.95753515e-01 -2.99415313e-03 -7.56182653e+00] [-8.58407422e-02 -4.93616520e-03 9.96296643e-01 -1.62778110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86629675700001 meters 0.07722673411462669 Centerline is valid? [True, True] Translation: X:142.10, Y:-7.57, Z:-16.28 [[ 9.92199777e-01 8.91207408e-02 8.71613266e-02 1.42101922e+02] [-8.91957622e-02 9.96009471e-01 -3.04133246e-03 -7.56769022e+00] [-8.70845526e-02 -4.75681157e-03 9.96189567e-01 -1.62841877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92629675700002 meters 0.07636184694070862 Centerline is valid? [True, True] Translation: X:142.16, Y:-7.58, Z:-16.29 [[ 9.92481620e-01 8.50352864e-02 8.80297352e-02 1.42160976e+02] [-8.50959976e-02 9.96368028e-01 -3.06972547e-03 -7.57522574e+00] [-8.79710487e-02 -4.44433203e-03 9.96113117e-01 -1.62928475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98629675700002 meters 0.0742095044604624 Centerline is valid? [True, True] Translation: X:142.22, Y:-7.59, Z:-16.30 [[ 9.92572971e-01 8.24408598e-02 8.94561478e-02 1.42221593e+02] [-8.24931414e-02 9.96586752e-01 -3.11891625e-03 -7.58635659e+00] [-8.94079379e-02 -4.28376669e-03 9.95985878e-01 -1.62974797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.046296757 meters 0.07374555231782089 Centerline is valid? [True, True] Translation: X:142.28, Y:-7.60, Z:-16.30 [[ 9.92651360e-01 7.96000018e-02 9.11433848e-02 1.42281992e+02] [-7.96421189e-02 9.96818447e-01 -3.18062109e-03 -7.59518517e+00] [-9.11065847e-02 -4.10160443e-03 9.95832700e-01 -1.63029370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.106296757 meters 0.07400684463628003 Centerline is valid? [True, True] Translation: X:142.34, Y:-7.60, Z:-16.31 [[ 9.92688730e-01 8.07697495e-02 8.96957761e-02 1.42343629e+02] [-8.08152316e-02 9.96724184e-01 -3.13050436e-03 -7.59792633e+00] [-8.96547992e-02 -4.14116852e-03 9.95964290e-01 -1.63121647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.166296757 meters 0.07453925602348484 Centerline is valid? [True, True] Translation: X:142.40, Y:-7.60, Z:-16.32 [[ 9.92453423e-01 8.54360875e-02 8.79595222e-02 1.42403699e+02] [-8.54974014e-02 9.96333642e-01 -3.07709173e-03 -7.60072431e+00] [-8.78999258e-02 -4.46644035e-03 9.96119297e-01 -1.63190473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.226296757 meters 0.07587076245565316 Centerline is valid? [True, True] Translation: X:142.46, Y:-7.60, Z:-16.33 [[ 9.92126023e-01 8.85449697e-02 8.85762020e-02 1.42463799e+02] [-8.86193444e-02 9.96060741e-01 -3.10027380e-03 -7.59893463e+00] [-8.85017911e-02 -4.77370264e-03 9.96064579e-01 -1.63260383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.286296757 meters 0.07804324384983753 Centerline is valid? [True, True] Translation: X:142.52, Y:-7.60, Z:-16.33 [[ 9.91537355e-01 9.61812594e-02 8.71942582e-02 1.42524272e+02] [-9.62825161e-02 9.95349363e-01 -3.05345667e-03 -7.59545055e+00] [-8.70824346e-02 -5.36766621e-03 9.96186648e-01 -1.63330858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.346296757 meters 0.0809185760869417 Centerline is valid? [True, True] Translation: X:142.58, Y:-7.59, Z:-16.34 [[ 9.91225436e-01 9.89749373e-02 8.76133336e-02 1.42584243e+02] [-9.90879071e-02 9.95073949e-01 -3.06948563e-03 -7.59181543e+00] [-8.74855481e-02 -5.63886963e-03 9.96149829e-01 -1.63410501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.406296757 meters 0.07923692666071584 Centerline is valid? [True, True] Translation: X:142.64, Y:-7.60, Z:-16.35 [[ 9.91453256e-01 9.69492000e-02 8.73000274e-02 1.42644970e+02] [-9.70534487e-02 9.95274468e-01 -3.05962956e-03 -7.59879090e+00] [-8.71841169e-02 -5.43928904e-03 9.96177366e-01 -1.63473187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.466296757 meters 0.07761938242456569 Centerline is valid? [True, True] Translation: X:142.71, Y:-7.61, Z:-16.35 [[ 9.91844849e-01 9.27186281e-02 8.74474253e-02 1.42705250e+02] [-9.28065958e-02 9.95679428e-01 -3.06797560e-03 -7.60643191e+00] [-8.73540609e-02 -5.07274206e-03 9.96164412e-01 -1.63525184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.526296757 meters 0.07506563437251172 Centerline is valid? [True, True] Translation: X:142.77, Y:-7.62, Z:-16.36 [[ 9.92523977e-01 8.48378330e-02 8.77422154e-02 1.42765589e+02] [-8.48954409e-02 9.96385100e-01 -3.08166414e-03 -7.61955323e+00] [-8.76864778e-02 -4.39028851e-03 9.96138448e-01 -1.63569262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.586296757 meters 0.07365802174574472 Centerline is valid? [True, True] Translation: X:142.82, Y:-7.63, Z:-16.36 [[ 9.93516144e-01 7.60279666e-02 8.45305915e-02 1.42824417e+02] [-7.60495037e-02 9.97099620e-01 -2.96989567e-03 -7.63032815e+00] [-8.45112158e-02 -3.47787024e-03 9.96416459e-01 -1.63644261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64629675700002 meters 0.07183861742058845 Centerline is valid? [True, True] Translation: X:142.88, Y:-7.64, Z:-16.37 [[ 9.94104726e-01 6.82633896e-02 8.42371904e-02 1.42884861e+02] [-6.82569877e-02 9.97663383e-01 -2.95938442e-03 -7.64285604e+00] [-8.42423780e-02 -2.80783883e-03 9.96441337e-01 -1.63692229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70629675700002 meters 0.07100475857315845 Centerline is valid? [True, True] Translation: X:142.94, Y:-7.65, Z:-16.38 [[ 9.94589545e-01 6.19836142e-02 8.33646678e-02 1.42944618e+02] [-6.19552006e-02 9.98074630e-01 -2.93023410e-03 -7.65118553e+00] [-8.33857865e-02 -2.25049451e-03 9.96514800e-01 -1.63786071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.766296757 meters 0.07077227648717768 Centerline is valid? [True, True] Translation: X:143.01, Y:-7.66, Z:-16.38 [[ 9.94890294e-01 5.97637823e-02 8.13731733e-02 1.43006165e+02] [-5.97296824e-02 9.98210505e-01 -2.85541334e-03 -7.65889626e+00] [-8.13982066e-02 -2.01957078e-03 9.96679614e-01 -1.63845494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.826296757 meters 0.07066747415682036 Centerline is valid? [True, True] Translation: X:143.07, Y:-7.66, Z:-16.39 [[ 9.94617878e-01 6.08748963e-02 8.38422517e-02 1.43068106e+02] [-6.08408730e-02 9.98143080e-01 -2.96314162e-03 -7.66209230e+00] [-8.38669443e-02 -2.15384216e-03 9.96474634e-01 -1.63898032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.886296757 meters 0.07149097538818455 Centerline is valid? [True, True] Translation: X:143.13, Y:-7.66, Z:-16.40 [[ 9.94200759e-01 6.54753473e-02 8.53101931e-02 1.43130138e+02] [-6.54548141e-02 9.97850901e-01 -3.04076637e-03 -7.65953532e+00] [-8.53259483e-02 -2.56083060e-03 9.96349800e-01 -1.63963718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.946296757 meters 0.07255666443024769 Centerline is valid? [True, True] Translation: X:143.19, Y:-7.66, Z:-16.40 [[ 9.93984009e-01 7.06490531e-02 8.36929001e-02 1.43191193e+02] [-7.06470071e-02 9.97496898e-01 -2.98969202e-03 -7.65822043e+00] [-8.36946272e-02 -2.94094685e-03 9.96487110e-01 -1.64030533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.006296757 meters 0.07361438799535786 Centerline is valid? [True, True] Translation: X:143.25, Y:-7.66, Z:-16.41 [[ 9.94178881e-01 7.26377619e-02 7.95745438e-02 1.43251473e+02] [-7.26419742e-02 9.97354022e-01 -2.84572633e-03 -7.65678284e+00] [-7.95706985e-02 -2.95129094e-03 9.96824856e-01 -1.64135916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.066296757 meters 0.07379726979489742 Centerline is valid? [True, True] Translation: X:143.31, Y:-7.66, Z:-16.42 [[ 9.94278087e-01 7.03913910e-02 8.03500897e-02 1.43311133e+02] [-7.03882630e-02 9.97515527e-01 -2.87489494e-03 -7.66070602e+00] [-8.03528299e-02 -2.79725820e-03 9.96762559e-01 -1.64216978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.126296757 meters 0.07298801308228 Centerline is valid? [True, True] Translation: X:143.37, Y:-7.67, Z:-16.43 [[ 9.94298711e-01 6.60674651e-02 8.36968484e-02 1.43371214e+02] [-6.60487096e-02 9.97811902e-01 -2.99600492e-03 -7.66731346e+00] [-8.37116500e-02 -2.54914500e-03 9.96486759e-01 -1.64268410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.186296757 meters 0.07215610897834557 Centerline is valid? [True, True] Translation: X:143.43, Y:-7.68, Z:-16.43 [[ 9.94118806e-01 6.23245974e-02 8.85632156e-02 1.43432053e+02] [-6.22885968e-02 9.98053137e-01 -3.17281093e-03 -7.67501494e+00] [-8.85885393e-02 -2.36232742e-03 9.96065505e-01 -1.64311974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.246296757 meters 0.07215934444253577 Centerline is valid? [True, True] Translation: X:143.49, Y:-7.68, Z:-16.44 [[ 9.93880719e-01 6.10737030e-02 9.20386808e-02 1.43493511e+02] [-6.10294378e-02 9.98130518e-01 -3.29801836e-03 -7.67902298e+00] [-9.20680383e-02 -2.33923209e-03 9.95749971e-01 -1.64378455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.306296757 meters 0.07243808383215185 Centerline is valid? [True, True] Translation: X:143.56, Y:-7.68, Z:-16.45 [[ 9.93627443e-01 6.24881894e-02 9.38068764e-02 1.43556347e+02] [-6.24481356e-02 9.98042537e-01 -3.36531535e-03 -7.67925700e+00] [-9.38335453e-02 -2.51419485e-03 9.95584725e-01 -1.64456914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36629675700001 meters 0.07258209105267084 Centerline is valid? [True, True] Translation: X:143.62, Y:-7.68, Z:-16.45 [[ 9.93476207e-01 6.34904862e-02 9.47311162e-02 1.43619238e+02] [-6.34516511e-02 9.97979036e-01 -3.42515198e-03 -7.68153300e+00] [-9.47571326e-02 -2.60803874e-03 9.95497003e-01 -1.64517382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42629675700002 meters 0.07302757522093639 Centerline is valid? [True, True] Translation: X:143.68, Y:-7.68, Z:-16.46 [[ 9.93205278e-01 6.65402781e-02 9.54760079e-02 1.43680058e+02] [-6.65122016e-02 9.97779543e-01 -3.48002168e-03 -7.67955553e+00] [-9.54955691e-02 -2.89394359e-03 9.95425648e-01 -1.64581048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48629675700002 meters 0.07338484457950459 Centerline is valid? [True, True] Translation: X:143.74, Y:-7.68, Z:-16.47 [[ 9.93452236e-01 6.64569874e-02 9.29307456e-02 1.43741837e+02] [-6.64281352e-02 9.97785395e-01 -3.40718249e-03 -7.67899750e+00] [-9.29513718e-02 -2.78834307e-03 9.95666745e-01 -1.64686450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.546296757 meters 0.07326502215996164 Centerline is valid? [True, True] Translation: X:143.80, Y:-7.68, Z:-16.48 [[ 9.93667262e-01 6.51725022e-02 9.15309649e-02 1.43803042e+02] [-6.51370564e-02 9.97870610e-01 -3.37770014e-03 -7.68187678e+00] [-9.15561930e-02 -2.60574757e-03 9.95796502e-01 -1.64759939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.606296757 meters 0.07246649353150195 Centerline is valid? [True, True] Translation: X:143.86, Y:-7.69, Z:-16.48 [[ 9.93848146e-01 6.10004341e-02 9.24381359e-02 1.43864225e+02] [-6.09438701e-02 9.98135276e-01 -3.43724793e-03 -7.68742429e+00] [-9.24754379e-02 -2.21743527e-03 9.95712497e-01 -1.64808731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.666296757 meters 0.07226048773999418 Centerline is valid? [True, True] Translation: X:143.93, Y:-7.69, Z:-16.49 [[ 9.93818188e-01 5.70044172e-02 9.52675497e-02 1.43925279e+02] [-5.69257112e-02 9.98372120e-01 -3.54594673e-03 -7.69220008e+00] [-9.53146001e-02 -1.89914666e-03 9.95445388e-01 -1.64863487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.726296757 meters 0.07234540140242864 Centerline is valid? [True, True] Translation: X:143.99, Y:-7.70, Z:-16.49 [[ 9.93880335e-01 5.50993214e-02 9.57389408e-02 1.43986132e+02] [-5.50109450e-02 9.98479390e-01 -3.56427991e-03 -7.69553287e+00] [-9.57897486e-02 -1.72422189e-03 9.95400096e-01 -1.64937357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.786296757 meters 0.07231180696225885 Centerline is valid? [True, True] Translation: X:144.05, Y:-7.70, Z:-16.50 [[ 9.93776676e-01 5.46208123e-02 9.70797871e-02 1.44048383e+02] [-5.45253409e-02 9.98505759e-01 -3.63807527e-03 -7.69817310e+00] [-9.71334412e-02 -1.67787414e-03 9.95269953e-01 -1.64995303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.846296757 meters 0.07277272882511887 Centerline is valid? [True, True] Translation: X:144.11, Y:-7.70, Z:-16.51 [[ 9.93873422e-01 5.60329764e-02 9.52676557e-02 1.44110389e+02] [-5.59469389e-02 9.98427339e-01 -3.57602919e-03 -7.69841098e+00] [-9.53182075e-02 -1.77581334e-03 9.95445270e-01 -1.65070498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.906296757 meters 0.07320400047672368 Centerline is valid? [True, True] Translation: X:144.17, Y:-7.70, Z:-16.52 [[ 9.93817097e-01 5.80442381e-02 9.46490531e-02 1.44170701e+02] [-5.79662857e-02 9.98312140e-01 -3.57512013e-03 -7.69748280e+00] [-9.46968139e-02 -1.93343854e-03 9.95504282e-01 -1.65156683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.966296757 meters 0.07312028291533654 Centerline is valid? [True, True] Translation: X:144.23, Y:-7.70, Z:-16.52 [[ 9.93913487e-01 5.88871509e-02 9.31036174e-02 1.44232777e+02] [-5.88136158e-02 9.98262719e-01 -3.53586092e-03 -7.70127712e+00] [-9.31500871e-02 -1.96142053e-03 9.95650146e-01 -1.65216623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.026296757 meters 0.07339716893757375 Centerline is valid? [True, True] Translation: X:144.29, Y:-7.70, Z:-16.53 [[ 9.93946963e-01 6.10373993e-02 9.13447854e-02 1.44294732e+02] [-6.09733797e-02 9.98133277e-01 -3.49394623e-03 -7.70113134e+00] [-9.13875315e-02 -2.09680305e-03 9.95813197e-01 -1.65299111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.086296757 meters 0.07357301723776503 Centerline is valid? [True, True] Translation: X:144.36, Y:-7.70, Z:-16.54 [[ 9.93644430e-01 6.34604953e-02 9.29704897e-02 1.44356214e+02] [-6.34044111e-02 9.97981567e-01 -3.55988826e-03 -7.69956756e+00] [-9.30087473e-02 -2.35747602e-03 9.95662501e-01 -1.65361617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14629675700002 meters 0.07397624694682887 Centerline is valid? [True, True] Translation: X:144.42, Y:-7.70, Z:-16.54 [[ 9.93326637e-01 6.65591391e-02 9.41916790e-02 1.44417745e+02] [-6.65133112e-02 9.97778937e-01 -3.62944281e-03 -7.69674716e+00] [-9.42240459e-02 -2.65977824e-03 9.95547465e-01 -1.65424380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20629675700002 meters 0.07401649253613216 Centerline is valid? [True, True] Translation: X:144.48, Y:-7.69, Z:-16.55 [[ 9.92888661e-01 6.93433188e-02 9.67657577e-02 1.44480110e+02] [-6.93058602e-02 9.97588401e-01 -3.75223491e-03 -7.69484559e+00] [-9.67925899e-02 -2.98088257e-03 9.95300110e-01 -1.65473538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.266296757 meters 0.07461309928631187 Centerline is valid? [True, True] Translation: X:144.54, Y:-7.69, Z:-16.55 [[ 9.92752826e-01 7.26074135e-02 9.57600633e-02 1.44541511e+02] [-7.25836289e-02 9.97355331e-01 -3.73629949e-03 -7.69173534e+00] [-9.57780927e-02 -3.24139103e-03 9.95397433e-01 -1.65536290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.326296757 meters 0.0744752042951161 Centerline is valid? [True, True] Translation: X:144.60, Y:-7.69, Z:-16.56 [[ 9.92713568e-01 7.57329609e-02 9.37245504e-02 1.44602508e+02] [-7.57218044e-02 9.97122190e-01 -3.68050068e-03 -7.68989158e+00] [-9.37335642e-02 -3.44330912e-03 9.95591363e-01 -1.65621995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.386296757 meters 0.07473753195719647 Centerline is valid? [True, True] Translation: X:144.66, Y:-7.69, Z:-16.57 [[ 9.92654821e-01 7.77351296e-02 9.27019720e-02 1.44664105e+02] [-7.77326457e-02 9.96967584e-01 -3.64305960e-03 -7.68796537e+00] [-9.27040548e-02 -3.58966888e-03 9.95687236e-01 -1.65701265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.446296757 meters 0.07493268133549354 Centerline is valid? [True, True] Translation: X:144.73, Y:-7.69, Z:-16.58 [[ 9.92780131e-01 7.75394378e-02 9.15163753e-02 1.44726004e+02] [-7.75358887e-02 9.96983064e-01 -3.59953612e-03 -7.68710537e+00] [-9.15193822e-02 -3.52225554e-03 9.95797066e-01 -1.65776829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.506296757 meters 0.07478392249996652 Centerline is valid? [True, True] Translation: X:144.79, Y:-7.69, Z:-16.59 [[ 9.93037640e-01 7.58492929e-02 9.01284150e-02 1.44787325e+02] [-7.58367201e-02 9.97113862e-01 -3.56895095e-03 -7.68712297e+00] [-9.01389944e-02 -3.29094075e-03 9.95923758e-01 -1.65858527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.566296757 meters 0.07383686446051202 Centerline is valid? [True, True] Translation: X:144.85, Y:-7.69, Z:-16.59 [[ 9.93303158e-01 7.16552957e-02 9.06330799e-02 1.44848626e+02] [-7.16228322e-02 9.97425237e-01 -3.61473792e-03 -7.69282027e+00] [-9.06587363e-02 -2.90086729e-03 9.95877793e-01 -1.65907807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.626296757 meters 0.07318350771201841 Centerline is valid? [True, True] Translation: X:144.91, Y:-7.70, Z:-16.60 [[ 9.93573239e-01 6.81805185e-02 9.03528376e-02 1.44910113e+02] [-6.81335028e-02 9.97669688e-01 -3.60820462e-03 -7.69714844e+00] [-9.03882965e-02 -2.57103976e-03 9.95903281e-01 -1.65961593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.686296757 meters 0.07349106751362719 Centerline is valid? [True, True] Translation: X:144.97, Y:-7.70, Z:-16.60 [[ 9.93660248e-01 6.95528229e-02 8.83273220e-02 1.44972276e+02] [-6.95129153e-02 9.97574801e-01 -3.53144142e-03 -7.69559747e+00] [-8.83587324e-02 -2.63083669e-03 9.96085244e-01 -1.66036978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.746296757 meters 0.0738267157357573 Centerline is valid? [True, True] Translation: X:145.03, Y:-7.69, Z:-16.61 [[ 9.93692108e-01 7.10066053e-02 8.67989462e-02 1.45032897e+02] [-7.09733773e-02 9.97472165e-01 -3.47270772e-03 -7.69321625e+00] [-8.68261180e-02 -2.70961211e-03 9.96219797e-01 -1.66109624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.806296757 meters 0.0739470621162628 Centerline is valid? [True, True] Translation: X:145.09, Y:-7.69, Z:-16.62 [[ 9.93500919e-01 7.63239018e-02 8.44428022e-02 1.45093280e+02] [-7.63095840e-02 9.97078369e-01 -3.40194458e-03 -7.69069464e+00] [-8.44557412e-02 -3.06396004e-03 9.96422521e-01 -1.66161008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86629675700001 meters 0.07538527380120101 Centerline is valid? [True, True] Translation: X:145.15, Y:-7.68, Z:-16.63 [[ 9.93381207e-01 8.04751532e-02 8.19605246e-02 1.45152924e+02] [-8.04756960e-02 9.96751101e-01 -3.30224299e-03 -7.68262899e+00] [-8.19599916e-02 -3.31544413e-03 9.96630106e-01 -1.66250230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92629675700002 meters 0.075334696824397 Centerline is valid? [True, True] Translation: X:145.21, Y:-7.68, Z:-16.63 [[ 9.93405938e-01 8.25936522e-02 7.95168633e-02 1.45214165e+02] [-8.26005583e-02 9.96577571e-01 -3.20807741e-03 -7.68360698e+00] [-7.95096894e-02 -3.38121416e-03 9.96828359e-01 -1.66290211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98629675700002 meters 0.07445933834480353 Centerline is valid? [True, True] Translation: X:145.28, Y:-7.69, Z:-16.63 [[ 9.93374099e-01 8.24622630e-02 8.00491997e-02 1.45276369e+02] [-8.24691329e-02 9.96588398e-01 -3.22594007e-03 -7.68669255e+00] [-8.00421220e-02 -3.39702278e-03 9.96785694e-01 -1.66324776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.046296757 meters 0.07597454517384707 Centerline is valid? [True, True] Translation: X:145.34, Y:-7.68, Z:-16.64 [[ 9.93347185e-01 8.19065478e-02 8.09486749e-02 1.45336820e+02] [-8.19100073e-02 9.96634321e-01 -3.28358065e-03 -7.68071157e+00] [-8.09451743e-02 -3.36877095e-03 9.96712862e-01 -1.66439560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.106296757 meters 0.07438485861279207 Centerline is valid? [True, True] Translation: X:145.40, Y:-7.69, Z:-16.65 [[ 9.93605366e-01 7.89858877e-02 8.06821257e-02 1.45398269e+02] [-7.89777598e-02 9.96870926e-01 -3.29700091e-03 -7.68836945e+00] [-8.06900819e-02 -3.09617575e-03 9.96734430e-01 -1.66460378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.166296757 meters 0.07373574883877577 Centerline is valid? [True, True] Translation: X:145.46, Y:-7.69, Z:-16.65 [[ 9.93835746e-01 7.69643586e-02 7.97934734e-02 1.45460716e+02] [-7.69498091e-02 9.97029632e-01 -3.26186120e-03 -7.69163384e+00] [-7.98075045e-02 -2.89833828e-03 9.96806080e-01 -1.66505999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.226296757 meters 0.07318487702193503 Centerline is valid? [True, True] Translation: X:145.52, Y:-7.69, Z:-16.66 [[ 9.94041408e-01 7.54431713e-02 7.86766034e-02 1.45522764e+02] [-7.54241124e-02 9.97146352e-01 -3.21813722e-03 -7.68958481e+00] [-7.86948745e-02 -2.73515132e-03 9.96894997e-01 -1.66578826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.286296757 meters 0.07306382002134092 Centerline is valid? [True, True] Translation: X:145.58, Y:-7.69, Z:-16.66 [[ 9.94024361e-01 7.61414412e-02 7.82179672e-02 1.45584373e+02] [-7.61232913e-02 9.97093220e-01 -3.21804338e-03 -7.69084184e+00] [-7.82356312e-02 -2.75539559e-03 9.96931088e-01 -1.66638694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.346296757 meters 0.07294902447511334 Centerline is valid? [True, True] Translation: X:145.65, Y:-7.69, Z:-16.67 [[ 9.94079306e-01 7.73575962e-02 7.63029230e-02 1.45645786e+02] [-7.73421787e-02 9.96999595e-01 -3.16151312e-03 -7.69132544e+00] [-7.63185503e-02 -2.75863954e-03 9.97079670e-01 -1.66683511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.406296757 meters 0.07311187063188547 Centerline is valid? [True, True] Translation: X:145.71, Y:-7.69, Z:-16.68 [[ 9.94065978e-01 7.87932149e-02 7.49964069e-02 1.45706855e+02] [-7.87820182e-02 9.96887008e-01 -3.11225998e-03 -7.68691241e+00] [-7.50081687e-02 -2.81457653e-03 9.97178947e-01 -1.66754409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.466296757 meters 0.07346445847241023 Centerline is valid? [True, True] Translation: X:145.77, Y:-7.68, Z:-16.68 [[ 9.94019244e-01 8.09313616e-02 7.33202351e-02 1.45767999e+02] [-8.09247518e-02 9.96715499e-01 -3.06575470e-03 -7.68423899e+00] [-7.33275304e-02 -2.88600266e-03 9.97303737e-01 -1.66801803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.526296757 meters 0.072975163357268 Centerline is valid? [True, True] Translation: X:145.83, Y:-7.69, Z:-16.68 [[ 9.93853395e-01 8.14751339e-02 7.49481928e-02 1.45830209e+02] [-8.14701448e-02 9.96670871e-01 -3.12899731e-03 -7.68637095e+00] [-7.49536161e-02 -2.99627551e-03 9.97182520e-01 -1.66840242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.586296757 meters 0.07320098733735562 Centerline is valid? [True, True] Translation: X:145.89, Y:-7.68, Z:-16.69 [[ 9.93752157e-01 8.22120111e-02 7.54840091e-02 1.45892759e+02] [-8.22076949e-02 9.96610179e-01 -3.16958497e-03 -7.68354802e+00] [-7.54887097e-02 -3.05558449e-03 9.97141975e-01 -1.66917055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64629675700002 meters 0.07375791921489508 Centerline is valid? [True, True] Translation: X:145.95, Y:-7.68, Z:-16.70 [[ 9.93579727e-01 8.38886017e-02 7.59080241e-02 1.45953129e+02] [-8.38868013e-02 9.96470095e-01 -3.21781287e-03 -7.68044430e+00] [-7.59100138e-02 -3.17052769e-03 9.97109632e-01 -1.67002914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70629675700002 meters 0.0738870011745938 Centerline is valid? [True, True] Translation: X:146.02, Y:-7.68, Z:-16.71 [[ 9.93384643e-01 8.59012039e-02 7.62098008e-02 1.46015258e+02] [-8.59056173e-02 9.96298056e-01 -3.22637537e-03 -7.67858653e+00] [-7.62048259e-02 -3.34181824e-03 9.97086584e-01 -1.67072087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.766296757 meters 0.07465283736936774 Centerline is valid? [True, True] Translation: X:146.08, Y:-7.67, Z:-16.72 [[ 9.93179733e-01 8.81738054e-02 7.62849826e-02 1.46075319e+02] [-8.81831639e-02 9.96098967e-01 -3.25234784e-03 -7.67309321e+00] [-7.62741642e-02 -3.49688516e-03 9.97080751e-01 -1.67174862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.826296757 meters 0.07437126709820926 Centerline is valid? [True, True] Translation: X:146.14, Y:-7.67, Z:-16.72 [[ 9.92865938e-01 9.11105050e-02 7.69162183e-02 1.46136722e+02] [-9.11283566e-02 9.95833737e-01 -3.28504588e-03 -7.67455884e+00] [-7.68950672e-02 -3.74763841e-03 9.97032148e-01 -1.67210918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.886296757 meters 0.07516244599785861 Centerline is valid? [True, True] Translation: X:146.20, Y:-7.67, Z:-16.73 [[ 9.92592193e-01 9.42984732e-02 7.66063756e-02 1.46197973e+02] [-9.43237900e-02 9.95536117e-01 -3.29578774e-03 -7.67120144e+00] [-7.65752015e-02 -3.95443050e-03 9.97055967e-01 -1.67273121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.946296757 meters 0.0782102284657258 Centerline is valid? [True, True] Translation: X:146.26, Y:-7.66, Z:-16.74 [[ 9.92431286e-01 9.70064032e-02 7.52987379e-02 1.46257264e+02] [-9.70384985e-02 9.95275352e-01 -3.24096049e-03 -7.66105625e+00] [-7.52573717e-02 -4.09044588e-03 9.97155753e-01 -1.67392619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.006296757 meters 0.07892273479753119 Centerline is valid? [True, True] Translation: X:146.32, Y:-7.66, Z:-16.75 [[ 9.92511012e-01 9.68322460e-02 7.44674931e-02 1.46318631e+02] [-9.68632187e-02 9.95292545e-01 -3.20410104e-03 -7.66073243e+00] [-7.44272010e-02 -4.03305551e-03 9.97218294e-01 -1.67476506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.066296757 meters 0.07601073131061764 Centerline is valid? [True, True] Translation: X:146.38, Y:-7.67, Z:-16.75 [[ 9.92765132e-01 9.24047255e-02 7.66730625e-02 1.46379477e+02] [-9.24223724e-02 9.95714339e-01 -3.32582769e-03 -7.67371108e+00] [-7.66517899e-02 -3.78454057e-03 9.97050741e-01 -1.67491997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.126296757 meters 0.07523588868364103 Centerline is valid? [True, True] Translation: X:146.44, Y:-7.68, Z:-16.76 [[ 9.93244855e-01 8.57395166e-02 7.81881864e-02 1.46439163e+02] [-8.57371777e-02 9.96312011e-01 -3.39308915e-03 -7.68171114e+00] [-7.81907511e-02 -3.33346609e-03 9.96932844e-01 -1.67571313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.186296757 meters 0.07432249804651724 Centerline is valid? [True, True] Translation: X:146.50, Y:-7.69, Z:-16.76 [[ 9.93684570e-01 8.03619130e-02 7.83130810e-02 1.46498886e+02] [-8.03428410e-02 9.96761492e-01 -3.39941798e-03 -7.69310696e+00] [-7.83326472e-02 -2.91394622e-03 9.96923019e-01 -1.67632640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.246296757 meters 0.07346143974434906 Centerline is valid? [True, True] Translation: X:146.56, Y:-7.71, Z:-16.77 [[ 9.93956539e-01 7.39801055e-02 8.11008142e-02 1.46559317e+02] [-7.39385540e-02 9.97256588e-01 -3.51954919e-03 -7.70700300e+00] [-8.11386979e-02 -2.49819800e-03 9.96699689e-01 -1.67699434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.306296757 meters 0.07337748817762914 Centerline is valid? [True, True] Translation: X:146.62, Y:-7.72, Z:-16.78 [[ 9.94251591e-01 7.02002483e-02 8.08436652e-02 1.46619595e+02] [-7.01462970e-02 9.97530537e-01 -3.51077590e-03 -7.71733979e+00] [-8.08904821e-02 -2.18028922e-03 9.96720611e-01 -1.67775527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36629675700001 meters 0.07387573112816535 Centerline is valid? [True, True] Translation: X:146.68, Y:-7.73, Z:-16.79 [[ 9.94469517e-01 6.80108055e-02 8.00306834e-02 1.46681124e+02] [-6.79511184e-02 9.97682610e-01 -3.47219385e-03 -7.72744387e+00] [-8.00813678e-02 -1.98518350e-03 9.96786353e-01 -1.67861327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42629675700002 meters 0.07434628159771108 Centerline is valid? [True, True] Translation: X:146.74, Y:-7.73, Z:-16.79 [[ 9.94598563e-01 6.81143520e-02 7.83207057e-02 1.46742743e+02] [-6.80560710e-02 9.97675649e-01 -3.41621006e-03 -7.73388368e+00] [-7.83713538e-02 -1.93244189e-03 9.96922362e-01 -1.67939635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48629675700002 meters 0.07540077618185544 Centerline is valid? [True, True] Translation: X:146.80, Y:-7.73, Z:-16.80 [[ 9.94240315e-01 7.28166938e-02 7.86379403e-02 1.46802572e+02] [-7.27708387e-02 9.97342712e-01 -3.45249835e-03 -7.73265737e+00] [-7.86803762e-02 -2.28993582e-03 9.96897264e-01 -1.68036540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.546296757 meters 0.0770421771138253 Centerline is valid? [True, True] Translation: X:146.86, Y:-7.73, Z:-16.81 [[ 9.93544436e-01 8.03137560e-02 8.01196194e-02 1.46862288e+02] [-8.02894206e-02 9.96765341e-01 -3.53048583e-03 -7.72889060e+00] [-8.01440063e-02 -2.92506327e-03 9.96779004e-01 -1.68115011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.606296757 meters 0.07866166872894975 Centerline is valid? [True, True] Translation: X:146.92, Y:-7.72, Z:-16.82 [[ 9.92860702e-01 8.66519834e-02 8.19698777e-02 1.46923136e+02] [-8.66480837e-02 9.96232436e-01 -3.61156195e-03 -7.72388086e+00] [-8.19740000e-02 -3.51675489e-03 9.96628264e-01 -1.68195299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.666296757 meters 0.07994845787454484 Centerline is valid? [True, True] Translation: X:146.98, Y:-7.72, Z:-16.83 [[ 9.92375056e-01 9.07649619e-02 8.33874679e-02 1.46983832e+02] [-9.07752883e-02 9.95864619e-01 -3.67540022e-03 -7.71984469e+00] [-8.33762265e-02 -3.92214594e-03 9.96510422e-01 -1.68279072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.726296757 meters 0.07753090560604883 Centerline is valid? [True, True] Translation: X:147.05, Y:-7.73, Z:-16.83 [[ 9.92006310e-01 9.30516401e-02 8.52342303e-02 1.47045524e+02] [-9.30712220e-02 9.95652382e-01 -3.75257358e-03 -7.72985727e+00] [-8.52128476e-02 -4.21027730e-03 9.96353875e-01 -1.68287650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.786296757 meters 0.07676933537572704 Centerline is valid? [True, True] Translation: X:147.11, Y:-7.73, Z:-16.83 [[ 9.91725941e-01 9.32211318e-02 8.82580281e-02 1.47107303e+02] [-9.32408246e-02 9.95635913e-01 -3.90856537e-03 -7.73196440e+00] [-8.82372233e-02 -4.35302565e-03 9.96089978e-01 -1.68334308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.846296757 meters 0.07646678501925533 Centerline is valid? [True, True] Translation: X:147.17, Y:-7.73, Z:-16.84 [[ 9.92103709e-01 9.06919317e-02 8.66325788e-02 1.47168606e+02] [-9.06990172e-02 9.95870860e-01 -3.86252694e-03 -7.73428737e+00] [-8.66251608e-02 -4.02546245e-03 9.96232843e-01 -1.68414464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.906296757 meters 0.07594270908323718 Centerline is valid? [True, True] Translation: X:147.23, Y:-7.74, Z:-16.85 [[ 9.92770133e-01 8.39476679e-02 8.57919085e-02 1.47227538e+02] [-8.39290025e-02 9.96464373e-01 -3.83081889e-03 -7.73975778e+00] [-8.58101686e-02 -3.39730672e-03 9.96305713e-01 -1.68487648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.966296757 meters 0.07538352722491615 Centerline is valid? [True, True] Translation: X:147.29, Y:-7.75, Z:-16.86 [[ 9.93659040e-01 7.71472564e-02 8.17925032e-02 1.47288630e+02] [-7.71073716e-02 9.97016110e-01 -3.65095413e-03 -7.74710558e+00] [-8.18301044e-02 -2.67900136e-03 9.96642693e-01 -1.68558549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.026296757 meters 0.07501275260676347 Centerline is valid? [True, True] Translation: X:147.35, Y:-7.75, Z:-16.86 [[ 9.94177276e-01 7.06307428e-02 8.13808408e-02 1.47349055e+02] [-7.05690465e-02 9.97500264e-01 -3.63773725e-03 -7.75151567e+00] [-8.14343462e-02 -2.12641263e-03 9.96676440e-01 -1.68638728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.086296757 meters 0.0742640349613095 Centerline is valid? [True, True] Translation: X:147.41, Y:-7.76, Z:-16.87 [[ 9.94238693e-01 6.70482164e-02 8.36298911e-02 1.47410547e+02] [-6.69703816e-02 9.97747959e-01 -3.73881208e-03 -7.75586036e+00] [-8.36922338e-02 -1.88345409e-03 9.96489871e-01 -1.68675458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14629675700002 meters 0.07417835673628681 Centerline is valid? [True, True] Translation: X:147.47, Y:-7.75, Z:-16.87 [[ 9.94245709e-01 6.71730461e-02 8.34461035e-02 1.47471907e+02] [-6.70958858e-02 9.97739553e-01 -3.73185181e-03 -7.75486179e+00] [-8.35081579e-02 -1.88851258e-03 9.96505304e-01 -1.68744848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20629675700002 meters 0.07396470171369884 Centerline is valid? [True, True] Translation: X:147.53, Y:-7.75, Z:-16.88 [[ 9.94131362e-01 6.93991912e-02 8.29854679e-02 1.47533334e+02] [-6.93295637e-02 9.97586861e-01 -3.72387710e-03 -7.75454029e+00] [-8.30436464e-02 -2.05132326e-03 9.96543800e-01 -1.68811097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.266296757 meters 0.07492806972527938 Centerline is valid? [True, True] Translation: X:147.59, Y:-7.75, Z:-16.89 [[ 9.93657103e-01 7.39377390e-02 8.47276380e-02 1.47593805e+02] [-7.38794801e-02 9.97259833e-01 -3.82717071e-03 -7.74731675e+00] [-8.47784425e-02 -2.45673849e-03 9.96396799e-01 -1.68904797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.326296757 meters 0.07465876030900997 Centerline is valid? [True, True] Translation: X:147.66, Y:-7.75, Z:-16.89 [[ 9.93305876e-01 7.87770040e-02 8.44844401e-02 1.47655161e+02] [-7.87362726e-02 9.96888165e-01 -3.81917332e-03 -7.74883117e+00] [-8.45224015e-02 -2.85838261e-03 9.96417479e-01 -1.68940190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.386296757 meters 0.07540737110771908 Centerline is valid? [True, True] Translation: X:147.72, Y:-7.74, Z:-16.90 [[ 9.92836712e-01 8.64167157e-02 8.25070561e-02 1.47715922e+02] [-8.64038789e-02 9.96253199e-01 -3.73284838e-03 -7.74202980e+00] [-8.25204990e-02 -3.42282078e-03 9.96583489e-01 -1.69028292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.446296757 meters 0.07591917058123734 Centerline is valid? [True, True] Translation: X:147.78, Y:-7.74, Z:-16.91 [[ 9.92687976e-01 8.79265712e-02 8.27012678e-02 1.47776790e+02] [-8.79189378e-02 9.96120607e-01 -3.74114076e-03 -7.74373219e+00] [-8.27093828e-02 -3.55722217e-03 9.96567361e-01 -1.69103656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.506296757 meters 0.07536236672248647 Centerline is valid? [True, True] Translation: X:147.84, Y:-7.75, Z:-16.92 [[ 9.92996369e-01 8.48429457e-02 8.22185239e-02 1.47837723e+02] [-8.48238079e-02 9.96388977e-01 -3.73203745e-03 -7.74960001e+00] [-8.22382680e-02 -3.26818864e-03 9.96607338e-01 -1.69160431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.566296757 meters 0.07553828675873285 Centerline is valid? [True, True] Translation: X:147.90, Y:-7.75, Z:-16.92 [[ 9.93167956e-01 8.28766837e-02 8.21514873e-02 1.47898589e+02] [-8.28510521e-02 9.96554973e-01 -3.72678884e-03 -7.75260661e+00] [-8.21773371e-02 -3.10500990e-03 9.96612886e-01 -1.69228885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.626296757 meters 0.0750153602946682 Centerline is valid? [True, True] Translation: X:147.96, Y:-7.76, Z:-16.93 [[ 9.93069226e-01 8.20389172e-02 8.41613215e-02 1.47959683e+02] [-8.20070471e-02 9.96624346e-01 -3.84152020e-03 -7.75821313e+00] [-8.41923761e-02 -3.08692596e-03 9.96444737e-01 -1.69273949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.686296757 meters 0.07631615113836056 Centerline is valid? [True, True] Translation: X:148.02, Y:-7.76, Z:-16.94 [[ 9.93345675e-01 8.17993669e-02 8.10754800e-02 1.48019726e+02] [-8.17689457e-02 9.96644441e-01 -3.70094376e-03 -7.75667219e+00] [-8.11061614e-02 -2.95314005e-03 9.96701093e-01 -1.69376361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.746296757 meters 0.07596933022126555 Centerline is valid? [True, True] Translation: X:148.08, Y:-7.76, Z:-16.94 [[ 9.93649242e-01 8.09844147e-02 7.81198367e-02 1.48080900e+02] [-8.09531837e-02 9.96711505e-01 -3.57179800e-03 -7.76131267e+00] [-7.81521999e-02 -2.77493512e-03 9.96937577e-01 -1.69442008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.806296757 meters 0.07592334763818094 Centerline is valid? [True, True] Translation: X:148.14, Y:-7.77, Z:-16.95 [[ 9.93727081e-01 8.18577324e-02 7.61958002e-02 1.48142196e+02] [-8.18293598e-02 9.96640210e-01 -3.49962609e-03 -7.76648573e+00] [-7.62262698e-02 -2.75738034e-03 9.97086733e-01 -1.69496326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86629675700001 meters 0.07555401463297347 Centerline is valid? [True, True] Translation: X:148.20, Y:-7.77, Z:-16.95 [[ 9.93655478e-01 8.32376244e-02 7.56325916e-02 1.48204042e+02] [-8.32124636e-02 9.96525720e-01 -3.48941268e-03 -7.77039211e+00] [-7.56602732e-02 -2.82630025e-03 9.97129648e-01 -1.69537160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92629675700002 meters 0.07569849195820022 Centerline is valid? [True, True] Translation: X:148.27, Y:-7.77, Z:-16.96 [[ 9.93388378e-01 8.47638370e-02 7.74249405e-02 1.48265722e+02] [-8.47405522e-02 9.96396576e-01 -3.59208800e-03 -7.77214513e+00] [-7.74504248e-02 -2.99269374e-03 9.96991713e-01 -1.69620887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98629675700002 meters 0.0755441592611005 Centerline is valid? [True, True] Translation: X:148.33, Y:-7.77, Z:-16.97 [[ 9.93207456e-01 8.49108880e-02 7.95555815e-02 1.48326741e+02] [-8.48849200e-02 9.96383838e-01 -3.71439778e-03 -7.77379069e+00] [-7.95832884e-02 -3.06390160e-03 9.96823511e-01 -1.69688709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.046296757 meters 0.07528778002971716 Centerline is valid? [True, True] Translation: X:148.39, Y:-7.78, Z:-16.97 [[ 9.92951863e-01 8.66537330e-02 8.08562225e-02 1.48388375e+02] [-8.66319926e-02 9.96233197e-01 -3.78359304e-03 -7.77752308e+00] [-8.08795155e-02 -3.24780991e-03 9.96718594e-01 -1.69746106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.106296757 meters 0.0750775131948571 Centerline is valid? [True, True] Translation: X:148.45, Y:-7.78, Z:-16.98 [[ 9.92410333e-01 9.10310459e-02 8.26745384e-02 1.48449487e+02] [-9.10217227e-02 9.95841311e-01 -3.88968485e-03 -7.78001919e+00] [-8.26848028e-02 -3.66501548e-03 9.96569010e-01 -1.69804976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.166296757 meters 0.075159797829422 Centerline is valid? [True, True] Translation: X:148.51, Y:-7.78, Z:-16.99 [[ 9.92343417e-01 9.27669833e-02 8.15403513e-02 1.48511168e+02] [-9.27618647e-02 9.95680844e-01 -3.85922302e-03 -7.78202290e+00] [-8.15461743e-02 -3.73416047e-03 9.96662570e-01 -1.69868278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.226296757 meters 0.07515424804473335 Centerline is valid? [True, True] Translation: X:148.57, Y:-7.79, Z:-16.99 [[ 9.92423114e-01 9.39928508e-02 7.91309475e-02 1.48571344e+02] [-9.39914057e-02 9.95565942e-01 -3.75121872e-03 -7.78709426e+00] [-7.91326640e-02 -3.71483282e-03 9.96857172e-01 -1.69946298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.286296757 meters 0.07670797303375698 Centerline is valid? [True, True] Translation: X:148.63, Y:-7.79, Z:-17.01 [[ 9.92194594e-01 9.58031127e-02 7.98226214e-02 1.48631761e+02] [-9.58075787e-02 9.95392685e-01 -3.78283646e-03 -7.78608084e+00] [-7.98172609e-02 -3.89430219e-03 9.96801906e-01 -1.70055816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.346296757 meters 0.07525538616080274 Centerline is valid? [True, True] Translation: X:148.69, Y:-7.80, Z:-17.01 [[ 9.92019798e-01 9.58659199e-02 8.18928900e-02 1.48693581e+02] [-9.58693024e-02 9.95386291e-01 -3.89992800e-03 -7.79843372e+00] [-8.18889301e-02 -3.98220844e-03 9.96633506e-01 -1.70088801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.406296757 meters 0.07476806553604122 Centerline is valid? [True, True] Translation: X:148.75, Y:-7.81, Z:-17.02 [[ 9.92152620e-01 9.15757665e-02 8.51296565e-02 1.48753391e+02] [-9.15613316e-02 9.95791072e-01 -4.08219273e-03 -7.81047809e+00] [-8.51451818e-02 -3.74442649e-03 9.96361519e-01 -1.70153521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.466296757 meters 0.0753144429211447 Centerline is valid? [True, True] Translation: X:148.81, Y:-7.81, Z:-17.02 [[ 9.92105215e-01 8.90985189e-02 8.82535913e-02 1.48812443e+02] [-8.90730663e-02 9.96016093e-01 -4.23444712e-03 -7.81470407e+00] [-8.82792802e-02 -3.66000091e-03 9.96089039e-01 -1.70226926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.526296757 meters 0.07481756869695799 Centerline is valid? [True, True] Translation: X:148.87, Y:-7.82, Z:-17.03 [[ 9.91902100e-01 8.76904209e-02 9.18728195e-02 1.48873797e+02] [-8.76570914e-02 9.96140966e-01 -4.40573726e-03 -7.82420656e+00] [-9.19046201e-02 -3.68324410e-03 9.95761003e-01 -1.70279943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.586296757 meters 0.07610609294277486 Centerline is valid? [True, True] Translation: X:148.93, Y:-7.83, Z:-17.04 [[ 9.91394852e-01 9.11841423e-02 9.39239016e-02 1.48934461e+02] [-9.11647228e-02 9.95825630e-01 -4.50651039e-03 -7.82619718e+00] [-9.39427507e-02 -4.09481525e-03 9.95569180e-01 -1.70353992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64629675700002 meters 0.07724960965111052 Centerline is valid? [True, True] Translation: X:148.99, Y:-7.83, Z:-17.04 [[ 9.91055832e-01 9.68422763e-02 9.18145497e-02 1.48994707e+02] [-9.68457111e-02 9.95289554e-01 -4.42848344e-03 -7.82702428e+00] [-9.18109266e-02 -4.50297101e-03 9.95766276e-01 -1.70440842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70629675700002 meters 0.07981770014387603 Centerline is valid? [True, True] Translation: X:149.05, Y:-7.82, Z:-17.05 [[ 9.90760383e-01 1.02410388e-01 8.89155542e-02 1.49053950e+02] [-1.02435627e-01 9.94730379e-01 -4.29129333e-03 -7.82261651e+00] [-8.88864759e-02 -4.85647712e-03 9.96029924e-01 -1.70545304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.766296757 meters 0.07987336004634513 Centerline is valid? [True, True] Translation: X:149.11, Y:-7.83, Z:-17.06 [[ 9.90854487e-01 1.04539965e-01 8.53157701e-02 1.49114013e+02] [-1.04570298e-01 9.94508940e-01 -4.12562667e-03 -7.82905850e+00] [-8.52785890e-02 -4.83359983e-03 9.96345421e-01 -1.70619092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.826296757 meters 0.07978188513682892 Centerline is valid? [True, True] Translation: X:149.17, Y:-7.84, Z:-17.07 [[ 9.91634798e-01 9.88221639e-02 8.30337697e-02 1.49173446e+02] [-9.88307423e-02 9.95096150e-01 -4.01705951e-03 -7.83779904e+00] [-8.30235591e-02 -4.22283310e-03 9.96538638e-01 -1.70700000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.886296757 meters 0.07754578606772271 Centerline is valid? [True, True] Translation: X:149.23, Y:-7.85, Z:-17.07 [[ 9.91935956e-01 9.48679978e-02 8.40423775e-02 1.49233936e+02] [-9.48626809e-02 9.95482065e-01 -4.06564215e-03 -7.85035624e+00] [-8.40483788e-02 -3.93962860e-03 9.96453887e-01 -1.70721630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.946296757 meters 0.07664418713291678 Centerline is valid? [True, True] Translation: X:149.29, Y:-7.86, Z:-17.08 [[ 9.92409956e-01 8.81453356e-02 8.57489312e-02 1.49294319e+02] [-8.81146768e-02 9.96101693e-01 -4.14973725e-03 -7.85982949e+00] [-8.57804356e-02 -3.43749880e-03 9.96308135e-01 -1.70777250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.006296757 meters 0.07601542179020256 Centerline is valid? [True, True] Translation: X:149.35, Y:-7.87, Z:-17.08 [[ 9.92768513e-01 8.35716474e-02 8.61769061e-02 1.49354282e+02] [-8.35233662e-02 9.96497085e-01 -4.17205726e-03 -7.86949911e+00] [-8.62237015e-02 -3.05589820e-03 9.96271115e-01 -1.70844527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.066296757 meters 0.07558850100642484 Centerline is valid? [True, True] Translation: X:149.41, Y:-7.88, Z:-17.09 [[ 9.93050129e-01 8.01909469e-02 8.61443797e-02 1.49414923e+02] [-8.01299195e-02 9.96775699e-01 -4.17160442e-03 -7.87632556e+00] [-8.62011491e-02 -2.76012991e-03 9.96273930e-01 -1.70916577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.126296757 meters 0.07519376926414843 Centerline is valid? [True, True] Translation: X:149.48, Y:-7.88, Z:-17.10 [[ 9.93326353e-01 7.62043150e-02 8.65774686e-02 1.49475942e+02] [-7.61273872e-02 9.97089277e-01 -4.19468752e-03 -7.88374612e+00] [-8.66451188e-02 -2.42422282e-03 9.96236291e-01 -1.70990669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.186296757 meters 0.0748526476712087 Centerline is valid? [True, True] Translation: X:149.54, Y:-7.89, Z:-17.11 [[ 9.93616504e-01 7.47933955e-02 8.44522975e-02 1.49537748e+02] [-7.47146167e-02 9.97196539e-01 -4.09744768e-03 -7.89139135e+00] [-8.45220008e-02 -2.23852940e-03 9.96419099e-01 -1.71066658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.246296757 meters 0.07495408236532167 Centerline is valid? [True, True] Translation: X:149.60, Y:-7.90, Z:-17.12 [[ 9.93700573e-01 7.56184787e-02 8.27104358e-02 1.49598295e+02] [-7.55454868e-02 9.97134269e-01 -4.01621454e-03 -7.89548453e+00] [-8.27771099e-02 -2.25748544e-03 9.96565529e-01 -1.71154433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.306296757 meters 0.07477726321044477 Centerline is valid? [True, True] Translation: X:149.66, Y:-7.90, Z:-17.12 [[ 9.93451304e-01 7.87978418e-02 8.27369678e-02 1.49659500e+02] [-7.87342600e-02 9.96887470e-01 -4.03601656e-03 -7.90063863e+00] [-8.27974758e-02 -2.50464801e-03 9.96563247e-01 -1.71200394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36629675700001 meters 0.0754195733661071 Centerline is valid? [True, True] Translation: X:149.72, Y:-7.90, Z:-17.13 [[ 9.93329014e-01 8.16044895e-02 8.14750116e-02 1.49720116e+02] [-8.15502762e-02 9.96661209e-01 -3.99844852e-03 -7.90479726e+00] [-8.15292749e-02 -2.67253478e-03 9.96667364e-01 -1.71278011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42629675700002 meters 0.07578745545646692 Centerline is valid? [True, True] Translation: X:149.78, Y:-7.91, Z:-17.13 [[ 9.93361602e-01 8.21608281e-02 8.05128875e-02 1.49780078e+02] [-8.21096811e-02 9.96615465e-01 -3.95151051e-03 -7.91053807e+00] [-8.05650482e-02 -2.68560871e-03 9.96745735e-01 -1.71346606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48629675700002 meters 0.07579145760442159 Centerline is valid? [True, True] Translation: X:149.84, Y:-7.92, Z:-17.14 [[ 9.93667461e-01 7.95137057e-02 7.93885914e-02 1.49841181e+02] [-7.94550789e-02 9.96830810e-01 -3.90213783e-03 -7.92031826e+00] [-7.94472673e-02 -2.43039941e-03 9.96836107e-01 -1.71411757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.546296757 meters 0.07550714099074761 Centerline is valid? [True, True] Translation: X:149.90, Y:-7.93, Z:-17.15 [[ 9.94002507e-01 7.35464676e-02 8.09316562e-02 1.49901049e+02] [-7.34636457e-02 9.97289856e-01 -4.00458879e-03 -7.93027081e+00] [-8.10068431e-02 -1.96496322e-03 9.96711608e-01 -1.71487651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.606296757 meters 0.07553820435911106 Centerline is valid? [True, True] Translation: X:149.96, Y:-7.94, Z:-17.15 [[ 9.94403050e-01 6.74590633e-02 8.13132783e-02 1.49960722e+02] [-6.73552226e-02 9.97720950e-01 -4.02249073e-03 -7.94119099e+00] [-8.13993147e-02 -1.47689691e-03 9.96680476e-01 -1.71549010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.666296757 meters 0.07510979107836313 Centerline is valid? [True, True] Translation: X:150.02, Y:-7.95, Z:-17.16 [[ 9.94602907e-01 6.21288915e-02 8.30966745e-02 1.50022280e+02] [-6.20010886e-02 9.98067578e-01 -4.12013162e-03 -7.95027886e+00] [-8.31920758e-02 -1.05418940e-03 9.96532973e-01 -1.71586362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.726296757 meters 0.07511591804539705 Centerline is valid? [True, True] Translation: X:150.08, Y:-7.96, Z:-17.17 [[ 9.94608191e-01 6.05852792e-02 8.41663241e-02 1.50082627e+02] [-6.04484185e-02 9.98162587e-01 -4.17586151e-03 -7.95524856e+00] [-8.42646716e-02 -9.34375123e-04 9.96442970e-01 -1.71655855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.786296757 meters 0.07527666178827987 Centerline is valid? [True, True] Translation: X:150.14, Y:-7.96, Z:-17.17 [[ 9.94680858e-01 6.14376690e-02 8.26765053e-02 1.50143925e+02] [-6.13071151e-02 9.98110449e-01 -4.11925525e-03 -7.95629126e+00] [-8.27733613e-02 -9.71313681e-04 9.96567924e-01 -1.71744916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.846296757 meters 0.07557369394507457 Centerline is valid? [True, True] Translation: X:150.21, Y:-7.96, Z:-17.18 [[ 9.94750644e-01 6.37600331e-02 8.00363303e-02 1.50205416e+02] [-6.36433696e-02 9.97964648e-01 -4.01037996e-03 -7.95554588e+00] [-8.01291301e-02 -1.10445370e-03 9.96783880e-01 -1.71835042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.906296757 meters 0.07583814944931042 Centerline is valid? [True, True] Translation: X:150.27, Y:-7.95, Z:-17.19 [[ 9.94561890e-01 6.73059197e-02 7.94767960e-02 1.50266372e+02] [-6.72018870e-02 9.97731436e-01 -3.98602117e-03 -7.95432163e+00] [-7.95647807e-02 -1.37664592e-03 9.96828747e-01 -1.71920402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.966296757 meters 0.07636672237251839 Centerline is valid? [True, True] Translation: X:150.33, Y:-7.95, Z:-17.20 [[ 9.94513342e-01 7.08883073e-02 7.69289312e-02 1.50326707e+02] [-7.08006388e-02 9.97482979e-01 -3.86980595e-03 -7.95271647e+00] [-7.70096235e-02 -1.59804383e-03 9.97029069e-01 -1.71994639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.026296757 meters 0.07601289483522872 Centerline is valid? [True, True] Translation: X:150.39, Y:-7.96, Z:-17.20 [[ 9.94548110e-01 7.09999365e-02 7.63745174e-02 1.50388308e+02] [-7.09143209e-02 9.97475035e-01 -3.83583970e-03 -7.95808139e+00] [-7.64540188e-02 -1.60111991e-03 9.97071823e-01 -1.72034997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.086296757 meters 0.07532801711186804 Centerline is valid? [True, True] Translation: X:150.45, Y:-7.96, Z:-17.21 [[ 9.94548359e-01 7.00441639e-02 7.72488038e-02 1.50450240e+02] [-6.99522724e-02 9.97542723e-01 -3.89816150e-03 -7.96427822e+00] [-7.73320256e-02 -1.52681925e-03 9.97004226e-01 -1.72069229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14629675700002 meters 0.07502625483936452 Centerline is valid? [True, True] Translation: X:150.51, Y:-7.97, Z:-17.21 [[ 9.94743933e-01 6.98918788e-02 7.48307022e-02 1.50511579e+02] [-6.98038930e-02 9.97553519e-01 -3.79377167e-03 -7.96819103e+00] [-7.49127841e-02 -1.44964298e-03 9.97189036e-01 -1.72127770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20629675700002 meters 0.07454985800013487 Centerline is valid? [True, True] Translation: X:150.57, Y:-7.97, Z:-17.22 [[ 9.94779618e-01 6.92293967e-02 7.49720141e-02 1.50572346e+02] [-6.91378086e-02 9.97599807e-01 -3.81942575e-03 -7.97219258e+00] [-7.50564833e-02 -1.38391387e-03 9.97178324e-01 -1.72198624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.266296757 meters 0.07439582043789784 Centerline is valid? [True, True] Translation: X:150.63, Y:-7.97, Z:-17.23 [[ 9.94773243e-01 6.91589272e-02 7.51214824e-02 1.50634508e+02] [-6.90655559e-02 9.97604721e-01 -3.84317726e-03 -7.97457683e+00] [-7.52073355e-02 -1.36521704e-03 9.97166983e-01 -1.72253702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.326296757 meters 0.07440387840755162 Centerline is valid? [True, True] Translation: X:150.70, Y:-7.98, Z:-17.23 [[ 9.94805360e-01 6.80147883e-02 7.57382558e-02 1.50696946e+02] [-6.79147851e-02 9.97683510e-01 -3.89816788e-03 -7.97833653e+00] [-7.58279420e-02 -1.26582907e-03 9.97120114e-01 -1.72295375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.386296757 meters 0.07415521976779851 Centerline is valid? [True, True] Translation: X:150.76, Y:-7.98, Z:-17.24 [[ 9.94871449e-01 6.61905643e-02 7.64827331e-02 1.50758335e+02] [-6.60830679e-02 9.97806353e-01 -3.93824930e-03 -7.98298661e+00] [-7.65756319e-02 -1.13616185e-03 9.97063128e-01 -1.72368033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.446296757 meters 0.07427408401849045 Centerline is valid? [True, True] Translation: X:150.82, Y:-7.98, Z:-17.25 [[ 9.94937459e-01 6.82705484e-02 7.37467563e-02 1.50818745e+02] [-6.81745122e-02 9.97666092e-01 -3.82166176e-03 -7.98274017e+00] [-7.38355451e-02 -1.22533470e-03 9.97269678e-01 -1.72451348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.506296757 meters 0.07458558655899189 Centerline is valid? [True, True] Translation: X:150.88, Y:-7.98, Z:-17.25 [[ 9.94757130e-01 7.23253425e-02 7.23000497e-02 1.50878887e+02] [-7.22436407e-02 9.97379973e-01 -3.74787299e-03 -7.98184663e+00] [-7.23816878e-02 -1.49499544e-03 9.97375885e-01 -1.72539913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.566296757 meters 0.07498505304859247 Centerline is valid? [True, True] Translation: X:150.94, Y:-7.98, Z:-17.26 [[ 9.94389319e-01 7.70789725e-02 7.24480153e-02 1.50940561e+02] [-7.70095694e-02 9.97023283e-01 -3.75492549e-03 -7.97945406e+00] [-7.25217839e-02 -1.84533266e-03 9.97365122e-01 -1.72622746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.626296757 meters 0.07411130123759159 Centerline is valid? [True, True] Translation: X:151.00, Y:-7.99, Z:-17.26 [[ 9.94016586e-01 8.00544426e-02 7.43122734e-02 1.51003689e+02] [-7.99899222e-02 9.96788242e-01 -3.84886148e-03 -7.98517676e+00] [-7.43817187e-02 -2.11840082e-03 9.97227593e-01 -1.72638093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.686296757 meters 0.07361806361414469 Centerline is valid? [True, True] Translation: X:151.06, Y:-7.99, Z:-17.27 [[ 9.93939453e-01 7.84600881e-02 7.69959697e-02 1.51063899e+02] [-7.83836327e-02 9.96915168e-01 -4.01926061e-03 -7.98966434e+00] [-7.70738015e-02 -2.04032212e-03 9.97023303e-01 -1.72705512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.746296757 meters 0.07260411583847905 Centerline is valid? [True, True] Translation: X:151.13, Y:-8.00, Z:-17.27 [[ 9.94168144e-01 7.54807615e-02 7.70217917e-02 1.51125285e+02] [-7.53956490e-02 9.97145608e-01 -4.01649168e-03 -7.99630135e+00] [-7.71051092e-02 -1.81403990e-03 9.97021319e-01 -1.72745486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.806296757 meters 0.07218939373073545 Centerline is valid? [True, True] Translation: X:151.18, Y:-8.00, Z:-17.28 [[ 9.94470135e-01 7.10802875e-02 7.73094031e-02 1.51184495e+02] [-7.09791969e-02 9.97469541e-01 -4.05811266e-03 -8.00235242e+00] [-7.74022266e-02 -1.45168750e-03 9.96998891e-01 -1.72844523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86629675700001 meters 0.07180546048212919 Centerline is valid? [True, True] Translation: X:151.24, Y:-8.01, Z:-17.29 [[ 9.94595456e-01 6.64674570e-02 7.97618690e-02 1.51244350e+02] [-6.63449377e-02 9.97787958e-01 -4.18814924e-03 -8.00736358e+00] [-7.98638080e-02 -1.12628203e-03 9.96805148e-01 -1.72919422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92629675700002 meters 0.07149777157431901 Centerline is valid? [True, True] Translation: X:151.31, Y:-8.01, Z:-17.30 [[ 9.94661602e-01 6.27530303e-02 8.19167512e-02 1.51305650e+02] [-6.26111201e-02 9.98028725e-01 -4.30253669e-03 -8.01166263e+00] [-8.20252680e-02 -8.49331510e-04 9.96629888e-01 -1.72975515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98629675700002 meters 0.07127401327023397 Centerline is valid? [True, True] Translation: X:151.37, Y:-8.01, Z:-17.30 [[ 9.94456221e-01 6.17524382e-02 8.51085299e-02 1.51366770e+02] [-6.15951997e-02 9.98091182e-01 -4.47469303e-03 -8.01490645e+00] [-8.52223965e-02 -7.92390584e-04 9.96361639e-01 -1.73045766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.046296757 meters 0.07130390391439659 Centerline is valid? [True, True] Translation: X:151.43, Y:-8.01, Z:-17.31 [[ 9.94040696e-01 6.52676322e-02 8.73111185e-02 1.51429262e+02] [-6.51156523e-02 9.97867164e-01 -4.59069532e-03 -8.01462364e+00] [-8.74245220e-02 -1.12198247e-03 9.96170515e-01 -1.73081649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.106296757 meters 0.07219501562838189 Centerline is valid? [True, True] Translation: X:151.49, Y:-8.01, Z:-17.32 [[ 9.93520517e-01 7.21706759e-02 8.77973577e-02 1.51490831e+02] [-7.20416509e-02 9.97390825e-01 -4.64150307e-03 -8.00884696e+00] [-8.79032595e-02 -1.71363807e-03 9.96127542e-01 -1.73178865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.166296757 meters 0.07317796701104919 Centerline is valid? [True, True] Translation: X:151.55, Y:-8.01, Z:-17.33 [[ 9.93198708e-01 7.91180317e-02 8.54205156e-02 1.51550986e+02] [-7.90209580e-02 9.96862697e-01 -4.52234595e-03 -8.00501978e+00] [-8.55103247e-02 -2.25842282e-03 9.96334725e-01 -1.73280326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.226296757 meters 0.07332936718349399 Centerline is valid? [True, True] Translation: X:151.61, Y:-8.01, Z:-17.34 [[ 9.92887795e-01 8.15328898e-02 8.67537530e-02 1.51612490e+02] [-8.14421083e-02 9.96667499e-01 -4.59122532e-03 -8.00540522e+00] [-8.68389819e-02 -2.50683696e-03 9.96219206e-01 -1.73367168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.286296757 meters 0.0733489116368892 Centerline is valid? [True, True] Translation: X:151.67, Y:-8.01, Z:-17.34 [[ 9.92813898e-01 8.11602343e-02 8.79407819e-02 1.51673627e+02] [-8.10635376e-02 9.96697966e-01 -4.67625758e-03 -8.00747507e+00] [-8.80299246e-02 -2.48613737e-03 9.96114728e-01 -1.73448244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.346296757 meters 0.07267143265149363 Centerline is valid? [True, True] Translation: X:151.73, Y:-8.01, Z:-17.35 [[ 9.92871476e-01 7.59556271e-02 9.18530027e-02 1.51734127e+02] [-7.58254103e-02 9.97109012e-01 -4.91168817e-03 -8.01383545e+00] [-9.19605272e-02 -2.08811653e-03 9.95760464e-01 -1.73510986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.406296757 meters 0.07204652292658106 Centerline is valid? [True, True] Translation: X:151.79, Y:-8.02, Z:-17.36 [[ 9.92848688e-01 7.19443163e-02 9.52654054e-02 1.51794839e+02] [-7.17856926e-02 9.97407063e-01 -5.09564316e-03 -8.01973105e+00] [-9.53849908e-02 -1.77949048e-03 9.95438867e-01 -1.73582253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.466296757 meters 0.07182482154633797 Centerline is valid? [True, True] Translation: X:151.86, Y:-8.02, Z:-17.36 [[ 9.92709895e-01 7.12409366e-02 9.72203358e-02 1.51856589e+02] [-7.10722901e-02 9.97457607e-01 -5.20105716e-03 -8.02297087e+00] [-9.73436917e-02 -1.74653100e-03 9.95249293e-01 -1.73640221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.526296757 meters 0.07177114241230893 Centerline is valid? [True, True] Translation: X:151.92, Y:-8.02, Z:-17.37 [[ 9.92189734e-01 7.38169613e-02 1.00551417e-01 1.51919423e+02] [-7.36471673e-02 9.97269714e-01 -5.40476299e-03 -8.02284303e+00] [-1.00675846e-01 -2.04277664e-03 9.94917183e-01 -1.73693207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.586296757 meters 0.07262281921099602 Centerline is valid? [True, True] Translation: X:151.98, Y:-8.02, Z:-17.38 [[ 9.91520805e-01 7.97797024e-02 1.02575302e-01 1.51980314e+02] [-7.96315996e-02 9.96808942e-01 -5.54454107e-03 -8.01602323e+00] [-1.02690320e-01 -2.67070755e-03 9.94709790e-01 -1.73759805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64629675700002 meters 0.07342762402005257 Centerline is valid? [True, True] Translation: X:152.04, Y:-8.01, Z:-17.38 [[ 9.90987322e-01 8.80385132e-02 1.00962116e-01 1.52041220e+02] [-8.79363918e-02 9.96111072e-01 -5.47025346e-03 -8.01052314e+00] [-1.01051074e-01 -3.45729234e-03 9.94875232e-01 -1.73841936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70629675700002 meters 0.07472431769835289 Centerline is valid? [True, True] Translation: X:152.10, Y:-8.00, Z:-17.39 [[ 9.90456351e-01 9.68450598e-02 9.80675827e-02 1.52101578e+02] [-9.67913634e-02 9.95290495e-01 -5.31619981e-03 -8.00356127e+00] [-9.81205807e-02 -4.22663118e-03 9.95165558e-01 -1.73939850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.766296757 meters 0.07592366451456159 Centerline is valid? [True, True] Translation: X:152.16, Y:-8.00, Z:-17.40 [[ 9.89911868e-01 1.04431350e-01 9.57527351e-02 1.52162094e+02] [-1.04414985e-01 9.94520246e-01 -5.19525225e-03 -7.99819129e+00] [-9.57705809e-02 -4.85517850e-03 9.95391593e-01 -1.74029573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.826296757 meters 0.07668359494825375 Centerline is valid? [True, True] Translation: X:152.22, Y:-8.00, Z:-17.41 [[ 9.89377086e-01 1.07991028e-01 9.73186471e-02 1.52222745e+02] [-1.07991165e-01 9.94137825e-01 -5.28142900e-03 -7.99690498e+00] [-9.73184951e-02 -5.28422920e-03 9.95239261e-01 -1.74091724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.886296757 meters 0.07668364752682105 Centerline is valid? [True, True] Translation: X:152.28, Y:-8.00, Z:-17.42 [[ 9.89017150e-01 1.07167580e-01 1.01785003e-01 1.52282745e+02] [-1.07163326e-01 9.94226075e-01 -5.52571843e-03 -7.99836007e+00] [-1.01789482e-01 -5.44258912e-03 9.94791073e-01 -1.74150774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.946296757 meters 0.07545013194625606 Centerline is valid? [True, True] Translation: X:152.34, Y:-8.00, Z:-17.42 [[ 9.89347548e-01 1.02999618e-01 1.02871313e-01 1.52342918e+02] [-1.02972697e-01 9.94668495e-01 -5.58649099e-03 -8.00467006e+00] [-1.02898261e-01 -5.06595539e-03 9.94678985e-01 -1.74213971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.006296757 meters 0.07504991908598148 Centerline is valid? [True, True] Translation: X:152.40, Y:-8.01, Z:-17.43 [[ 9.90143082e-01 9.91478255e-02 9.89261662e-02 1.52402933e+02] [-9.91034907e-02 9.95062619e-01 -5.37430278e-03 -8.00951409e+00] [-9.89705805e-02 -4.48259968e-03 9.95080263e-01 -1.74295631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.066296757 meters 0.07460501103204766 Centerline is valid? [True, True] Translation: X:152.46, Y:-8.02, Z:-17.44 [[ 9.90868371e-01 9.56468154e-02 9.50345150e-02 1.52463589e+02] [-9.55894880e-02 9.95407435e-01 -5.16602823e-03 -8.01619798e+00] [-9.50921770e-02 -3.96544666e-03 9.95460573e-01 -1.74381167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.126296757 meters 0.07347787125250001 Centerline is valid? [True, True] Translation: X:152.52, Y:-8.02, Z:-17.44 [[ 9.91152361e-01 9.26906262e-02 9.50023424e-02 1.52524287e+02] [-9.26194976e-02 9.95688167e-01 -5.16751428e-03 -8.02493651e+00] [-9.50716883e-02 -3.67727524e-03 9.95463637e-01 -1.74430316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.186296757 meters 0.07327101109658725 Centerline is valid? [True, True] Translation: X:152.59, Y:-8.03, Z:-17.45 [[ 9.91227170e-01 9.28948095e-02 9.40172924e-02 1.52585563e+02] [-9.28260503e-02 9.95669208e-01 -5.11393337e-03 -8.03048554e+00] [-9.40851809e-02 -3.65818420e-03 9.95557430e-01 -1.74506501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.246296757 meters 0.07403998988152648 Centerline is valid? [True, True] Translation: X:152.65, Y:-8.03, Z:-17.46 [[ 9.91410817e-01 9.51569967e-02 8.97203363e-02 1.52645776e+02] [-9.51012960e-02 9.95455515e-01 -4.90528308e-03 -8.03350195e+00] [-8.97793755e-02 -3.66936955e-03 9.95954918e-01 -1.74611225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.306296757 meters 0.07538685552114531 Centerline is valid? [True, True] Translation: X:152.71, Y:-8.04, Z:-17.47 [[ 9.91319021e-01 9.95705266e-02 8.58621478e-02 1.52705866e+02] [-9.95358667e-02 9.95022897e-01 -4.69538460e-03 -8.03708935e+00] [-8.59023249e-02 -3.89173923e-03 9.96295963e-01 -1.74705666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36629675700001 meters 0.07532396905654734 Centerline is valid? [True, True] Translation: X:152.77, Y:-8.04, Z:-17.48 [[ 9.90915450e-01 1.03211584e-01 8.62202984e-02 1.52766803e+02] [-1.03190122e-01 9.94650462e-01 -4.71772544e-03 -8.04287157e+00] [-8.62459835e-02 -4.22221605e-03 9.96264926e-01 -1.74767806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42629675700002 meters 0.07694953271595105 Centerline is valid? [True, True] Translation: X:152.83, Y:-8.04, Z:-17.49 [[ 9.90397838e-01 1.07951937e-01 8.63626223e-02 1.52826037e+02] [-1.07948005e-01 9.94145292e-01 -4.72936005e-03 -8.04286302e+00] [-8.63675380e-02 -4.63872480e-03 9.96252544e-01 -1.74850590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48629675700002 meters 0.07846734752349416 Centerline is valid? [True, True] Translation: X:152.89, Y:-8.05, Z:-17.49 [[ 9.90405817e-01 1.07741916e-01 8.65332172e-02 1.52886833e+02] [-1.07737615e-01 9.94168094e-01 -4.73360907e-03 -8.04667865e+00] [-8.65385718e-02 -4.63468850e-03 9.96237720e-01 -1.74928552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.546296757 meters 0.07595914963315173 Centerline is valid? [True, True] Translation: X:152.95, Y:-8.06, Z:-17.50 [[ 9.91005260e-01 1.02421703e-01 8.61299533e-02 1.52947022e+02] [-1.02395367e-01 9.94732510e-01 -4.73528604e-03 -8.06243239e+00] [-8.61612606e-02 -4.12661480e-03 9.96272658e-01 -1.74975605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.606296757 meters 0.0743480959675577 Centerline is valid? [True, True] Translation: X:153.01, Y:-8.07, Z:-17.50 [[ 9.91820342e-01 9.57589429e-02 8.43956976e-02 1.53007382e+02] [-9.57094432e-02 9.95398492e-01 -4.64164273e-03 -8.07476743e+00] [-8.44518289e-02 -3.47378954e-03 9.96421508e-01 -1.75047720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.666296757 meters 0.07371536375389254 Centerline is valid? [True, True] Translation: X:153.07, Y:-8.08, Z:-17.51 [[ 9.92098777e-01 9.24506563e-02 8.48109196e-02 1.53067215e+02] [-9.23885021e-02 9.95712104e-01 -4.66587915e-03 -8.08343629e+00] [-8.48786228e-02 -3.20654083e-03 9.96386139e-01 -1.75112817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.726296757 meters 0.07263072098972455 Centerline is valid? [True, True] Translation: X:153.13, Y:-8.09, Z:-17.52 [[ 9.92359720e-01 9.17182257e-02 8.25224354e-02 1.53128679e+02] [-9.16570799e-02 9.95780295e-01 -4.53704063e-03 -8.09105143e+00] [-8.25903444e-02 -3.06138909e-03 9.96578879e-01 -1.75168860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.786296757 meters 0.07218877474725555 Centerline is valid? [True, True] Translation: X:153.19, Y:-8.10, Z:-17.52 [[ 9.92376766e-01 9.34005117e-02 8.04033547e-02 1.53189531e+02] [-9.33459798e-02 9.95623810e-01 -4.44498547e-03 -8.09535913e+00] [-8.04666582e-02 -3.09422963e-03 9.96752498e-01 -1.75232162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.846296757 meters 0.07217104371716089 Centerline is valid? [True, True] Translation: X:153.25, Y:-8.10, Z:-17.53 [[ 9.92441944e-01 9.40852831e-02 7.87841871e-02 1.53250805e+02] [-9.40353669e-02 9.95559347e-01 -4.35164355e-03 -8.10028664e+00] [-7.88437594e-02 -3.08974636e-03 9.96882197e-01 -1.75299151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.906296757 meters 0.07252032901488516 Centerline is valid? [True, True] Translation: X:153.31, Y:-8.10, Z:-17.54 [[ 9.92413295e-01 9.46200031e-02 7.85041792e-02 1.53311112e+02] [-9.45705185e-02 9.95508634e-01 -4.35632857e-03 -8.10122852e+00] [-7.85637839e-02 -3.10090254e-03 9.96904266e-01 -1.75373995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.966296757 meters 0.07407640031313448 Centerline is valid? [True, True] Translation: X:153.37, Y:-8.09, Z:-17.55 [[ 9.92038819e-01 9.93346871e-02 7.74054330e-02 1.53370505e+02] [-9.92989634e-02 9.95048267e-01 -4.31987623e-03 -8.09432128e+00] [-7.74512556e-02 -3.40079435e-03 9.96990340e-01 -1.75462959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.026296757 meters 0.07491681564868198 Centerline is valid? [True, True] Translation: X:153.43, Y:-8.09, Z:-17.55 [[ 9.91499941e-01 1.04550347e-01 7.74408897e-02 1.53432018e+02] [-1.04530524e-01 9.94512293e-01 -4.32068030e-03 -8.09125791e+00] [-7.74676454e-02 -3.81098249e-03 9.96987583e-01 -1.75509523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.086296757 meters 0.07503440726388169 Centerline is valid? [True, True] Translation: X:153.49, Y:-8.09, Z:-17.56 [[ 9.91209671e-01 1.07362604e-01 7.73088538e-02 1.53492464e+02] [-1.07351120e-01 9.94211801e-01 -4.31644893e-03 -8.09072695e+00] [-7.73248000e-02 -4.02068612e-03 9.96997848e-01 -1.75568744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14629675700002 meters 0.07716022734027984 Centerline is valid? [True, True] Translation: X:153.55, Y:-8.08, Z:-17.57 [[ 9.90856455e-01 1.11931746e-01 7.53310630e-02 1.53552633e+02] [-1.11933839e-01 9.93706753e-01 -4.20762042e-03 -8.08242689e+00] [-7.53279523e-02 -4.26294725e-03 9.97149701e-01 -1.75666370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20629675700002 meters 0.07443492744677614 Centerline is valid? [True, True] Translation: X:153.61, Y:-8.09, Z:-17.57 [[ 9.90771264e-01 1.12543235e-01 7.55402080e-02 1.53614090e+02] [-1.12547700e-01 9.93637398e-01 -4.21153224e-03 -8.09161195e+00] [-7.55335552e-02 -4.32921155e-03 9.97133863e-01 -1.75677675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.266296757 meters 0.07366342897651007 Centerline is valid? [True, True] Translation: X:153.68, Y:-8.09, Z:-17.57 [[ 9.90666835e-01 1.12114656e-01 7.75211322e-02 1.53675535e+02] [-1.12115934e-01 9.93685614e-01 -4.34956723e-03 -8.09173979e+00] [-7.75192841e-02 -4.38238212e-03 9.96981221e-01 -1.75702088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.326296757 meters 0.0738854954114189 Centerline is valid? [True, True] Translation: X:153.74, Y:-8.09, Z:-17.58 [[ 9.90979870e-01 1.10257815e-01 7.61715972e-02 1.53736583e+02] [-1.10253907e-01 9.93894284e-01 -4.26944364e-03 -8.09096866e+00] [-7.61772546e-02 -4.16728348e-03 9.97085583e-01 -1.75783967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.386296757 meters 0.07409022440651272 Centerline is valid? [True, True] Translation: X:153.80, Y:-8.09, Z:-17.59 [[ 9.91346091e-01 1.07331516e-01 7.55835548e-02 1.53797574e+02] [-1.07317209e-01 9.94215694e-01 -4.26258717e-03 -8.09198203e+00] [-7.56038664e-02 -3.88571703e-03 9.97130361e-01 -1.75868128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.446296757 meters 0.07357892949446422 Centerline is valid? [True, True] Translation: X:153.86, Y:-8.09, Z:-17.59 [[ 9.91550401e-01 1.05907221e-01 7.49097000e-02 1.53858934e+02] [-1.05889456e-01 9.94368953e-01 -4.22001622e-03 -8.09483161e+00] [-7.49348101e-02 -3.74778861e-03 9.97181392e-01 -1.75934751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.506296757 meters 0.0726032179444777 Centerline is valid? [True, True] Translation: X:153.92, Y:-8.09, Z:-17.60 [[ 9.91549077e-01 1.05675038e-01 7.52543303e-02 1.53921140e+02] [-1.05655060e-01 9.94393725e-01 -4.25779405e-03 -8.09209915e+00] [-7.52823764e-02 -3.72918899e-03 9.97155282e-01 -1.75992441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.566296757 meters 0.07280804422802617 Centerline is valid? [True, True] Translation: X:153.98, Y:-8.09, Z:-17.60 [[ 9.91262007e-01 1.06755170e-01 7.74788164e-02 1.53983606e+02] [-1.06735748e-01 9.94277671e-01 -4.40365738e-03 -8.08969613e+00] [-7.75055703e-02 -3.90458117e-03 9.96984273e-01 -1.76049469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.626296757 meters 0.07326647950256229 Centerline is valid? [True, True] Translation: X:154.05, Y:-8.09, Z:-17.61 [[ 9.91065825e-01 1.07733826e-01 7.86253951e-02 1.54045468e+02] [-1.07715401e-01 9.94171641e-01 -4.48787838e-03 -8.08654131e+00] [-7.86506344e-02 -4.02138309e-03 9.96894130e-01 -1.76119348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.686296757 meters 0.07268390270690082 Centerline is valid? [True, True] Translation: X:154.11, Y:-8.09, Z:-17.62 [[ 9.90906674e-01 1.09410466e-01 7.83154676e-02 1.54107507e+02] [-1.09395371e-01 9.93988148e-01 -4.49595973e-03 -8.08733043e+00] [-7.83365516e-02 -4.11227313e-03 9.96918489e-01 -1.76171307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.746296757 meters 0.07230544107297347 Centerline is valid? [True, True] Translation: X:154.17, Y:-8.09, Z:-17.62 [[ 9.90830305e-01 1.10899165e-01 7.71795479e-02 1.54168876e+02] [-1.10888982e-01 9.93822923e-01 -4.43081946e-03 -8.09038669e+00] [-7.71941780e-02 -4.16817129e-03 9.97007365e-01 -1.76228467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.806296757 meters 0.0729797512249052 Centerline is valid? [True, True] Translation: X:154.23, Y:-8.09, Z:-17.63 [[ 9.90995554e-01 1.09869168e-01 7.65282860e-02 1.54229672e+02] [-1.09854740e-01 9.93937865e-01 -4.41101370e-03 -8.08951076e+00] [-7.65489956e-02 -4.03570002e-03 9.97057653e-01 -1.76307927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86629675700001 meters 0.07245368768197208 Centerline is valid? [True, True] Translation: X:154.29, Y:-8.10, Z:-17.64 [[ 9.91655043e-01 1.05133517e-01 7.46138006e-02 1.54290161e+02] [-1.05104659e-01 9.94451764e-01 -4.32420666e-03 -8.09690985e+00] [-7.46544447e-02 -3.55413676e-03 9.97203130e-01 -1.76372059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92629675700002 meters 0.07098791738756265 Centerline is valid? [True, True] Translation: X:154.35, Y:-8.11, Z:-17.64 [[ 9.92037233e-01 1.01011872e-01 7.52245249e-02 1.54350795e+02] [-1.00970603e-01 9.94879850e-01 -4.36131987e-03 -8.10760470e+00] [-7.52799092e-02 -3.26887396e-03 9.97157084e-01 -1.76412522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98629675700002 meters 0.07107309359329307 Centerline is valid? [True, True] Translation: X:154.41, Y:-8.11, Z:-17.65 [[ 9.92165416e-01 9.84580137e-02 7.69012755e-02 1.54410512e+02] [-9.84071378e-02 9.95136244e-01 -4.45999127e-03 -8.11069958e+00] [-7.69663683e-02 -3.14258533e-03 9.97028737e-01 -1.76495235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.046296757 meters 0.07048525788605431 Centerline is valid? [True, True] Translation: X:154.47, Y:-8.12, Z:-17.65 [[ 9.92265415e-01 9.75279556e-02 7.67961263e-02 1.54472303e+02] [-9.74749233e-02 9.95228043e-01 -4.44763662e-03 -8.11914813e+00] [-7.68634274e-02 -3.07246052e-03 9.97036897e-01 -1.76542475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.106296757 meters 0.07127113376524055 Centerline is valid? [True, True] Translation: X:154.53, Y:-8.12, Z:-17.66 [[ 9.92377077e-01 9.75221977e-02 7.53469223e-02 1.54532875e+02] [-9.74694589e-02 9.95228853e-01 -4.38569135e-03 -8.12279113e+00] [-7.54151333e-02 -2.99176418e-03 9.97147736e-01 -1.76642833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.166296757 meters 0.0732635097353405 Centerline is valid? [True, True] Translation: X:154.59, Y:-8.12, Z:-17.68 [[ 9.92242716e-01 9.80651245e-02 7.64043478e-02 1.54593007e+02] [-9.80119792e-02 9.95175267e-01 -4.45411878e-03 -8.12139866e+00] [-7.64725109e-02 -3.06897443e-03 9.97066967e-01 -1.76765771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.226296757 meters 0.07362625183217256 Centerline is valid? [True, True] Translation: X:154.65, Y:-8.13, Z:-17.68 [[ 9.92050667e-01 9.86283960e-02 7.81531484e-02 1.54654821e+02] [-9.85731580e-02 9.95119296e-01 -4.57374882e-03 -8.12659129e+00] [-7.82228075e-02 -3.16641208e-03 9.96930873e-01 -1.76833262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.286296757 meters 0.07508911525124946 Centerline is valid? [True, True] Translation: X:154.72, Y:-8.13, Z:-17.69 [[ 9.91823499e-01 1.01093046e-01 7.78867271e-02 1.54715678e+02] [-1.01044380e-01 9.94871397e-01 -4.57573815e-03 -8.12752645e+00] [-7.79498522e-02 -3.33169139e-03 9.96951714e-01 -1.76920099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.346296757 meters 0.0719914239456006 Centerline is valid? [True, True] Translation: X:154.78, Y:-8.14, Z:-17.69 [[ 9.91736766e-01 1.03037500e-01 7.64294426e-02 1.54776714e+02] [-1.02995295e-01 9.94671645e-01 -4.50427076e-03 -8.14474423e+00] [-7.64863082e-02 -3.40482207e-03 9.97064818e-01 -1.76908650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.406296757 meters 0.0716518866410806 Centerline is valid? [True, True] Translation: X:154.84, Y:-8.15, Z:-17.70 [[ 9.91744361e-01 1.00543595e-01 7.95871118e-02 1.54836783e+02] [-1.00487825e-01 9.94927112e-01 -4.71577805e-03 -8.15399773e+00] [-7.96575166e-02 -3.32068945e-03 9.96816760e-01 -1.76960423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.466296757 meters 0.07122541729008891 Centerline is valid? [True, True] Translation: X:154.90, Y:-8.16, Z:-17.70 [[ 9.91731448e-01 9.86875274e-02 8.20335690e-02 1.54897459e+02] [-9.86218839e-02 9.95113103e-01 -4.86176293e-03 -8.16240243e+00] [-8.21124748e-02 -3.26874193e-03 9.96617708e-01 -1.77015511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.526296757 meters 0.0721610919646708 Centerline is valid? [True, True] Translation: X:154.96, Y:-8.17, Z:-17.71 [[ 9.91703145e-01 9.94910125e-02 8.14027644e-02 1.54957871e+02] [-9.94292648e-02 9.95032949e-01 -4.82196044e-03 -8.16737853e+00] [-8.14781745e-02 -3.31186368e-03 9.96669624e-01 -1.77102779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.586296757 meters 0.0725829698215203 Centerline is valid? [True, True] Translation: X:155.02, Y:-8.17, Z:-17.72 [[ 9.91652671e-01 1.00763213e-01 8.04472132e-02 1.55019221e+02] [-1.00705286e-01 9.94904782e-01 -4.78744976e-03 -8.17293323e+00] [-8.05197159e-02 -3.35397225e-03 9.96747373e-01 -1.77194590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64629675700002 meters 0.07235549396985548 Centerline is valid? [True, True] Translation: X:155.08, Y:-8.18, Z:-17.72 [[ 9.91369062e-01 1.05158622e-01 7.82882314e-02 1.55079259e+02] [-1.05116907e-01 9.94448929e-01 -4.66519058e-03 -8.18274717e+00] [-7.83442328e-02 -3.60449112e-03 9.96919851e-01 -1.77241881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70629675700002 meters 0.07383987901800211 Centerline is valid? [True, True] Translation: X:155.14, Y:-8.18, Z:-17.73 [[ 9.90534810e-01 1.10828425e-01 8.09805507e-02 1.55140270e+02] [-1.10802469e-01 9.93830721e-01 -4.82820553e-03 -8.18278175e+00] [-8.10160614e-02 -4.19033932e-03 9.96703988e-01 -1.77313473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.766296757 meters 0.07489371261947118 Centerline is valid? [True, True] Translation: X:155.20, Y:-8.18, Z:-17.74 [[ 9.90219595e-01 1.13449863e-01 8.12051855e-02 1.55200971e+02] [-1.13432305e-01 9.93533917e-01 -4.84446827e-03 -8.18407522e+00] [-8.12297103e-02 -4.41420397e-03 9.96685632e-01 -1.77390184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.826296757 meters 0.07582815084956762 Centerline is valid? [True, True] Translation: X:155.26, Y:-8.19, Z:-17.75 [[ 9.90335063e-01 1.12517451e-01 8.10942987e-02 1.55261112e+02] [-1.12497033e-01 9.93640296e-01 -4.83531729e-03 -8.18782347e+00] [-8.11226205e-02 -4.33428377e-03 9.96694705e-01 -1.77471604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.886296757 meters 0.07396024913739949 Centerline is valid? [True, True] Translation: X:155.32, Y:-8.20, Z:-17.75 [[ 9.91245620e-01 1.04457108e-01 8.07516773e-02 1.55320699e+02] [-1.04408292e-01 9.94522749e-01 -4.83839356e-03 -8.20311063e+00] [-8.08147847e-02 -3.63510825e-03 9.96722507e-01 -1.77523576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.946296757 meters 0.07226956842346531 Centerline is valid? [True, True] Translation: X:155.38, Y:-8.22, Z:-17.76 [[ 9.92321897e-01 9.31995356e-02 8.13086705e-02 1.55379053e+02] [-9.31120796e-02 9.95643699e-01 -4.87494030e-03 -8.21823873e+00] [-8.14088077e-02 -2.73330939e-03 9.96677047e-01 -1.77599821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.006296757 meters 0.07023596954033506 Centerline is valid? [True, True] Translation: X:155.44, Y:-8.24, Z:-17.76 [[ 9.93098860e-01 8.19721230e-02 8.38762472e-02 1.55439372e+02] [-8.18389185e-02 9.96632872e-01 -5.03093163e-03 -8.23864195e+00] [-8.40062213e-02 -1.86812888e-03 9.96463479e-01 -1.77626244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.066296757 meters 0.06986389147945225 Centerline is valid? [True, True] Translation: X:155.50, Y:-8.25, Z:-17.77 [[ 9.93532480e-01 7.44632148e-02 8.57230528e-02 1.55498251e+02] [-7.42959004e-02 9.97222969e-01 -5.14491666e-03 -8.25082324e+00] [-8.58681042e-02 -1.25722959e-03 9.96305720e-01 -1.77704732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.126296757 meters 0.07008701548230224 Centerline is valid? [True, True] Translation: X:155.56, Y:-8.26, Z:-17.78 [[ 9.93650725e-01 7.32084691e-02 8.54327560e-02 1.55559020e+02] [-7.30381368e-02 9.97315996e-01 -5.12191999e-03 -8.25981994e+00] [-8.55784221e-02 -1.15044980e-03 9.96330773e-01 -1.77782156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.186296757 meters 0.07076190250317835 Centerline is valid? [True, True] Translation: X:155.62, Y:-8.26, Z:-17.79 [[ 9.93442064e-01 7.81516162e-02 8.34577167e-02 1.55619274e+02] [-7.80044060e-02 9.96940334e-01 -5.02817873e-03 -8.26389895e+00] [-8.35953243e-02 -1.51486535e-03 9.96498634e-01 -1.77874542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.246296757 meters 0.0722749047166532 Centerline is valid? [True, True] Translation: X:155.68, Y:-8.26, Z:-17.80 [[ 9.92879564e-01 8.68580257e-02 8.15221141e-02 1.55678373e+02] [-8.67466805e-02 9.96218286e-01 -4.91335550e-03 -8.25978563e+00] [-8.16405851e-02 -2.19340252e-03 9.96659422e-01 -1.77984630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.306296757 meters 0.07287142475537235 Centerline is valid? [True, True] Translation: X:155.74, Y:-8.26, Z:-17.80 [[ 9.92375947e-01 9.33171647e-02 8.05101705e-02 1.55738716e+02] [-9.32297930e-02 9.95632796e-01 -4.85187793e-03 -8.26267565e+00] [-8.06113297e-02 -2.69105957e-03 9.96741979e-01 -1.78046694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36629675700001 meters 0.07324562933857444 Centerline is valid? [True, True] Translation: X:155.80, Y:-8.27, Z:-17.81 [[ 9.92266373e-01 9.51762245e-02 7.96801858e-02 1.55799633e+02] [-9.50970081e-02 9.95456452e-01 -4.79696992e-03 -8.26703149e+00] [-7.97747125e-02 -2.81747534e-03 9.96808937e-01 -1.78123150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42629675700002 meters 0.07416751065446493 Centerline is valid? [True, True] Translation: X:155.86, Y:-8.27, Z:-17.82 [[ 9.92240392e-01 9.42559409e-02 8.10852813e-02 1.55860014e+02] [-9.41693207e-02 9.95544135e-01 -4.90034102e-03 -8.26888799e+00] [-8.11858625e-02 -2.77342956e-03 9.96695121e-01 -1.78214557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48629675700002 meters 0.07185134454101234 Centerline is valid? [True, True] Translation: X:155.92, Y:-8.28, Z:-17.82 [[ 9.92517728e-01 8.91566508e-02 8.34245228e-02 1.55920941e+02] [-8.90449408e-02 9.96014724e-01 -5.06631256e-03 -8.28304767e+00] [-8.35437485e-02 -2.40012666e-03 9.96501220e-01 -1.78212011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.546296757 meters 0.07108724684724926 Centerline is valid? [True, True] Translation: X:155.98, Y:-8.29, Z:-17.83 [[ 9.92851175e-01 8.43087177e-02 8.44901461e-02 1.55981743e+02] [-8.41765198e-02 9.96437642e-01 -5.13223509e-03 -8.28952650e+00] [-8.46218541e-02 -2.01654082e-03 9.96411098e-01 -1.78269717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.606296757 meters 0.07006781241774113 Centerline is valid? [True, True] Translation: X:156.04, Y:-8.30, Z:-17.83 [[ 9.93195883e-01 7.96077818e-02 8.49972831e-02 1.56042557e+02] [-7.94565468e-02 9.96824944e-01 -5.16613409e-03 -8.29632603e+00] [-8.51386764e-02 -1.62260749e-03 9.96367790e-01 -1.78307574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.666296757 meters 0.06971874334325076 Centerline is valid? [True, True] Translation: X:156.10, Y:-8.30, Z:-17.84 [[ 9.93339901e-01 7.75053695e-02 8.52570209e-02 1.56103500e+02] [-7.73454339e-02 9.96990886e-01 -5.18246279e-03 -8.29946071e+00] [-8.54021415e-02 -1.44629421e-03 9.96345514e-01 -1.78369533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.726296757 meters 0.06981201747488672 Centerline is valid? [True, True] Translation: X:156.16, Y:-8.30, Z:-17.84 [[ 9.93155859e-01 7.85338836e-02 8.64515396e-02 1.56164101e+02] [-7.83724182e-02 9.96910246e-01 -5.26545737e-03 -8.29912616e+00] [-8.65979425e-02 -1.54599638e-03 9.96242142e-01 -1.78442310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.786296757 meters 0.06966738068594254 Centerline is valid? [True, True] Translation: X:156.23, Y:-8.30, Z:-17.85 [[ 9.93174437e-01 8.13254359e-02 8.36104738e-02 1.56225339e+02] [-8.11824061e-02 9.96686137e-01 -5.11472021e-03 -8.30069095e+00] [-8.37493571e-02 -1.70789007e-03 9.96485388e-01 -1.78498712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.846296757 meters 0.07050989307374694 Centerline is valid? [True, True] Translation: X:156.28, Y:-8.30, Z:-17.86 [[ 9.93073794e-01 8.68910578e-02 7.90846641e-02 1.56284917e+02] [-8.67804082e-02 9.96215700e-01 -4.84147851e-03 -8.29770861e+00] [-7.92060652e-02 -2.05505401e-03 9.96856146e-01 -1.78591354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.906296757 meters 0.07068441694070877 Centerline is valid? [True, True] Translation: X:156.35, Y:-8.30, Z:-17.87 [[ 9.92811775e-01 9.24898323e-02 7.59632123e-02 1.56345591e+02] [-9.24041272e-02 9.95710729e-01 -4.64978706e-03 -8.29614579e+00] [-7.60674436e-02 -2.40295099e-03 9.97099779e-01 -1.78666077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.966296757 meters 0.07074436621250822 Centerline is valid? [True, True] Translation: X:156.41, Y:-8.30, Z:-17.87 [[ 9.92675849e-01 9.33580409e-02 7.66742093e-02 1.56406634e+02] [-9.32736054e-02 9.95629471e-01 -4.68946970e-03 -8.29650483e+00] [-7.67769021e-02 -2.49655662e-03 9.97045172e-01 -1.78744981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.026296757 meters 0.06997098583365306 Centerline is valid? [True, True] Translation: X:156.47, Y:-8.30, Z:-17.88 [[ 9.92746064e-01 9.05467706e-02 7.90982549e-02 1.56466291e+02] [-9.04464180e-02 9.95889475e-01 -4.85788642e-03 -8.30184396e+00] [-7.92129854e-02 -2.33150620e-03 9.96854988e-01 -1.78776084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.086296757 meters 0.06923321459996706 Centerline is valid? [True, True] Translation: X:156.53, Y:-8.31, Z:-17.88 [[ 9.92837955e-01 8.79306854e-02 8.08763885e-02 1.56527251e+02] [-8.78172197e-02 9.96124227e-01 -4.96581635e-03 -8.30534023e+00] [-8.09995776e-02 -2.17208863e-03 9.96711769e-01 -1.78813324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14629675700002 meters 0.068819746486986 Centerline is valid? [True, True] Translation: X:156.59, Y:-8.31, Z:-17.89 [[ 9.92881653e-01 8.65836319e-02 8.17881337e-02 1.56589232e+02] [-8.64632620e-02 9.96242397e-01 -5.01904690e-03 -8.30875971e+00] [-8.19153737e-02 -2.08834925e-03 9.96637101e-01 -1.78861821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20629675700002 meters 0.06853839120203077 Centerline is valid? [True, True] Translation: X:156.65, Y:-8.31, Z:-17.89 [[ 9.93148211e-01 8.45998357e-02 8.06194738e-02 1.56650576e+02] [-8.44748336e-02 9.96413238e-01 -4.96612425e-03 -8.31378998e+00] [-8.07504442e-02 -1.87821922e-03 9.96732581e-01 -1.78932497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.266296757 meters 0.06851908012937419 Centerline is valid? [True, True] Translation: X:156.71, Y:-8.32, Z:-17.90 [[ 9.93328720e-01 8.30355638e-02 8.00196804e-02 1.56712371e+02] [-8.29058346e-02 9.96545102e-01 -4.94800636e-03 -8.31672657e+00] [-8.01540810e-02 -1.71910156e-03 9.96781003e-01 -1.79003989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.326296757 meters 0.06867721409848128 Centerline is valid? [True, True] Translation: X:156.77, Y:-8.32, Z:-17.91 [[ 9.93419827e-01 8.37169235e-02 7.81570508e-02 1.56774091e+02] [-8.35938592e-02 9.96488102e-01 -4.85075981e-03 -8.32110771e+00] [-7.82886619e-02 -1.71460852e-03 9.96929258e-01 -1.79076812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.386296757 meters 0.06922368904654182 Centerline is valid? [True, True] Translation: X:156.84, Y:-8.32, Z:-17.92 [[ 9.93360922e-01 8.55415991e-02 7.69201796e-02 1.56835426e+02] [-8.54259771e-02 9.96332966e-01 -4.79832280e-03 -8.32324920e+00] [-7.70485669e-02 -1.80451514e-03 9.97025708e-01 -1.79159570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.446296757 meters 0.06974998138527483 Centerline is valid? [True, True] Translation: X:156.90, Y:-8.32, Z:-17.93 [[ 9.93067412e-01 8.73681735e-02 7.86378929e-02 1.56895821e+02] [-8.72529718e-02 9.96174104e-01 -4.90640276e-03 -8.32430970e+00] [-7.87656960e-02 -1.98900117e-03 9.96891172e-01 -1.79257777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.506296757 meters 0.07007683562758882 Centerline is valid? [True, True] Translation: X:156.96, Y:-8.33, Z:-17.93 [[ 9.92660630e-01 9.00166707e-02 8.07581158e-02 1.56958343e+02] [-8.99025101e-02 9.95937737e-01 -5.05604940e-03 -8.32752047e+00] [-8.08851838e-02 -2.24141614e-03 9.96720905e-01 -1.79334227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.566296757 meters 0.07025996411055362 Centerline is valid? [True, True] Translation: X:157.02, Y:-8.33, Z:-17.94 [[ 9.92548378e-01 9.06633679e-02 8.14117330e-02 1.57020196e+02] [-9.05476411e-02 9.95878964e-01 -5.11998136e-03 -8.33277032e+00] [-8.15404270e-02 -2.28981118e-03 9.96667405e-01 -1.79415809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.626296757 meters 0.07029795337241154 Centerline is valid? [True, True] Translation: X:157.08, Y:-8.34, Z:-17.95 [[ 9.92334127e-01 9.16223198e-02 8.29357001e-02 1.57081492e+02] [-9.15035088e-02 9.95790965e-01 -5.24048886e-03 -8.33878116e+00] [-8.30667665e-02 -2.38859162e-03 9.96541122e-01 -1.79480324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.686296757 meters 0.07052542903148946 Centerline is valid? [True, True] Translation: X:157.14, Y:-8.34, Z:-17.95 [[ 9.91835610e-01 9.42818863e-02 8.58664572e-02 1.57144066e+02] [-9.41626691e-02 9.95541926e-01 -5.44662359e-03 -8.34187757e+00] [-8.59971761e-02 -2.68325956e-03 9.96291767e-01 -1.79535372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.746296757 meters 0.0710468133923627 Centerline is valid? [True, True] Translation: X:157.21, Y:-8.34, Z:-17.96 [[ 9.91440614e-01 9.75794496e-02 8.67396147e-02 1.57205319e+02] [-9.74681562e-02 9.95223294e-01 -5.52749407e-03 -8.34311073e+00] [-8.68646549e-02 -2.97416820e-03 9.96215682e-01 -1.79609319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.806296757 meters 0.07130436279140656 Centerline is valid? [True, True] Translation: X:157.27, Y:-8.35, Z:-17.97 [[ 9.90884279e-01 1.02077025e-01 8.79126117e-02 1.57266151e+02] [-1.01978209e-01 9.94770722e-01 -5.62640536e-03 -8.34565806e+00] [-8.80272189e-02 -3.39005405e-03 9.96112301e-01 -1.79673499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86629675700001 meters 0.0723168091071683 Centerline is valid? [True, True] Translation: X:157.33, Y:-8.35, Z:-17.97 [[ 9.90469678e-01 1.05742215e-01 8.82519230e-02 1.57326746e+02] [-1.05656811e-01 9.94386593e-01 -5.65169752e-03 -8.34580863e+00] [-8.83541521e-02 -3.72658173e-03 9.96082153e-01 -1.79747355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92629675700002 meters 0.07279993990374906 Centerline is valid? [True, True] Translation: X:157.39, Y:-8.35, Z:-17.98 [[ 9.90265681e-01 1.07977583e-01 8.78334926e-02 1.57387651e+02] [-1.07902007e-01 9.94145639e-01 -5.62187742e-03 -8.34683383e+00] [-8.79263204e-02 -3.91025787e-03 9.96119306e-01 -1.79834627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98629675700002 meters 0.07242903329713761 Centerline is valid? [True, True] Translation: X:157.45, Y:-8.35, Z:-17.99 [[ 9.90277049e-01 1.08797904e-01 8.66855428e-02 1.57449326e+02] [-1.08725735e-01 9.94056194e-01 -5.56759080e-03 -8.35104899e+00] [-8.67760429e-02 -3.91149200e-03 9.96220166e-01 -1.79908119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.046296757 meters 0.07259600117362977 Centerline is valid? [True, True] Translation: X:157.51, Y:-8.35, Z:-18.00 [[ 9.90482028e-01 1.08114079e-01 8.51862564e-02 1.57510411e+02] [-1.08040091e-01 9.94131369e-01 -5.49183540e-03 -8.35354800e+00] [-8.52800744e-02 -3.76396667e-03 9.96349909e-01 -1.79993476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.106296757 meters 0.07194675570185119 Centerline is valid? [True, True] Translation: X:157.57, Y:-8.36, Z:-18.01 [[ 9.90492093e-01 1.05541893e-01 8.82401384e-02 1.57570839e+02] [-1.05449710e-01 9.94408193e-01 -5.71870825e-03 -8.35633807e+00] [-8.83502799e-02 -3.64056167e-03 9.96082815e-01 -1.80054715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.166296757 meters 0.07106859202171963 Centerline is valid? [True, True] Translation: X:157.63, Y:-8.36, Z:-18.01 [[ 9.90501453e-01 1.02902464e-01 9.12028154e-02 1.57631416e+02] [-1.02792773e-01 9.94685225e-01 -5.91176546e-03 -8.36193155e+00] [-9.13264282e-02 -3.51937801e-03 9.95814791e-01 -1.80093479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.226296757 meters 0.06987393495052187 Centerline is valid? [True, True] Translation: X:157.69, Y:-8.37, Z:-18.02 [[ 9.91030987e-01 9.78603461e-02 9.09996504e-02 1.57692102e+02] [-9.77297706e-02 9.95195496e-01 -5.90051401e-03 -8.36814434e+00] [-9.11398686e-02 -3.04578274e-03 9.95833444e-01 -1.80159764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.286296757 meters 0.06964558457710507 Centerline is valid? [True, True] Translation: X:157.75, Y:-8.37, Z:-18.02 [[ 9.91415751e-01 9.48073899e-02 9.00353694e-02 1.57753224e+02] [-9.46668126e-02 9.95491882e-01 -5.84012608e-03 -8.37097724e+00] [-9.01831664e-02 -2.73336845e-03 9.95921445e-01 -1.80237972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.346296757 meters 0.06910336878157537 Centerline is valid? [True, True] Translation: X:157.81, Y:-8.38, Z:-18.03 [[ 9.91740214e-01 9.20738649e-02 8.92958621e-02 1.57814668e+02] [-9.19244601e-02 9.95749133e-01 -5.79295979e-03 -8.37593204e+00] [-8.94496575e-02 -2.46336273e-03 9.95988298e-01 -1.80307933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.406296757 meters 0.06902720754122543 Centerline is valid? [True, True] Translation: X:157.88, Y:-8.38, Z:-18.04 [[ 9.91790279e-01 9.19921926e-02 8.88227440e-02 1.57877570e+02] [-9.18421841e-02 9.95756782e-01 -5.78302755e-03 -8.37825415e+00] [-8.89778431e-02 -2.42212430e-03 9.96030661e-01 -1.80374194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.466296757 meters 0.06963113289800466 Centerline is valid? [True, True] Translation: X:157.94, Y:-8.38, Z:-18.04 [[ 9.91731323e-01 9.31386855e-02 8.82845884e-02 1.57938191e+02] [-9.29927734e-02 9.95650046e-01 -5.77326526e-03 -8.37877480e+00] [-8.84382688e-02 -2.48430073e-03 9.96078562e-01 -1.80449976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.526296757 meters 0.06985067503635121 Centerline is valid? [True, True] Translation: X:158.00, Y:-8.38, Z:-18.05 [[ 9.91492828e-01 9.49823504e-02 8.89962092e-02 1.58000167e+02] [-9.48397505e-02 9.95475427e-01 -5.83916340e-03 -8.38077095e+00] [-8.91481568e-02 -2.65088965e-03 9.96014849e-01 -1.80507199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.586296757 meters 0.07073093062707886 Centerline is valid? [True, True] Translation: X:158.06, Y:-8.38, Z:-18.06 [[ 9.91313847e-01 9.70879719e-02 8.87174306e-02 1.58061795e+02] [-9.69527513e-02 9.95271838e-01 -5.84236225e-03 -8.38101351e+00] [-8.88651833e-02 -2.80978438e-03 9.96039700e-01 -1.80584432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64629675700002 meters 0.07095607499374539 Centerline is valid? [True, True] Translation: X:158.12, Y:-8.38, Z:-18.06 [[ 9.91200001e-01 9.83861011e-02 8.85592119e-02 1.58122937e+02] [-9.82545796e-02 9.95144095e-01 -5.85380405e-03 -8.38426401e+00] [-8.87051097e-02 -2.89905756e-03 9.96053713e-01 -1.80649842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70629675700002 meters 0.07168083644896357 Centerline is valid? [True, True] Translation: X:158.18, Y:-8.38, Z:-18.07 [[ 9.90825972e-01 1.01403890e-01 8.93372485e-02 1.58184432e+02] [-1.01280408e-01 9.94840269e-01 -5.92602686e-03 -8.38403565e+00] [-8.94772145e-02 -3.17645163e-03 9.95983804e-01 -1.80716803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.766296757 meters 0.07285314826662347 Centerline is valid? [True, True] Translation: X:158.25, Y:-8.38, Z:-18.08 [[ 9.90338211e-01 1.05576885e-01 8.99096736e-02 1.58245453e+02] [-1.05466718e-01 9.94404800e-01 -5.98868093e-03 -8.38030386e+00] [-9.00388773e-02 -3.55165860e-03 9.95931919e-01 -1.80792172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.826296757 meters 0.07288706117839674 Centerline is valid? [True, True] Translation: X:158.31, Y:-8.38, Z:-18.09 [[ 9.90139066e-01 1.08288503e-01 8.88719831e-02 1.58306443e+02] [-1.08191994e-01 9.94112411e-01 -5.91666059e-03 -8.38336338e+00] [-8.89894477e-02 -3.75692024e-03 9.96025483e-01 -1.80855197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.886296757 meters 0.07352025844780348 Centerline is valid? [True, True] Translation: X:158.37, Y:-8.39, Z:-18.09 [[ 9.90185718e-01 1.08413084e-01 8.81977699e-02 1.58367725e+02] [-1.08316770e-01 9.94098973e-01 -5.89149622e-03 -8.38591502e+00] [-8.83160278e-02 -3.71962210e-03 9.96085560e-01 -1.80948839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.946296757 meters 0.07315584518762908 Centerline is valid? [True, True] Translation: X:158.43, Y:-8.39, Z:-18.10 [[ 9.90109662e-01 1.08263962e-01 8.92287581e-02 1.58429680e+02] [-1.08162598e-01 9.94115202e-01 -5.98480573e-03 -8.38853390e+00] [-8.93516037e-02 -3.72560036e-03 9.95993178e-01 -1.81018432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.006296757 meters 0.07343212148842716 Centerline is valid? [True, True] Translation: X:158.49, Y:-8.39, Z:-18.11 [[ 9.89940745e-01 1.09749917e-01 8.92876078e-02 1.58491616e+02] [-1.09652465e-01 9.93951814e-01 -6.01076000e-03 -8.38897215e+00] [-8.94072601e-02 -3.84031006e-03 9.95987748e-01 -1.81086638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.066296757 meters 0.0726981497735078 Centerline is valid? [True, True] Translation: X:158.55, Y:-8.39, Z:-18.12 [[ 9.90061817e-01 1.10340559e-01 8.71926605e-02 1.58553075e+02] [-1.10248097e-01 9.93886645e-01 -5.89014471e-03 -8.39373951e+00] [-8.73095427e-02 -3.78121750e-03 9.96174054e-01 -1.81161405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.126296757 meters 0.0729408992819 Centerline is valid? [True, True] Translation: X:158.61, Y:-8.39, Z:-18.12 [[ 9.90205951e-01 1.10743225e-01 8.50183079e-02 1.58614903e+02] [-1.10654997e-01 9.93842164e-01 -5.76404905e-03 -8.39456364e+00] [-8.51331085e-02 -3.70010492e-03 9.96362717e-01 -1.81245040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.186296757 meters 0.07307396167464955 Centerline is valid? [True, True] Translation: X:158.68, Y:-8.40, Z:-18.13 [[ 9.90499373e-01 1.09679543e-01 8.29541484e-02 1.58676282e+02] [-1.09590177e-01 9.93960835e-01 -5.64369497e-03 -8.39779338e+00] [-8.30721725e-02 -3.50088352e-03 9.96537384e-01 -1.81336910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.246296757 meters 0.07274634504818717 Centerline is valid? [True, True] Translation: X:158.74, Y:-8.41, Z:-18.14 [[ 9.91107290e-01 1.05869144e-01 8.06105708e-02 1.58737099e+02] [-1.05769996e-01 9.94375349e-01 -5.51111219e-03 -8.40526685e+00] [-8.07406213e-02 -3.06407625e-03 9.96730437e-01 -1.81397404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.306296757 meters 0.07178891055356076 Centerline is valid? [True, True] Translation: X:158.80, Y:-8.42, Z:-18.15 [[ 9.91795264e-01 1.00874347e-01 7.85271995e-02 1.58797529e+02] [-1.00764420e-01 9.94895814e-01 -5.37127466e-03 -8.41848520e+00] [-7.86682059e-02 -2.58554294e-03 9.96897501e-01 -1.81453642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36629675700001 meters 0.07130996236637367 Centerline is valid? [True, True] Translation: X:158.86, Y:-8.43, Z:-18.15 [[ 9.92483235e-01 9.55692388e-02 7.64431104e-02 1.58858331e+02] [-9.54492427e-02 9.95420558e-01 -5.23018781e-03 -8.42872331e+00] [-7.65928886e-02 -2.10556328e-03 9.97060227e-01 -1.81521074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42629675700002 meters 0.07087846695105121 Centerline is valid? [True, True] Translation: X:158.92, Y:-8.44, Z:-18.16 [[ 9.92898977e-01 9.07508673e-02 7.69148962e-02 1.58918870e+02] [-9.06144850e-02 9.95872109e-01 -5.26852630e-03 -8.44043136e+00] [-7.70755232e-02 -1.73848933e-03 9.97023742e-01 -1.81585015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48629675700002 meters 0.07022124791618983 Centerline is valid? [True, True] Translation: X:158.98, Y:-8.45, Z:-18.17 [[ 9.93153232e-01 8.43210946e-02 8.08493051e-02 1.58978629e+02] [-8.41487055e-02 9.96437789e-01 -5.54322916e-03 -8.45238637e+00] [-8.10287140e-02 -1.29808840e-03 9.96710922e-01 -1.81651338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.546296757 meters 0.06981604590703458 Centerline is valid? [True, True] Translation: X:159.04, Y:-8.46, Z:-18.17 [[ 9.93425346e-01 7.97065909e-02 8.21762846e-02 1.59039092e+02] [-7.95125509e-02 9.96817930e-01 -5.63636550e-03 -8.46421575e+00] [-8.23640493e-02 -9.34737657e-04 9.96601871e-01 -1.81697911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.606296757 meters 0.06989384274828167 Centerline is valid? [True, True] Translation: X:159.10, Y:-8.47, Z:-18.18 [[ 9.93614702e-01 7.86680866e-02 8.08774128e-02 1.59100530e+02] [-7.84769579e-02 9.96900511e-01 -5.54415143e-03 -8.47137245e+00] [-8.10628819e-02 -8.38262948e-04 9.96708637e-01 -1.81779691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.666296757 meters 0.06995791968942225 Centerline is valid? [True, True] Translation: X:159.16, Y:-8.48, Z:-18.19 [[ 9.93661350e-01 7.85941381e-02 8.03746432e-02 1.59161221e+02] [-7.84035905e-02 9.96906369e-01 -5.52884835e-03 -8.47760212e+00] [-8.05605288e-02 -8.07857710e-04 9.96749391e-01 -1.81868712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.726296757 meters 0.07016222355816919 Centerline is valid? [True, True] Translation: X:159.22, Y:-8.48, Z:-18.19 [[ 9.93636788e-01 7.87492205e-02 8.05263508e-02 1.59223356e+02] [-7.85568028e-02 9.96894136e-01 -5.55975612e-03 -8.48300926e+00] [-8.07140734e-02 -8.01514453e-04 9.96736974e-01 -1.81949535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.786296757 meters 0.06986179147643198 Centerline is valid? [True, True] Translation: X:159.28, Y:-8.49, Z:-18.20 [[ 9.93575531e-01 7.88378494e-02 8.11927194e-02 1.59284941e+02] [-7.86405955e-02 9.96887138e-01 -5.62940443e-03 -8.48956259e+00] [-8.13837878e-02 -7.91805304e-04 9.96682523e-01 -1.82007680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.846296757 meters 0.06964676937072851 Centerline is valid? [True, True] Translation: X:159.35, Y:-8.49, Z:-18.21 [[ 9.93289499e-01 8.17008616e-02 8.18592774e-02 1.59347172e+02] [-8.15084812e-02 9.96656379e-01 -5.69472988e-03 -8.49167374e+00] [-8.20508354e-02 -1.01570998e-03 9.96627628e-01 -1.82083019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.906296757 meters 0.07003144782312007 Centerline is valid? [True, True] Translation: X:159.41, Y:-8.49, Z:-18.22 [[ 9.92915178e-01 8.78312928e-02 8.00319549e-02 1.59407693e+02] [-8.76649530e-02 9.96134296e-01 -5.59652175e-03 -8.48997742e+00] [-8.02141248e-02 -1.45912617e-03 9.96776587e-01 -1.82193461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.966296757 meters 0.07089635458417325 Centerline is valid? [True, True] Translation: X:159.47, Y:-8.49, Z:-18.23 [[ 9.92339678e-01 9.46012137e-02 7.94517036e-02 1.59467172e+02] [-9.44587693e-02 9.95513260e-01 -5.55781597e-03 -8.48928386e+00] [-7.96210006e-02 -1.98966883e-03 9.96823223e-01 -1.82261685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.026296757 meters 0.0712151907786019 Centerline is valid? [True, True] Translation: X:159.53, Y:-8.49, Z:-18.23 [[ 9.92081900e-01 9.72884774e-02 7.94257896e-02 1.59528631e+02] [-9.71552806e-02 9.95253767e-01 -5.54893107e-03 -8.49149874e+00] [-7.95886633e-02 -2.21164079e-03 9.96825337e-01 -1.82344209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.086296757 meters 0.07113859057760379 Centerline is valid? [True, True] Translation: X:159.59, Y:-8.50, Z:-18.24 [[ 9.92119394e-01 9.76440558e-02 7.85159017e-02 1.59590264e+02] [-9.75135642e-02 9.95218979e-01 -5.50358995e-03 -8.49767621e+00] [-7.86779083e-02 -2.19614709e-03 9.96897670e-01 -1.82404460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14629675700002 meters 0.07060780585204089 Centerline is valid? [True, True] Translation: X:159.65, Y:-8.51, Z:-18.25 [[ 9.92172059e-01 9.58995039e-02 7.99868133e-02 1.59651585e+02] [-9.57564542e-02 9.95388864e-01 -5.63117814e-03 -8.50558606e+00] [-8.01580105e-02 -2.07215601e-03 9.96780016e-01 -1.82453393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20629675700002 meters 0.07068858663797435 Centerline is valid? [True, True] Translation: X:159.71, Y:-8.51, Z:-18.25 [[ 9.92391138e-01 9.32772762e-02 8.03690155e-02 1.59713370e+02] [-9.31238525e-02 9.95638426e-01 -5.66330734e-03 -8.51234295e+00] [-8.05467380e-02 -1.86405633e-03 9.96749090e-01 -1.82529900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.266296757 meters 0.07032035303873208 Centerline is valid? [True, True] Translation: X:159.77, Y:-8.52, Z:-18.26 [[ 9.92583322e-01 8.96791540e-02 8.20731219e-02 1.59774165e+02] [-8.95061673e-02 9.95969427e-01 -5.79198909e-03 -8.52025832e+00] [-8.22617408e-02 -1.59701880e-03 9.96609480e-01 -1.82591613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.326296757 meters 0.06992114386098064 Centerline is valid? [True, True] Translation: X:159.84, Y:-8.53, Z:-18.26 [[ 9.92528756e-01 8.90118366e-02 8.34479524e-02 1.59835724e+02] [-8.88308612e-02 9.96029331e-01 -5.88649345e-03 -8.52671897e+00] [-8.36405757e-02 -1.57023945e-03 9.96494751e-01 -1.82616935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.386296757 meters 0.06975018118731725 Centerline is valid? [True, True] Translation: X:159.90, Y:-8.53, Z:-18.27 [[ 9.92369017e-01 9.00100229e-02 8.42729505e-02 1.59898263e+02] [-8.98273598e-02 9.95939491e-01 -5.96451984e-03 -8.52889765e+00] [-8.44676260e-02 -1.65101196e-03 9.96424856e-01 -1.82674213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.446296757 meters 0.07040546919413572 Centerline is valid? [True, True] Translation: X:159.96, Y:-8.53, Z:-18.28 [[ 9.91988581e-01 9.53370551e-02 8.28824481e-02 1.59957520e+02] [-9.51763882e-02 9.95442960e-01 -5.89642347e-03 -8.52620262e+00] [-8.30668972e-02 -2.03926730e-03 9.96541887e-01 -1.82771027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.506296757 meters 0.07170187639767672 Centerline is valid? [True, True] Translation: X:160.02, Y:-8.52, Z:-18.29 [[ 9.91523497e-01 1.01839664e-01 8.06835604e-02 1.60017193e+02] [-1.01708871e-01 9.94797647e-01 -5.73999019e-03 -8.52069952e+00] [-8.08483747e-02 -2.51489865e-03 9.96723239e-01 -1.82866371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.566296757 meters 0.07290417730528469 Centerline is valid? [True, True] Translation: X:160.08, Y:-8.52, Z:-18.30 [[ 9.91371170e-01 1.05321859e-01 7.80417168e-02 1.60078086e+02] [-1.05210324e-01 9.94434500e-01 -5.55098779e-03 -8.52071078e+00] [-7.81920159e-02 -2.70770502e-03 9.96934640e-01 -1.82957219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.626296757 meters 0.07237690349852521 Centerline is valid? [True, True] Translation: X:160.14, Y:-8.53, Z:-18.30 [[ 9.91491523e-01 1.04749459e-01 7.72794303e-02 1.60140282e+02] [-1.04638758e-01 9.94495135e-01 -5.49157672e-03 -8.52844078e+00] [-7.74292571e-02 -2.64157184e-03 9.96994349e-01 -1.83004399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.686296757 meters 0.07233715745962217 Centerline is valid? [True, True] Translation: X:160.20, Y:-8.53, Z:-18.31 [[ 9.91710355e-01 1.02141575e-01 7.79594105e-02 1.60201001e+02] [-1.02018578e-01 9.94766904e-01 -5.56928533e-03 -8.53460316e+00] [-7.81202970e-02 -2.43019029e-03 9.96940978e-01 -1.83068008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.746296757 meters 0.07133905925966785 Centerline is valid? [True, True] Translation: X:160.26, Y:-8.54, Z:-18.31 [[ 9.91831672e-01 1.00153893e-01 7.89881729e-02 1.60262274e+02] [-1.00021167e-01 9.94969296e-01 -5.64498971e-03 -8.54409946e+00] [-7.91561745e-02 -2.30160965e-03 9.96859570e-01 -1.83107075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.806296757 meters 0.07083420705437193 Centerline is valid? [True, True] Translation: X:160.32, Y:-8.55, Z:-18.32 [[ 9.91823897e-01 9.91356078e-02 8.03585020e-02 1.60323969e+02] [-9.89950141e-02 9.95071365e-01 -5.74157023e-03 -8.55233271e+00] [-8.05316384e-02 -2.26046448e-03 9.96749490e-01 -1.83153689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86629675700001 meters 0.07141774281342722 Centerline is valid? [True, True] Translation: X:160.38, Y:-8.56, Z:-18.32 [[ 9.91458126e-01 1.01714658e-01 8.16389120e-02 1.60384374e+02] [-1.01576519e-01 9.94810503e-01 -5.85437659e-03 -8.55515212e+00] [-8.18107230e-02 -2.48822723e-03 9.96644778e-01 -1.83228029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92629675700002 meters 0.07212182765441434 Centerline is valid? [True, True] Translation: X:160.44, Y:-8.56, Z:-18.33 [[ 9.90891804e-01 1.06927996e-01 8.18525236e-02 1.60444823e+02] [-1.06804846e-01 9.94262532e-01 -5.89417432e-03 -8.55753437e+00] [-8.20131497e-02 -2.90175718e-03 9.96627023e-01 -1.83279106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98629675700002 meters 0.0743443972783265 Centerline is valid? [True, True] Translation: X:160.50, Y:-8.55, Z:-18.34 [[ 9.90428994e-01 1.13579614e-01 7.84224374e-02 1.60504241e+02] [-1.13487168e-01 9.93523401e-01 -5.64918367e-03 -8.55310760e+00] [-7.85561588e-02 -3.30482506e-03 9.96904212e-01 -1.83374379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.046296757 meters 0.07500428429696736 Centerline is valid? [True, True] Translation: X:160.56, Y:-8.56, Z:-18.34 [[ 9.90177843e-01 1.16540762e-01 7.72404641e-02 1.60564729e+02] [-1.16460140e-01 9.93179787e-01 -5.56287415e-03 -8.55677489e+00] [-7.73619693e-02 -3.48720052e-03 9.96996973e-01 -1.83447145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.106296757 meters 0.0753759425642489 Centerline is valid? [True, True] Translation: X:160.63, Y:-8.56, Z:-18.35 [[ 9.90258836e-01 1.16406022e-01 7.64007576e-02 1.60626937e+02] [-1.16327294e-01 9.93195733e-01 -5.49515663e-03 -8.56164660e+00] [-7.65205757e-02 -3.44586595e-03 9.97062048e-01 -1.83536751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.166296757 meters 0.07432616383533631 Centerline is valid? [True, True] Translation: X:160.69, Y:-8.57, Z:-18.36 [[ 9.90359121e-01 1.14278541e-01 7.82893815e-02 1.60687943e+02] [-1.14186941e-01 9.93443155e-01 -5.66048529e-03 -8.57019870e+00] [-7.84229221e-02 -3.33371174e-03 9.96914606e-01 -1.83593104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.226296757 meters 0.07313563723520064 Centerline is valid? [True, True] Translation: X:160.75, Y:-8.58, Z:-18.36 [[ 9.90327231e-01 1.11973173e-01 8.19389052e-02 1.60748171e+02] [-1.11864557e-01 9.93705771e-01 -5.92968140e-03 -8.58060311e+00] [-8.20871282e-02 -3.29373438e-03 9.96619714e-01 -1.83629768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.286296757 meters 0.07354374204924558 Centerline is valid? [True, True] Translation: X:160.81, Y:-8.58, Z:-18.37 [[ 9.90277171e-01 1.11745172e-01 8.28501097e-02 1.60808730e+02] [-1.11633422e-01 9.93731374e-01 -5.99460342e-03 -8.58491338e+00] [-8.30006214e-02 -3.31252238e-03 9.96543990e-01 -1.83711564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.346296757 meters 0.0737016386782044 Centerline is valid? [True, True] Translation: X:160.87, Y:-8.59, Z:-18.38 [[ 9.90160089e-01 1.12458212e-01 8.32835459e-02 1.60871125e+02] [-1.12347120e-01 9.93650700e-01 -6.03417187e-03 -8.59039948e+00] [-8.34333458e-02 -3.38187037e-03 9.96507622e-01 -1.83794581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.406296757 meters 0.07272051632935927 Centerline is valid? [True, True] Translation: X:160.93, Y:-8.60, Z:-18.38 [[ 9.90173220e-01 1.10849414e-01 8.52607880e-02 1.60931647e+02] [-1.10724389e-01 9.93831758e-01 -6.20851683e-03 -8.60032064e+00] [-8.54230893e-02 -3.29294159e-03 9.96339326e-01 -1.83849452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.466296757 meters 0.07221977316601155 Centerline is valid? [True, True] Translation: X:160.99, Y:-8.61, Z:-18.39 [[ 9.90587458e-01 1.07627294e-01 8.45745429e-02 1.60991748e+02] [-1.07492295e-01 9.94186824e-01 -6.16163793e-03 -8.60826004e+00] [-8.47460566e-02 -2.98747048e-03 9.96398104e-01 -1.83925062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.526296757 meters 0.07208147165293273 Centerline is valid? [True, True] Translation: X:161.05, Y:-8.61, Z:-18.40 [[ 9.90852955e-01 1.05612718e-01 8.40022327e-02 1.61052778e+02] [-1.05472521e-01 9.94403401e-01 -6.11754070e-03 -8.61492367e+00] [-8.41781960e-02 -2.79834396e-03 9.96446788e-01 -1.84007142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.586296757 meters 0.0720724094853022 Centerline is valid? [True, True] Translation: X:161.11, Y:-8.62, Z:-18.41 [[ 9.90982033e-01 1.03838044e-01 8.46892578e-02 1.61113793e+02] [-1.03687225e-01 9.94590695e-01 -6.18939342e-03 -8.62370003e+00] [-8.48738423e-02 -2.64761647e-03 9.96388188e-01 -1.84074580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64629675700002 meters 0.07251818086222592 Centerline is valid? [True, True] Translation: X:161.18, Y:-8.63, Z:-18.41 [[ 9.91249824e-01 1.03235381e-01 8.22571762e-02 1.61175254e+02] [-1.03089389e-01 9.94653809e-01 -6.03140996e-03 -8.63067147e+00] [-8.24400686e-02 -2.50120796e-03 9.96592885e-01 -1.84146710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70629675700002 meters 0.07258048086240598 Centerline is valid? [True, True] Translation: X:161.24, Y:-8.64, Z:-18.42 [[ 9.91034883e-01 1.04039108e-01 8.38195991e-02 1.61236433e+02] [-1.03888607e-01 9.94569819e-01 -6.16709476e-03 -8.63640886e+00] [-8.40060625e-02 -2.59609539e-03 9.96461862e-01 -1.84200438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.766296757 meters 0.07315519690868942 Centerline is valid? [True, True] Translation: X:161.30, Y:-8.64, Z:-18.43 [[ 9.90617766e-01 1.07776887e-01 8.40272787e-02 1.61297723e+02] [-1.07637008e-01 9.94170888e-01 -6.20644809e-03 -8.63953241e+00] [-8.42063860e-02 -2.89622713e-03 9.96444126e-01 -1.84254687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.826296757 meters 0.07416773132696676 Centerline is valid? [True, True] Translation: X:161.36, Y:-8.64, Z:-18.43 [[ 9.90319808e-01 1.11712255e-01 8.23835584e-02 1.61358869e+02] [-1.11590436e-01 9.93735584e-01 -6.09616141e-03 -8.63941764e+00] [-8.25484894e-02 -3.15606780e-03 9.96582052e-01 -1.84333732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.886296757 meters 0.07506546098089532 Centerline is valid? [True, True] Translation: X:161.42, Y:-8.64, Z:-18.44 [[ 9.90369825e-01 1.13128026e-01 7.98101455e-02 1.61417931e+02] [-1.13018174e-01 9.93575363e-01 -5.90689384e-03 -8.64279265e+00] [-7.99656294e-02 -3.16998748e-03 9.96792581e-01 -1.84424241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.946296757 meters 0.07496061569902267 Centerline is valid? [True, True] Translation: X:161.48, Y:-8.65, Z:-18.45 [[ 9.90731245e-01 1.11436206e-01 7.76760705e-02 1.61478226e+02] [-1.11326792e-01 9.93767212e-01 -5.75100973e-03 -8.65122973e+00] [-7.78328027e-02 -2.94972272e-03 9.96962062e-01 -1.84495451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.006296757 meters 0.07406259993052346 Centerline is valid? [True, True] Translation: X:161.54, Y:-8.66, Z:-18.46 [[ 9.91210582e-01 1.06779790e-01 7.81003057e-02 1.61538841e+02] [-1.06652915e-01 9.94279361e-01 -5.80590743e-03 -8.65967737e+00] [-7.82734756e-02 -2.57474840e-03 9.96928600e-01 -1.84557543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.066296757 meters 0.07270656272796591 Centerline is valid? [True, True] Translation: X:161.60, Y:-8.67, Z:-18.46 [[ 9.91499184e-01 1.01049204e-01 8.19660082e-02 1.61598236e+02] [-1.00889709e-01 9.94878940e-01 -6.09594669e-03 -8.66958690e+00] [-8.21622459e-02 -2.22540055e-03 9.96616482e-01 -1.84594884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.126296757 meters 0.0724165434828203 Centerline is valid? [True, True] Translation: X:161.66, Y:-8.67, Z:-18.47 [[ 9.91478155e-01 9.96608750e-02 8.38974306e-02 1.61659107e+02] [-9.94888521e-02 9.95019116e-01 -6.23919224e-03 -8.67466918e+00] [-8.41013506e-02 -2.16083626e-03 9.96454863e-01 -1.84652957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.186296757 meters 0.07122502348462321 Centerline is valid? [True, True] Translation: X:161.72, Y:-8.68, Z:-18.47 [[ 9.91422764e-01 1.00223866e-01 8.38813412e-02 1.61721710e+02] [-1.00054228e-01 9.94962454e-01 -6.23432820e-03 -8.68127773e+00] [-8.40836135e-02 -2.21182797e-03 9.96456248e-01 -1.84684763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.246296757 meters 0.07216513950539012 Centerline is valid? [True, True] Translation: X:161.78, Y:-8.68, Z:-18.48 [[ 9.90733436e-01 1.05544200e-01 8.54849764e-02 1.61783128e+02] [-1.05385521e-01 9.94410978e-01 -6.37950464e-03 -8.67826547e+00] [-8.56805187e-02 -2.68849019e-03 9.96319036e-01 -1.84755534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.306296757 meters 0.07272852218785096 Centerline is valid? [True, True] Translation: X:161.84, Y:-8.68, Z:-18.48 [[ 9.90510147e-01 1.08071065e-01 8.49134525e-02 1.61844597e+02] [-1.07922109e-01 9.94139034e-01 -6.35611819e-03 -8.67809448e+00] [-8.51026901e-02 -2.86823934e-03 9.96368057e-01 -1.84819918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36629675700001 meters 0.07309450556014374 Centerline is valid? [True, True] Translation: X:161.91, Y:-8.68, Z:-18.49 [[ 9.90682956e-01 1.08169443e-01 8.27444972e-02 1.61905207e+02] [-1.08026767e-01 9.94128574e-01 -6.21258034e-03 -8.68118148e+00] [-8.29306804e-02 -2.78392309e-03 9.96551430e-01 -1.84912224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42629675700002 meters 0.07323155047013652 Centerline is valid? [True, True] Translation: X:161.97, Y:-8.69, Z:-18.50 [[ 9.90882741e-01 1.06994755e-01 8.18750039e-02 1.61965683e+02] [-1.06849282e-01 9.94256092e-01 -6.16889376e-03 -8.68609309e+00] [-8.20647607e-02 -2.63563501e-03 9.96623514e-01 -1.84981972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48629675700002 meters 0.07315102319005412 Centerline is valid? [True, True] Translation: X:162.03, Y:-8.69, Z:-18.51 [[ 9.91016587e-01 1.05428976e-01 8.22852061e-02 1.62026942e+02] [-1.05275924e-01 9.94423668e-01 -6.20868258e-03 -8.69058243e+00] [-8.24809315e-02 -2.50974366e-03 9.96589483e-01 -1.85058190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.546296757 meters 0.07245566745624735 Centerline is valid? [True, True] Translation: X:162.09, Y:-8.70, Z:-18.51 [[ 9.91276489e-01 1.02338272e-01 8.30529998e-02 1.62087676e+02] [-1.02169399e-01 9.94747115e-01 -6.29209716e-03 -8.69854979e+00] [-8.32606543e-02 -2.24826713e-03 9.96525267e-01 -1.85101530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.606296757 meters 0.07186220211648588 Centerline is valid? [True, True] Translation: X:162.15, Y:-8.70, Z:-18.52 [[ 9.91138583e-01 9.98522815e-02 8.76004057e-02 1.62148642e+02] [-9.96544287e-02 9.94999952e-01 -6.63999245e-03 -8.70457624e+00] [-8.78254179e-02 -2.14861568e-03 9.96133565e-01 -1.85159447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.666296757 meters 0.07134188298324183 Centerline is valid? [True, True] Translation: X:162.21, Y:-8.71, Z:-18.52 [[ 9.90784528e-01 9.95746476e-02 9.18199766e-02 1.62210112e+02] [-9.93558905e-02 9.95027607e-01 -6.96192973e-03 -8.70855198e+00] [-9.20566433e-02 -2.22508328e-03 9.95751286e-01 -1.85201379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.726296757 meters 0.0718620902928338 Centerline is valid? [True, True] Translation: X:162.27, Y:-8.71, Z:-18.53 [[ 9.90526205e-01 1.03393510e-01 9.03748810e-02 1.62270755e+02] [-1.03196812e-01 9.94637306e-01 -6.85915296e-03 -8.71024780e+00] [-9.05994201e-02 -2.53222889e-03 9.95884197e-01 -1.85276894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.786296757 meters 0.07305275483551606 Centerline is valid? [True, True] Translation: X:162.33, Y:-8.71, Z:-18.54 [[ 9.90392339e-01 1.07874428e-01 8.65223836e-02 1.62330680e+02] [-1.07710732e-01 9.94160555e-01 -6.57191070e-03 -8.70645694e+00] [-8.67260820e-02 -2.81061929e-03 9.96228230e-01 -1.85388639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.846296757 meters 0.07374341609014935 Centerline is valid? [True, True] Translation: X:162.39, Y:-8.71, Z:-18.55 [[ 9.90284696e-01 1.11829992e-01 8.26454662e-02 1.62391179e+02] [-1.11694244e-01 9.93722785e-01 -6.27876119e-03 -8.70675338e+00] [-8.28288367e-02 -3.01326173e-03 9.96559233e-01 -1.85468656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.906296757 meters 0.07395690935097046 Centerline is valid? [True, True] Translation: X:162.45, Y:-8.71, Z:-18.56 [[ 9.90451055e-01 1.12713070e-01 7.93881012e-02 1.62450301e+02] [-1.12590681e-01 9.93623153e-01 -6.03058351e-03 -8.71037822e+00] [-7.95615810e-02 -2.96536261e-03 9.96825542e-01 -1.85554104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.966296757 meters 0.07389403204821536 Centerline is valid? [True, True] Translation: X:162.51, Y:-8.71, Z:-18.56 [[ 9.90285879e-01 1.13505068e-01 8.03148582e-02 1.62512530e+02] [-1.13382265e-01 9.93532696e-01 -6.10274427e-03 -8.71328858e+00] [-8.04881300e-02 -3.06281902e-03 9.96750862e-01 -1.85619240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.026296757 meters 0.07382763462459255 Centerline is valid? [True, True] Translation: X:162.57, Y:-8.72, Z:-18.57 [[ 9.90111837e-01 1.13426515e-01 8.25407499e-02 1.62573885e+02] [-1.13294484e-01 9.93541499e-01 -6.29677493e-03 -8.71888549e+00] [-8.27218816e-02 -3.11690023e-03 9.96567798e-01 -1.85666869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.086296757 meters 0.07408818476975425 Centerline is valid? [True, True] Translation: X:162.64, Y:-8.72, Z:-18.57 [[ 9.89942103e-01 1.14323820e-01 8.33348466e-02 1.62636634e+02] [-1.14190784e-01 9.93438374e-01 -6.37673647e-03 -8.72419926e+00] [-8.35170473e-02 -3.20347158e-03 9.96501199e-01 -1.85730308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14629675700002 meters 0.07372654725908351 Centerline is valid? [True, True] Translation: X:162.70, Y:-8.73, Z:-18.58 [[ 9.89843543e-01 1.16281281e-01 8.17827893e-02 1.62697593e+02] [-1.16157916e-01 9.93210898e-01 -6.28093704e-03 -8.73006953e+00] [-8.19579130e-02 -3.28257343e-03 9.96630385e-01 -1.85783452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20629675700002 meters 0.07359784938640443 Centerline is valid? [True, True] Translation: X:162.76, Y:-8.74, Z:-18.58 [[ 9.89770459e-01 1.15927591e-01 8.31578783e-02 1.62759060e+02] [-1.15797197e-01 9.93252221e-01 -6.40579659e-03 -8.73721475e+00] [-8.33393559e-02 -3.28918102e-03 9.96515797e-01 -1.85834130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.266296757 meters 0.07350852793330614 Centerline is valid? [True, True] Translation: X:162.82, Y:-8.74, Z:-18.59 [[ 9.89718464e-01 1.16240023e-01 8.33403864e-02 1.62821376e+02] [-1.16108465e-01 9.93215661e-01 -6.44008539e-03 -8.74173272e+00] [-8.35235727e-02 -3.30265294e-03 9.96500329e-01 -1.85900189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.326296757 meters 0.07410964542725977 Centerline is valid? [True, True] Translation: X:162.88, Y:-8.74, Z:-18.60 [[ 9.89609960e-01 1.17649611e-01 8.26480284e-02 1.62882692e+02] [-1.17522783e-01 9.93049468e-01 -6.41475514e-03 -8.74258328e+00] [-8.28282741e-02 -3.36492073e-03 9.96558154e-01 -1.85974250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.386296757 meters 0.07390232794610659 Centerline is valid? [True, True] Translation: X:162.94, Y:-8.75, Z:-18.60 [[ 9.89567956e-01 1.18509474e-01 8.19192539e-02 1.62944440e+02] [-1.18387247e-01 9.92947102e-01 -6.36495583e-03 -8.74745992e+00] [-8.20957933e-02 -3.39963861e-03 9.96618645e-01 -1.86032223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.446296757 meters 0.07433696406241756 Centerline is valid? [True, True] Translation: X:163.00, Y:-8.75, Z:-18.61 [[ 9.89571763e-01 1.19576674e-01 8.03065726e-02 1.63004486e+02] [-1.19460579e-01 9.92819172e-01 -6.26596899e-03 -8.74667654e+00] [-8.04791686e-02 -3.39284368e-03 9.96750516e-01 -1.86139229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.506296757 meters 0.07466015104362235 Centerline is valid? [True, True] Translation: X:163.07, Y:-8.75, Z:-18.62 [[ 9.89522785e-01 1.20832393e-01 7.90201927e-02 1.63066392e+02] [-1.20723831e-01 9.92666974e-01 -6.16733876e-03 -8.74766375e+00] [-7.91859499e-02 -3.43689818e-03 9.96853938e-01 -1.86222564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.566296757 meters 0.07428796454646258 Centerline is valid? [True, True] Translation: X:163.13, Y:-8.75, Z:-18.63 [[ 9.89742003e-01 1.18181260e-01 8.02742674e-02 1.63127882e+02] [-1.18060029e-01 9.92986655e-01 -6.27155376e-03 -8.75184801e+00] [-8.04524564e-02 -3.26996216e-03 9.96753084e-01 -1.86266270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.626296757 meters 0.07347067380498969 Centerline is valid? [True, True] Translation: X:163.19, Y:-8.76, Z:-18.63 [[ 9.90039819e-01 1.12946618e-01 8.40489016e-02 1.63188287e+02] [-1.12794464e-01 9.93596607e-01 -6.57194738e-03 -8.75709851e+00] [-8.42529828e-02 -2.97376124e-03 9.96439959e-01 -1.86314809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.686296757 meters 0.07194876998060641 Centerline is valid? [True, True] Translation: X:163.25, Y:-8.77, Z:-18.64 [[ 9.90538285e-01 1.06154024e-01 8.69783198e-02 1.63248732e+02] [-1.05964787e-01 9.94346611e-01 -6.80302858e-03 -8.76553402e+00] [-8.72087664e-02 -2.47797885e-03 9.96186976e-01 -1.86361051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.746296757 meters 0.07147815437121571 Centerline is valid? [True, True] Translation: X:163.31, Y:-8.77, Z:-18.64 [[ 9.90970266e-01 9.94178033e-02 8.99668427e-02 1.63307906e+02] [-9.91874164e-02 9.95043871e-01 -7.03920951e-03 -8.76950140e+00] [-9.02207782e-02 -1.94793137e-03 9.95919885e-01 -1.86448394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.806296757 meters 0.07030154633877476 Centerline is valid? [True, True] Translation: X:163.37, Y:-8.78, Z:-18.65 [[ 9.91337915e-01 9.46433493e-02 9.10591873e-02 1.63368641e+02] [-9.43872496e-02 9.95510065e-01 -7.12446132e-03 -8.77697533e+00] [-9.13246204e-02 -1.53207762e-03 9.95819997e-01 -1.86495413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86629675700001 meters 0.06959035437434213 Centerline is valid? [True, True] Translation: X:163.43, Y:-8.78, Z:-18.65 [[ 9.91277400e-01 9.38859355e-02 9.24907980e-02 1.63430297e+02] [-9.36184402e-02 9.95581852e-01 -7.23628248e-03 -8.77865558e+00] [-9.27615451e-02 -1.48568096e-03 9.95687244e-01 -1.86546602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92629675700002 meters 0.06934922909920603 Centerline is valid? [True, True] Translation: X:163.49, Y:-8.78, Z:-18.66 [[ 9.91479681e-01 9.56781151e-02 8.83953668e-02 1.63492488e+02] [-9.54388324e-02 9.95411109e-01 -6.93922840e-03 -8.77807189e+00] [-8.86536624e-02 -1.55624663e-03 9.96061296e-01 -1.86622370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.986296757 meters 0.06976964937766957 Centerline is valid? [True, True] Translation: X:163.55, Y:-8.78, Z:-18.67 [[ 9.91568729e-01 9.77535460e-02 8.50629155e-02 1.63552607e+02] [-9.75390081e-02 9.95209254e-01 -6.68450315e-03 -8.77577799e+00] [-8.53088345e-02 -1.66880811e-03 9.96353159e-01 -1.86730109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.046296757 meters 0.07020050830169242 Centerline is valid? [True, True] Translation: X:163.61, Y:-8.77, Z:-18.68 [[ 9.91738768e-01 9.86285868e-02 8.20159562e-02 1.63613589e+02] [-9.84321343e-02 9.95122895e-01 -6.44510162e-03 -8.77443726e+00] [-8.22516270e-02 -1.68114847e-03 9.96610176e-01 -1.86810743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.106296757 meters 0.06960064357094906 Centerline is valid? [True, True] Translation: X:163.68, Y:-8.78, Z:-18.68 [[ 9.91723544e-01 1.00643549e-01 7.97200569e-02 1.63675868e+02] [-1.00463610e-01 9.94920945e-01 -6.27504185e-03 -8.77705672e+00] [-7.99466969e-02 -1.78585800e-03 9.96797540e-01 -1.86838779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.166296757 meters 0.0697780408626006 Centerline is valid? [True, True] Translation: X:163.74, Y:-8.78, Z:-18.69 [[ 9.91387894e-01 1.03314248e-01 8.04748971e-02 1.63736415e+02] [-1.03139553e-01 9.94646716e-01 -6.33580181e-03 -8.77775944e+00] [-8.06986707e-02 -2.01890772e-03 9.96736499e-01 -1.86920137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.226296757 meters 0.06954658726000729 Centerline is valid? [True, True] Translation: X:163.80, Y:-8.78, Z:-18.70 [[ 9.91087621e-01 1.04525424e-01 8.25818595e-02 1.63797825e+02] [-1.04344052e-01 9.94519882e-01 -6.52097125e-03 -8.78078375e+00] [-8.28109085e-02 -2.15407195e-03 9.96562950e-01 -1.86977362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.286296757 meters 0.06966593277723027 Centerline is valid? [True, True] Translation: X:163.86, Y:-8.78, Z:-18.70 [[ 9.90818085e-01 1.05504054e-01 8.45483096e-02 1.63858230e+02] [-1.05315464e-01 9.94416292e-01 -6.70011546e-03 -8.78433592e+00] [-8.47831058e-02 -2.26564887e-03 9.96396855e-01 -1.87027813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.346296757 meters 0.06960446431185974 Centerline is valid? [True, True] Translation: X:163.92, Y:-8.79, Z:-18.71 [[ 9.90511100e-01 1.07628087e-01 8.54631874e-02 1.63920479e+02] [-1.07442454e-01 9.94188172e-01 -6.78219173e-03 -8.78804479e+00] [-8.56964443e-02 -2.46453842e-03 9.96318245e-01 -1.87069871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.406296757 meters 0.070997372313321 Centerline is valid? [True, True] Translation: X:163.98, Y:-8.78, Z:-18.72 [[ 9.89970990e-01 1.13398358e-01 8.42511248e-02 1.63981662e+02] [-1.13236626e-01 9.93545381e-01 -6.71136471e-03 -8.78248136e+00] [-8.44683736e-02 -2.89625675e-03 9.96421952e-01 -1.87152618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.466296757 meters 0.0727996782762423 Centerline is valid? [True, True] Translation: X:164.04, Y:-8.78, Z:-18.72 [[ 9.89531045e-01 1.19857701e-01 8.03893240e-02 1.64041707e+02] [-1.19731638e-01 9.92785637e-01 -6.40422338e-03 -8.77662923e+00] [-8.05769617e-02 -3.28796756e-03 9.96742967e-01 -1.87239178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.526296757 meters 0.0711016076296135 Centerline is valid? [True, True] Translation: X:164.10, Y:-8.79, Z:-18.73 [[ 9.89727691e-01 1.20421413e-01 7.70569935e-02 1.64102409e+02] [-1.20307023e-01 9.92717733e-01 -6.14194162e-03 -8.78690378e+00] [-7.72354651e-02 -3.19164781e-03 9.97007771e-01 -1.87260866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.586296757 meters 0.07141831103012078 Centerline is valid? [True, True] Translation: X:164.16, Y:-8.79, Z:-18.73 [[ 9.90294446e-01 1.17501548e-01 7.42313673e-02 1.64163305e+02] [-1.17387572e-01 9.93068583e-01 -5.91171444e-03 -8.79206309e+00] [-7.44114743e-02 -2.85950199e-03 9.97223523e-01 -1.87344316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64629675700002 meters 0.07027570903135934 Centerline is valid? [True, True] Translation: X:164.22, Y:-8.81, Z:-18.74 [[ 9.91672526e-01 1.07476241e-01 7.09539245e-02 1.64223045e+02] [-1.07344652e-01 9.94205666e-01 -5.67616266e-03 -8.80629149e+00] [-7.11528464e-02 -1.98762977e-03 9.97463444e-01 -1.87406761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70629675700002 meters 0.06972461687762074 Centerline is valid? [True, True] Translation: X:164.28, Y:-8.82, Z:-18.75 [[ 9.92248708e-01 1.01024641e-01 7.23638273e-02 1.64282019e+02] [-1.00870451e-01 9.94882712e-01 -5.79148745e-03 -8.81670866e+00] [-7.25786037e-02 -1.55277594e-03 9.97361487e-01 -1.87492986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.766296757 meters 0.06943092927864858 Centerline is valid? [True, True] Translation: X:164.34, Y:-8.82, Z:-18.76 [[ 9.92178790e-01 9.97659805e-02 7.50199834e-02 1.64343061e+02] [-9.95967996e-02 9.95009774e-01 -6.00231521e-03 -8.82429609e+00] [-7.52444435e-02 -1.51638041e-03 9.97163966e-01 -1.87557274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.826296757 meters 0.06874479111234665 Centerline is valid? [True, True] Translation: X:164.40, Y:-8.83, Z:-18.76 [[ 9.91782405e-01 9.94343796e-02 8.05013401e-02 1.64403084e+02] [-9.92379843e-02 9.95042844e-01 -6.44686315e-03 -8.83275840e+00] [-8.07433222e-02 -1.59490529e-03 9.96733652e-01 -1.87595758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.886296757 meters 0.06966031502599383 Centerline is valid? [True, True] Translation: X:164.46, Y:-8.84, Z:-18.77 [[ 9.90897875e-01 1.08709970e-01 7.93948572e-02 1.64463593e+02] [-1.08548657e-01 9.94070806e-01 -6.35777342e-03 -8.83696323e+00] [-7.96152631e-02 -2.31830091e-03 9.96822971e-01 -1.87651111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.946296757 meters 0.07169020467832217 Centerline is valid? [True, True] Translation: X:164.52, Y:-8.84, Z:-18.78 [[ 9.90074224e-01 1.17938971e-01 7.64423331e-02 1.64523136e+02] [-1.17816784e-01 9.93016478e-01 -6.12200555e-03 -8.83578266e+00] [-7.66305194e-02 -2.94494994e-03 9.97055209e-01 -1.87762836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.006296757 meters 0.07208487239596345 Centerline is valid? [True, True] Translation: X:164.58, Y:-8.84, Z:-18.78 [[ 9.89568663e-01 1.23999127e-01 7.33353756e-02 1.64583963e+02] [-1.23903021e-01 9.92276933e-01 -5.87611468e-03 -8.84231738e+00] [-7.34976347e-02 -3.27165562e-03 9.97290025e-01 -1.87818934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.066296757 meters 0.07276049987904028 Centerline is valid? [True, True] Translation: X:164.65, Y:-8.85, Z:-18.79 [[ 9.89209269e-01 1.25927583e-01 7.48816729e-02 1.64645088e+02] [-1.25833298e-01 9.92033288e-01 -5.99465907e-03 -8.84760713e+00] [-7.50400051e-02 -3.49263553e-03 9.97174408e-01 -1.87892824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.126296757 meters 0.07358451451585037 Centerline is valid? [True, True] Translation: X:164.71, Y:-8.85, Z:-18.80 [[ 9.88719367e-01 1.27606167e-01 7.84262630e-02 1.64705387e+02] [-1.27506324e-01 9.91817749e-01 -6.30004517e-03 -8.85161267e+00] [-7.85884842e-02 -3.77086781e-03 9.96900010e-01 -1.87960136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.186296757 meters 0.07302196442363547 Centerline is valid? [True, True] Translation: X:164.77, Y:-8.86, Z:-18.80 [[ 9.88647677e-01 1.27632825e-01 7.92819857e-02 1.64767086e+02] [-1.27529439e-01 9.91814221e-01 -6.38692175e-03 -8.85846202e+00] [-7.94481818e-02 -3.79637180e-03 9.96831768e-01 -1.88018076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.246296757 meters 0.07414132504680149 Centerline is valid? [True, True] Translation: X:164.83, Y:-8.86, Z:-18.81 [[ 9.88773119e-01 1.25263584e-01 8.14662682e-02 1.64826331e+02] [-1.25144199e-01 9.92116677e-01 -6.59008823e-03 -8.86294775e+00] [-8.16495413e-02 -3.67892881e-03 9.96654312e-01 -1.88109455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.306296757 meters 0.07391132913753126 Centerline is valid? [True, True] Translation: X:164.89, Y:-8.87, Z:-18.82 [[ 9.88705692e-01 1.25043558e-01 8.26145409e-02 1.64888026e+02] [-1.24920430e-01 9.92144288e-01 -6.67815151e-03 -8.87134086e+00] [-8.28006047e-02 -3.71751752e-03 9.96559200e-01 -1.88169771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36629675700001 meters 0.07386774629106291 Centerline is valid? [True, True] Translation: X:164.95, Y:-8.88, Z:-18.82 [[ 9.88674992e-01 1.24822947e-01 8.33126159e-02 1.64949908e+02] [-1.24694942e-01 9.92172109e-01 -6.75859492e-03 -8.87756376e+00] [-8.35040815e-02 -3.70660800e-03 9.96500542e-01 -1.88244796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42629675700002 meters 0.07481232256151507 Centerline is valid? [True, True] Translation: X:165.01, Y:-8.88, Z:-18.83 [[ 9.88555091e-01 1.26658602e-01 8.19538311e-02 1.65010510e+02] [-1.26540326e-01 9.91939128e-01 -6.65667067e-03 -8.88121075e+00] [-8.21363364e-02 -3.78997882e-03 9.96613896e-01 -1.88336672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.486296757 meters 0.07500091535517969 Centerline is valid? [True, True] Translation: X:165.07, Y:-8.89, Z:-18.84 [[ 9.88194911e-01 1.29593229e-01 8.17093205e-02 1.65071460e+02] [-1.29485417e-01 9.91559097e-01 -6.63957315e-03 -8.88832259e+00] [-8.18800637e-02 -4.01897306e-03 9.96634087e-01 -1.88393053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.546296757 meters 0.07693282148907221 Centerline is valid? [True, True] Translation: X:165.13, Y:-8.89, Z:-18.85 [[ 9.87978634e-01 1.32459174e-01 7.97043633e-02 1.65131078e+02] [-1.32365592e-01 9.91179782e-01 -6.47992505e-03 -8.89146597e+00] [-7.98596789e-02 -4.14808776e-03 9.96797484e-01 -1.88489007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.606296757 meters 0.0773283127505042 Centerline is valid? [True, True] Translation: X:165.19, Y:-8.90, Z:-18.86 [[ 9.87846990e-01 1.32777412e-01 8.07990322e-02 1.65192297e+02] [-1.32682716e-01 9.91136828e-01 -6.56396154e-03 -8.89725316e+00] [-8.09544423e-02 -4.23644538e-03 9.96708799e-01 -1.88565407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.666296757 meters 0.07697551430180485 Centerline is valid? [True, True] Translation: X:165.25, Y:-8.91, Z:-18.86 [[ 9.88148736e-01 1.29456120e-01 8.24814440e-02 1.65252711e+02] [-1.29343741e-01 9.91576998e-01 -6.72704461e-03 -8.90699560e+00] [-8.26575597e-02 -4.02113790e-03 9.96569896e-01 -1.88641783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.726296757 meters 0.07654559205498966 Centerline is valid? [True, True] Translation: X:165.31, Y:-8.92, Z:-18.87 [[ 9.88439136e-01 1.25725276e-01 8.47421323e-02 1.65311690e+02] [-1.25592796e-01 9.92057784e-01 -6.91396688e-03 -8.91574268e+00] [-8.49383523e-02 -3.80896587e-03 9.96378928e-01 -1.88699635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.786296757 meters 0.07651424503568799 Centerline is valid? [True, True] Translation: X:165.37, Y:-8.92, Z:-18.88 [[ 9.88646915e-01 1.23137019e-01 8.61077895e-02 1.65371510e+02] [-1.22990468e-01 9.92382985e-01 -7.02533332e-03 -8.92070436e+00] [-8.63169838e-02 -3.64486321e-03 9.96261057e-01 -1.88769138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.846296757 meters 0.07525576082114055 Centerline is valid? [True, True] Translation: X:165.43, Y:-8.93, Z:-18.88 [[ 9.88891066e-01 1.20877661e-01 8.65046225e-02 1.65431968e+02] [-1.20720932e-01 9.92661378e-01 -7.06013009e-03 -8.93046547e+00] [-8.67232097e-02 -3.46121912e-03 9.96226433e-01 -1.88821755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.906296757 meters 0.07533203610931428 Centerline is valid? [True, True] Translation: X:165.49, Y:-8.94, Z:-18.89 [[ 9.89331749e-01 1.18392484e-01 8.48876330e-02 1.65492002e+02] [-1.18232395e-01 9.92961780e-01 -6.92855721e-03 -8.93684111e+00] [-8.51104642e-02 -3.18182657e-03 9.96366441e-01 -1.88918238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.966296757 meters 0.07653022168305203 Centerline is valid? [True, True] Translation: X:165.55, Y:-8.94, Z:-18.90 [[ 9.89503545e-01 1.18445447e-01 8.27853228e-02 1.65551789e+02] [-1.18292625e-01 9.92955728e-01 -6.76585127e-03 -8.93958505e+00] [-8.30035447e-02 -3.09805935e-03 9.96544436e-01 -1.89048735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.026296757 meters 0.0774150323972618 Centerline is valid? [True, True] Translation: X:165.61, Y:-8.94, Z:-18.92 [[ 9.89469374e-01 1.19823687e-01 8.11950810e-02 1.65612891e+02] [-1.19679612e-01 9.92790250e-01 -6.65652284e-03 -8.94299754e+00] [-8.14072939e-02 -3.13097031e-03 9.96676000e-01 -1.89151316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.086296757 meters 0.07599123698144754 Centerline is valid? [True, True] Translation: X:165.67, Y:-8.96, Z:-18.92 [[ 9.89249381e-01 1.22047462e-01 8.05610327e-02 1.65673736e+02] [-1.21912685e-01 9.92518831e-01 -6.60811413e-03 -8.95538769e+00] [-8.07648456e-02 -3.28433900e-03 9.96727773e-01 -1.89173302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14629675700002 meters 0.07550131722955893 Centerline is valid? [True, True] Translation: X:165.74, Y:-8.96, Z:-18.92 [[ 9.88922702e-01 1.21513836e-01 8.52424599e-02 1.65735031e+02] [-1.21359984e-01 9.92583850e-01 -7.00387524e-03 -8.96285525e+00] [-8.54613568e-02 -3.41873235e-03 9.96335621e-01 -1.89217948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20629675700002 meters 0.07481203093161941 Centerline is valid? [True, True] Translation: X:165.80, Y:-8.97, Z:-18.93 [[ 9.88704757e-01 1.21700096e-01 8.74756597e-02 1.65796751e+02] [-1.21538774e-01 9.92560659e-01 -7.18787061e-03 -8.97044627e+00] [-8.76996629e-02 -3.52500254e-03 9.96140725e-01 -1.89253386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.266296757 meters 0.0746436852461989 Centerline is valid? [True, True] Translation: X:165.86, Y:-8.98, Z:-18.93 [[ 9.88831347e-01 1.19933778e-01 8.84785645e-02 1.65856883e+02] [-1.19759368e-01 9.92776136e-01 -7.29640900e-03 -8.97585479e+00] [-8.87144932e-02 -3.38121901e-03 9.96051357e-01 -1.89310393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.326296757 meters 0.0737401836771761 Centerline is valid? [True, True] Translation: X:165.92, Y:-8.98, Z:-18.94 [[ 9.89399743e-01 1.16074404e-01 8.72632850e-02 1.65917865e+02] [-1.15889551e-01 9.93236019e-01 -7.19875239e-03 -8.98321614e+00] [-8.75086287e-02 -2.99045913e-03 9.96159273e-01 -1.89365851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.386296757 meters 0.07281157046615888 Centerline is valid? [True, True] Translation: X:165.98, Y:-8.99, Z:-18.94 [[ 9.90012221e-01 1.09934097e-01 8.82626513e-02 1.65978609e+02] [-1.09720173e-01 9.93935808e-01 -7.28647129e-03 -8.99002744e+00] [-8.85284413e-02 -2.47049778e-03 9.96070586e-01 -1.89427903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.446296757 meters 0.07189805580184726 Centerline is valid? [True, True] Translation: X:166.04, Y:-9.00, Z:-18.95 [[ 9.90677865e-01 1.03465464e-01 8.86130053e-02 1.66039118e+02] [-1.03223827e-01 9.94631236e-01 -7.31745938e-03 -8.99648853e+00] [-8.88943674e-02 -1.89772850e-03 9.96039251e-01 -1.89493011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.506296757 meters 0.07091410789333971 Centerline is valid? [True, True] Translation: X:166.10, Y:-9.00, Z:-18.96 [[ 9.91585930e-01 9.66019137e-02 8.61708414e-02 1.66100804e+02] [-9.63474082e-02 9.95322320e-01 -7.11733201e-03 -9.00392034e+00] [-8.64553096e-02 -1.24489095e-03 9.96254952e-01 -1.89562729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.566296757 meters 0.07057006518886325 Centerline is valid? [True, True] Translation: X:166.16, Y:-9.01, Z:-18.97 [[ 9.91985029e-01 9.25499091e-02 8.60245133e-02 1.66161879e+02] [-9.22807237e-02 9.95707652e-01 -7.10909418e-03 -9.01041394e+00] [-8.63132122e-02 -8.86289345e-04 9.96267657e-01 -1.89651075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.626296757 meters 0.06965500564609531 Centerline is valid? [True, True] Translation: X:166.22, Y:-9.02, Z:-18.97 [[ 9.92528648e-01 8.77050005e-02 8.48216755e-02 1.66223656e+02] [-8.74239808e-02 9.96146395e-01 -7.02903614e-03 -9.01697804e+00] [-8.51112879e-02 -4.38928799e-04 9.96371354e-01 -1.89703274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.686296757 meters 0.06914828103081865 Centerline is valid? [True, True] Translation: X:166.29, Y:-9.02, Z:-18.98 [[ 9.92525200e-01 8.66041320e-02 8.59851820e-02 1.66286037e+02] [-8.63090722e-02 9.96242751e-01 -7.15018073e-03 -9.01946683e+00] [-8.62813495e-02 -3.24566722e-04 9.96270758e-01 -1.89763585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.746296757 meters 0.06938213936674863 Centerline is valid? [True, True] Translation: X:166.35, Y:-9.02, Z:-18.98 [[ 9.92497454e-01 8.84274177e-02 8.44357442e-02 1.66348301e+02] [-8.81492306e-02 9.96082512e-01 -7.02448163e-03 -9.01959871e+00] [-8.47261249e-02 -4.71165752e-04 9.96404166e-01 -1.89824557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.806296757 meters 0.07002745205382173 Centerline is valid? [True, True] Translation: X:166.41, Y:-9.02, Z:-18.99 [[ 9.92409055e-01 9.23858709e-02 8.11733825e-02 1.66409737e+02] [-9.21400304e-02 9.95722995e-01 -6.77729051e-03 -9.01720856e+00] [-8.14523294e-02 -7.53473460e-04 9.96676954e-01 -1.89897432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86629675700001 meters 0.07070593018826934 Centerline is valid? [True, True] Translation: X:166.47, Y:-9.01, Z:-19.00 [[ 9.92038193e-01 9.91968464e-02 7.75900052e-02 1.66469694e+02] [-9.89927631e-02 9.95067044e-01 -6.48164443e-03 -9.01182326e+00] [-7.78502157e-02 -1.25081017e-03 9.96964282e-01 -1.89983496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92629675700002 meters 0.07038270373325616 Centerline is valid? [True, True] Translation: X:166.53, Y:-9.01, Z:-19.00 [[ 9.91771708e-01 1.02457602e-01 7.67549311e-02 1.66531618e+02] [-1.02267932e-01 9.94736250e-01 -6.40804800e-03 -9.01447642e+00] [-7.70074656e-02 -1.49424734e-03 9.97029396e-01 -1.90001298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.986296757 meters 0.07060611416647797 Centerline is valid? [True, True] Translation: X:166.59, Y:-9.01, Z:-19.00 [[ 9.91299725e-01 1.07595885e-01 7.58154335e-02 1.66592567e+02] [-1.07424894e-01 9.94192976e-01 -6.34177913e-03 -9.01379495e+00] [-7.60575208e-02 -1.85786101e-03 9.97101701e-01 -1.90049558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.046296757 meters 0.07114648545442866 Centerline is valid? [True, True] Translation: X:166.65, Y:-9.01, Z:-19.01 [[ 9.91162007e-01 1.10017377e-01 7.41218721e-02 1.66652275e+02] [-1.09860783e-01 9.93927654e-01 -6.19897060e-03 -9.01234341e+00] [-7.43537729e-02 -1.99890276e-03 9.97229924e-01 -1.90135991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.106296757 meters 0.07122876552334713 Centerline is valid? [True, True] Translation: X:166.71, Y:-9.02, Z:-19.02 [[ 9.91305807e-01 1.09585242e-01 7.28276798e-02 1.66713858e+02] [-1.09432861e-01 9.93975525e-01 -6.09133435e-03 -9.01744701e+00] [-7.30564516e-02 -1.93136625e-03 9.97325937e-01 -1.90202308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.166296757 meters 0.07121003836049201 Centerline is valid? [True, True] Translation: X:166.78, Y:-9.02, Z:-19.03 [[ 9.91295439e-01 1.08883529e-01 7.40116889e-02 1.66775225e+02] [-1.08722846e-01 9.94052713e-01 -6.20855780e-03 -9.02016544e+00] [-7.42475299e-02 -1.89224645e-03 9.97238048e-01 -1.90262574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.226296757 meters 0.07135692337867734 Centerline is valid? [True, True] Translation: X:166.84, Y:-9.02, Z:-19.03 [[ 9.91266766e-01 1.09268371e-01 7.38283225e-02 1.66837800e+02] [-1.09108345e-01 9.94010469e-01 -6.20938009e-03 -9.02431167e+00] [-7.40646143e-02 -1.90013397e-03 9.97251634e-01 -1.90333081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.286296757 meters 0.07082380972810953 Centerline is valid? [True, True] Translation: X:166.90, Y:-9.03, Z:-19.04 [[ 9.91081306e-01 1.11679688e-01 7.27013972e-02 1.66900072e+02] [-1.11529077e-01 9.93742199e-01 -6.14066624e-03 -9.02963152e+00] [-7.29322340e-02 -2.02242023e-03 9.97334848e-01 -1.90360406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.346296757 meters 0.07109766806035797 Centerline is valid? [True, True] Translation: X:166.96, Y:-9.03, Z:-19.04 [[ 9.90947739e-01 1.14111377e-01 7.07189724e-02 1.66960522e+02] [-1.13974569e-01 9.93465670e-01 -5.97992572e-03 -9.03409720e+00] [-7.09392489e-02 -2.13437054e-03 9.97478354e-01 -1.90414262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.406296757 meters 0.07148112968465563 Centerline is valid? [True, True] Translation: X:167.02, Y:-9.04, Z:-19.05 [[ 9.90832361e-01 1.16703878e-01 6.80546631e-02 1.67020683e+02] [-1.16583206e-01 9.93164250e-01 -5.75576847e-03 -9.03625771e+00] [-6.82611789e-02 -2.23102912e-03 9.97664991e-01 -1.90505796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.466296757 meters 0.07254521078416165 Centerline is valid? [True, True] Translation: X:167.08, Y:-9.04, Z:-19.06 [[ 9.90258249e-01 1.20903245e-01 6.90724699e-02 1.67080771e+02] [-1.20789324e-01 9.92660992e-01 -5.83895005e-03 -9.03944549e+00] [-6.92714946e-02 -2.56114853e-03 9.97594557e-01 -1.90593417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.526296757 meters 0.07194904515797604 Centerline is valid? [True, True] Translation: X:167.14, Y:-9.05, Z:-19.06 [[ 9.89901795e-01 1.23531961e-01 6.95290668e-02 1.67142351e+02] [-1.23422760e-01 9.92336756e-01 -5.88090070e-03 -9.04766451e+00] [-6.97227278e-02 -2.75995517e-03 9.97562591e-01 -1.90616382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.586296757 meters 0.07294254417639812 Centerline is valid? [True, True] Translation: X:167.20, Y:-9.05, Z:-19.07 [[ 9.89487975e-01 1.26718207e-01 6.96853154e-02 1.67203528e+02] [-1.26615119e-01 9.91934301e-01 -5.91227118e-03 -9.05219335e+00] [-6.98724470e-02 -2.97309326e-03 9.97551503e-01 -1.90689736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64629675700002 meters 0.07289534642709583 Centerline is valid? [True, True] Translation: X:167.27, Y:-9.06, Z:-19.08 [[ 9.89525542e-01 1.26676119e-01 6.92268905e-02 1.67265824e+02] [-1.26573318e-01 9.91939785e-01 -5.88717960e-03 -9.06042916e+00] [-6.94146719e-02 -2.93676267e-03 9.97583570e-01 -1.90766946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70629675700002 meters 0.07296038185342621 Centerline is valid? [True, True] Translation: X:167.33, Y:-9.07, Z:-19.08 [[ 9.89841746e-01 1.23780451e-01 6.99408227e-02 1.67326246e+02] [-1.23666243e-01 9.92305866e-01 -5.97729990e-03 -9.06951435e+00] [-7.01425615e-02 -2.73273782e-03 9.97533234e-01 -1.90847956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.766296757 meters 0.07310753195866099 Centerline is valid? [True, True] Translation: X:167.38, Y:-9.08, Z:-19.09 [[ 9.90024096e-01 1.21199038e-01 7.18545875e-02 1.67384761e+02] [-1.21071489e-01 9.92624776e-01 -6.14401236e-03 -9.07969291e+00] [-7.20692922e-02 -2.61682165e-03 9.97396195e-01 -1.90915302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.826296757 meters 0.07366574931284853 Centerline is valid? [True, True] Translation: X:167.45, Y:-9.08, Z:-19.10 [[ 9.89791537e-01 1.22563290e-01 7.27389331e-02 1.67447144e+02] [-1.22436398e-01 9.92456885e-01 -6.21772154e-03 -9.08366768e+00] [-7.29523194e-02 -2.75164482e-03 9.97331634e-01 -1.91002863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.886296757 meters 0.07394645706078208 Centerline is valid? [True, True] Translation: X:167.51, Y:-9.09, Z:-19.11 [[ 9.89743741e-01 1.23123124e-01 7.24432472e-02 1.67508276e+02] [-1.22997238e-01 9.92387563e-01 -6.21328418e-03 -9.09011230e+00] [-7.26567765e-02 -2.76076018e-03 9.97353183e-01 -1.91083755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.946296757 meters 0.07532730339932238 Centerline is valid? [True, True] Translation: X:167.57, Y:-9.09, Z:-19.12 [[ 9.89473308e-01 1.25216133e-01 7.25499333e-02 1.67568227e+02] [-1.25094158e-01 9.92125247e-01 -6.24062042e-03 -9.09407756e+00] [-7.27600469e-02 -2.90064550e-03 9.97345257e-01 -1.91187931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.006296757 meters 0.07530606906530603 Centerline is valid? [True, True] Translation: X:167.63, Y:-9.10, Z:-19.12 [[ 9.89170573e-01 1.25396048e-01 7.62719457e-02 1.67629764e+02] [-1.25260040e-01 9.92102102e-01 -6.58351421e-03 -9.09975633e+00] [-7.64951042e-02 -3.04160841e-03 9.97065318e-01 -1.91235900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.066296757 meters 0.07514255366188723 Centerline is valid? [True, True] Translation: X:167.69, Y:-9.11, Z:-19.13 [[ 9.89024778e-01 1.24814782e-01 7.90649032e-02 1.67691119e+02] [-1.24666312e-01 9.92175213e-01 -6.83060315e-03 -9.10531304e+00] [-7.92987975e-02 -3.10109416e-03 9.96846068e-01 -1.91288176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.126296757 meters 0.07379604739249862 Centerline is valid? [True, True] Translation: X:167.75, Y:-9.11, Z:-19.13 [[ 9.88805166e-01 1.25251336e-01 8.10952878e-02 1.67753054e+02] [-1.25096519e-01 9.92119832e-01 -7.00719036e-03 -9.11399759e+00] [-8.13339032e-02 -3.21599215e-03 9.96681721e-01 -1.91318966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.186296757 meters 0.07364669334803936 Centerline is valid? [True, True] Translation: X:167.82, Y:-9.12, Z:-19.14 [[ 9.88722653e-01 1.25222733e-01 8.21388031e-02 1.67815104e+02] [-1.25061794e-01 9.92123394e-01 -7.12176890e-03 -9.11815339e+00] [-8.23836355e-02 -3.23097186e-03 9.96595453e-01 -1.91392988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.246296757 meters 0.07366728109945082 Centerline is valid? [True, True] Translation: X:167.88, Y:-9.12, Z:-19.15 [[ 9.88796943e-01 1.24245728e-01 8.27260807e-02 1.67877149e+02] [-1.24078471e-01 9.92246432e-01 -7.17992710e-03 -9.12275374e+00] [-8.29767337e-02 -3.16503564e-03 9.96546459e-01 -1.91465818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.306296757 meters 0.07316077466301603 Centerline is valid? [True, True] Translation: X:167.94, Y:-9.13, Z:-19.15 [[ 9.88624846e-01 1.23522801e-01 8.58081058e-02 1.67938656e+02] [-1.23339411e-01 9.92336535e-01 -7.45596668e-03 -9.12581980e+00] [-8.60715002e-02 -3.21236731e-03 9.96283784e-01 -1.91527154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36629675700001 meters 0.07346076970216428 Centerline is valid? [True, True] Translation: X:168.00, Y:-9.13, Z:-19.16 [[ 9.88397944e-01 1.24853735e-01 8.64930594e-02 1.68000486e+02] [-1.24672459e-01 9.92169487e-01 -7.51580192e-03 -9.12512386e+00] [-8.67541503e-02 -3.35469921e-03 9.96224103e-01 -1.91614392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42629675700002 meters 0.07362404887229644 Centerline is valid? [True, True] Translation: X:168.06, Y:-9.13, Z:-19.17 [[ 9.88227312e-01 1.26166458e-01 8.65378757e-02 1.68062478e+02] [-1.25988187e-01 9.92003083e-01 -7.54059976e-03 -9.12640919e+00] [-8.67972103e-02 -3.45092346e-03 9.96220024e-01 -1.91692794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.486296757 meters 0.07368633418993326 Centerline is valid? [True, True] Translation: X:168.12, Y:-9.13, Z:-19.18 [[ 9.88002950e-01 1.26320051e-01 8.88448916e-02 1.68123965e+02] [-1.26130782e-01 9.91983239e-01 -7.76396297e-03 -9.12596385e+00] [-8.91133876e-02 -3.53525738e-03 9.96015214e-01 -1.91763407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.546296757 meters 0.07364854449409354 Centerline is valid? [True, True] Translation: X:168.18, Y:-9.13, Z:-19.19 [[ 9.88261885e-01 1.24041356e-01 8.91750487e-02 1.68183962e+02] [-1.23839147e-01 9.92271505e-01 -7.81826684e-03 -9.13086952e+00] [-8.94556482e-02 -3.31686681e-03 9.95985284e-01 -1.91859641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.606296757 meters 0.07269936321370263 Centerline is valid? [True, True] Translation: X:168.24, Y:-9.14, Z:-19.19 [[ 9.88579931e-01 1.22034777e-01 8.84151160e-02 1.68244830e+02] [-1.21828120e-01 9.92520953e-01 -7.75024298e-03 -9.14142787e+00] [-8.86996544e-02 -3.10971271e-03 9.96053563e-01 -1.91919351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.666296757 meters 0.0720800010614169 Centerline is valid? [True, True] Translation: X:168.30, Y:-9.15, Z:-19.20 [[ 9.89001226e-01 1.14602856e-01 9.35027304e-02 1.68303943e+02] [-1.14335989e-01 9.93408097e-01 -8.22405897e-03 -9.15055667e+00] [-9.38288701e-02 -2.55712276e-03 9.95585056e-01 -1.91962072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.726296757 meters 0.07174056680053346 Centerline is valid? [True, True] Translation: X:168.36, Y:-9.16, Z:-19.20 [[ 9.89244550e-01 1.10083038e-01 9.63169026e-02 1.68363515e+02] [-1.09778471e-01 9.93919975e-01 -8.47178233e-03 -9.15946730e+00] [-9.66638930e-02 -2.19285784e-03 9.95314665e-01 -1.92012509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.786296757 meters 0.07116479507611424 Centerline is valid? [True, True] Translation: X:168.43, Y:-9.17, Z:-19.21 [[ 9.89318387e-01 1.09014420e-01 9.67728558e-02 1.68425202e+02] [-1.08701918e-01 9.94037952e-01 -8.51132571e-03 -9.16885025e+00] [-9.71237486e-02 -2.09898399e-03 9.95270100e-01 -1.92057847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.846296757 meters 0.07160685125247689 Centerline is valid? [True, True] Translation: X:168.49, Y:-9.17, Z:-19.21 [[ 9.88846638e-01 1.11378957e-01 9.88789844e-02 1.68485579e+02] [-1.11061875e-01 9.93775214e-01 -8.72262778e-03 -9.16803101e+00] [-9.92350010e-02 -2.35634426e-03 9.95061235e-01 -1.92146361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.906296757 meters 0.07155366599092974 Centerline is valid? [True, True] Translation: X:168.55, Y:-9.17, Z:-19.22 [[ 9.88496934e-01 1.14304510e-01 9.90368089e-02 1.68546712e+02] [-1.13999847e-01 9.93442247e-01 -8.74857136e-03 -9.17062508e+00] [-9.93873511e-02 -2.64224505e-03 9.95045312e-01 -1.92221546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.966296757 meters 0.07240224344086128 Centerline is valid? [True, True] Translation: X:168.61, Y:-9.17, Z:-19.23 [[ 9.88232163e-01 1.17568667e-01 9.78509114e-02 1.68607497e+02] [-1.17284973e-01 9.93060486e-01 -8.66639372e-03 -9.16801615e+00] [-9.81907700e-02 -2.91203253e-03 9.95163350e-01 -1.92314298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.026296757 meters 0.07280424975268106 Centerline is valid? [True, True] Translation: X:168.67, Y:-9.17, Z:-19.24 [[ 9.87985558e-01 1.22271349e-01 9.45211897e-02 1.68667783e+02] [-1.22025777e-01 9.92491423e-01 -8.39557834e-03 -9.16743765e+00] [-9.48380088e-02 -3.23931144e-03 9.95487448e-01 -1.92401580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.086296757 meters 0.07330931809048308 Centerline is valid? [True, True] Translation: X:168.73, Y:-9.17, Z:-19.25 [[ 9.87843493e-01 1.25080858e-01 9.23039136e-02 1.68727745e+02] [-1.24858737e-01 9.92140641e-01 -8.20021223e-03 -9.16593398e+00] [-9.26041536e-02 -3.42442380e-03 9.95697115e-01 -1.92511902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14629675700002 meters 0.07324128519938637 Centerline is valid? [True, True] Translation: X:168.79, Y:-9.17, Z:-19.26 [[ 9.87849768e-01 1.25121167e-01 9.21820421e-02 1.68789599e+02] [-1.24900061e-01 9.92135552e-01 -8.18664622e-03 -9.17157791e+00] [-9.24814040e-02 -3.42636613e-03 9.95708517e-01 -1.92591225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20629675700002 meters 0.07269556112146482 Centerline is valid? [True, True] Translation: X:168.85, Y:-9.18, Z:-19.27 [[ 9.88069477e-01 1.22280045e-01 9.36285182e-02 1.68849939e+02] [-1.22036441e-01 9.92490540e-01 -8.34473926e-03 -9.17967328e+00] [-9.39458137e-02 -3.18090900e-03 9.95572230e-01 -1.92651450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.266296757 meters 0.07185745530816913 Centerline is valid? [True, True] Translation: X:168.91, Y:-9.19, Z:-19.27 [[ 9.88369000e-01 1.18005274e-01 9.59243211e-02 1.68910280e+02] [-1.17729180e-01 9.93008908e-01 -8.55275541e-03 -9.18975794e+00] [-9.62629756e-02 -2.83981331e-03 9.95351885e-01 -1.92697173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.326296757 meters 0.07037680104919629 Centerline is valid? [True, True] Translation: X:168.97, Y:-9.20, Z:-19.27 [[ 9.88663962e-01 1.14765501e-01 9.68114137e-02 1.68970388e+02] [-1.14468535e-01 9.93389350e-01 -8.63443325e-03 -9.20441648e+00] [-9.71623625e-02 -2.54530770e-03 9.95265290e-01 -1.92734516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.386296757 meters 0.07066457898278132 Centerline is valid? [True, True] Translation: X:169.03, Y:-9.21, Z:-19.28 [[ 9.88546198e-01 1.13889347e-01 9.90233891e-02 1.69031122e+02] [-1.13574094e-01 9.93490259e-01 -8.83344809e-03 -9.20649160e+00] [-9.93848082e-02 -2.51422022e-03 9.95045898e-01 -1.92821042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.446296757 meters 0.07046635184808742 Centerline is valid? [True, True] Translation: X:169.09, Y:-9.21, Z:-19.29 [[ 9.88013123e-01 1.17687839e-01 9.98981553e-02 1.69092593e+02] [-1.17383806e-01 9.93046414e-01 -8.93655958e-03 -9.21183889e+00] [-1.00255229e-01 -2.89698758e-03 9.94957535e-01 -1.92877089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.506296757 meters 0.07159336430300417 Centerline is valid? [True, True] Translation: X:169.15, Y:-9.21, Z:-19.29 [[ 9.87224250e-01 1.25776199e-01 9.78193688e-02 1.69154144e+02] [-1.25523480e-01 9.92051991e-01 -8.75803280e-03 -9.20909648e+00] [-9.81434517e-02 -3.63248525e-03 9.95165648e-01 -1.92939758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.566296757 meters 0.07290701830958811 Centerline is valid? [True, True] Translation: X:169.22, Y:-9.21, Z:-19.30 [[ 9.86559900e-01 1.33918346e-01 9.36239250e-02 1.69215073e+02] [-1.33723096e-01 9.90983266e-01 -8.38456690e-03 -9.20584545e+00] [-9.39025903e-02 -4.24780359e-03 9.95572328e-01 -1.93042602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.626296757 meters 0.07433522509259309 Centerline is valid? [True, True] Translation: X:169.27, Y:-9.21, Z:-19.31 [[ 9.86524714e-01 1.37910271e-01 8.80326387e-02 1.69274209e+02] [-1.37753102e-01 9.90435193e-01 -7.88737241e-03 -9.20556602e+00] [-8.82783732e-02 -4.34568127e-03 9.96086364e-01 -1.93144256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.686296757 meters 0.07370121865650693 Centerline is valid? [True, True] Translation: X:169.33, Y:-9.22, Z:-19.32 [[ 9.87025959e-01 1.34722266e-01 8.73479652e-02 1.69334447e+02] [-1.34555247e-01 9.90875202e-01 -7.82423345e-03 -9.21730832e+00] [-8.76050312e-02 -4.03040555e-03 9.96147135e-01 -1.93217300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.746296757 meters 0.07301720567851373 Centerline is valid? [True, True] Translation: X:169.39, Y:-9.23, Z:-19.33 [[ 9.87649470e-01 1.28954422e-01 8.89903461e-02 1.69394327e+02] [-1.28757418e-01 9.91644053e-01 -7.97491829e-03 -9.22947518e+00] [-8.92751485e-02 -3.58174335e-03 9.96000562e-01 -1.93265070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.806296757 meters 0.07245588697786458 Centerline is valid? [True, True] Translation: X:169.45, Y:-9.25, Z:-19.33 [[ 9.88826553e-01 1.17908224e-01 9.12123839e-02 1.69452805e+02] [-1.17654143e-01 9.93020970e-01 -8.17650749e-03 -9.24862351e+00] [-9.15398874e-02 -2.64636712e-03 9.95797894e-01 -1.93305625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86629675700001 meters 0.07244272764916437 Centerline is valid? [True, True] Translation: X:169.51, Y:-9.26, Z:-19.34 [[ 9.89214380e-01 1.15353181e-01 9.02693394e-02 1.69514107e+02] [-1.15093991e-01 9.93321671e-01 -8.08894500e-03 -9.26011302e+00] [-9.05995766e-02 -2.38775780e-03 9.95884539e-01 -1.93363174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92629675700002 meters 0.07284183142215314 Centerline is valid? [True, True] Translation: X:169.58, Y:-9.27, Z:-19.34 [[ 9.89212037e-01 1.15132747e-01 9.05759201e-02 1.69575616e+02] [-1.14868849e-01 9.93347327e-01 -8.13857119e-03 -9.26829875e+00] [-9.09103641e-02 -2.35357907e-03 9.95856298e-01 -1.93426767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.986296757 meters 0.07319037296139937 Centerline is valid? [True, True] Translation: X:169.64, Y:-9.27, Z:-19.35 [[ 9.88664983e-01 1.18944050e-01 9.16180349e-02 1.69637068e+02] [-1.18688040e-01 9.92897259e-01 -8.25724861e-03 -9.27415806e+00] [-9.19494463e-02 -2.71031240e-03 9.95759988e-01 -1.93483366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.046296757 meters 0.07370874616889854 Centerline is valid? [True, True] Translation: X:169.70, Y:-9.28, Z:-19.36 [[ 9.88575356e-01 1.22647758e-01 8.76144570e-02 1.69697938e+02] [-1.22427545e-01 9.92445987e-01 -7.90304613e-03 -9.27678400e+00] [-8.79219072e-02 -2.91366624e-03 9.96123109e-01 -1.93563280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.106296757 meters 0.07633461801003782 Centerline is valid? [True, True] Translation: X:169.76, Y:-9.27, Z:-19.37 [[ 9.88631852e-01 1.27217008e-01 8.01429562e-02 1.69756957e+02] [-1.27047408e-01 9.91870275e-01 -7.23274766e-03 -9.27369801e+00] [-8.04115446e-02 -3.03143018e-03 9.96757139e-01 -1.93718251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.166296757 meters 0.07574210033431948 Centerline is valid? [True, True] Translation: X:169.82, Y:-9.29, Z:-19.38 [[ 9.88924852e-01 1.29508314e-01 7.24929850e-02 1.69816824e+02] [-1.29375781e-01 9.91574065e-01 -6.54077368e-03 -9.28560241e+00] [-7.27292483e-02 -2.91050290e-03 9.97347475e-01 -1.93774786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.226296757 meters 0.07608266376065696 Centerline is valid? [True, True] Translation: X:169.88, Y:-9.30, Z:-19.39 [[ 9.89516486e-01 1.26023124e-01 7.05357816e-02 1.69876917e+02] [-1.25889271e-01 9.92023927e-01 -6.35770438e-03 -9.29604579e+00] [-7.07744008e-02 -2.58864480e-03 9.97488989e-01 -1.93868899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.286296757 meters 0.07431674249199784 Centerline is valid? [True, True] Translation: X:169.94, Y:-9.32, Z:-19.39 [[ 9.90627541e-01 1.17798220e-01 6.91422829e-02 1.69936025e+02] [-1.17647759e-01 9.93035667e-01 -6.25845614e-03 -9.31683730e+00] [-6.93979880e-02 -1.93463560e-03 9.97587177e-01 -1.93889297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.346296757 meters 0.07410892782733144 Centerline is valid? [True, True] Translation: X:169.99, Y:-9.33, Z:-19.40 [[ 9.91645107e-01 1.09281996e-01 6.85377788e-02 1.69993803e+02] [-1.09113769e-01 9.94009903e-01 -6.20461041e-03 -9.33362003e+00] [-6.88052831e-02 -1.32564384e-03 9.97629228e-01 -1.93991981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.406296757 meters 0.07334180126339254 Centerline is valid? [True, True] Translation: X:170.05, Y:-9.35, Z:-19.40 [[ 9.91985861e-01 1.04012693e-01 7.17315194e-02 1.70053548e+02] [-1.03814758e-01 9.94575460e-01 -6.49225812e-03 -9.35183868e+00] [-7.20176862e-02 -1.00656208e-03 9.97402847e-01 -1.94025584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.466296757 meters 0.07273303294889402 Centerline is valid? [True, True] Translation: X:170.11, Y:-9.36, Z:-19.41 [[ 9.91490173e-01 1.05035564e-01 7.69075178e-02 1.70113482e+02] [-1.04810860e-01 9.94467794e-01 -6.96352932e-03 -9.36169479e+00] [-7.72134678e-02 -1.15647218e-03 9.97013913e-01 -1.94058565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.526296757 meters 0.0729794103004902 Centerline is valid? [True, True] Translation: X:170.18, Y:-9.37, Z:-19.41 [[ 9.90813255e-01 1.10419979e-01 7.80802311e-02 1.70175437e+02] [-1.10205542e-01 9.93883719e-01 -7.06334709e-03 -9.36520128e+00] [-7.83826051e-02 -1.60641627e-03 9.96922056e-01 -1.94118464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.586296757 meters 0.07461959490111035 Centerline is valid? [True, True] Translation: X:170.24, Y:-9.36, Z:-19.42 [[ 9.89483244e-01 1.23129488e-01 7.59080922e-02 1.70236656e+02] [-1.22962197e-01 9.92387427e-01 -6.89151572e-03 -9.36028588e+00] [-7.61787851e-02 -2.51478648e-03 9.97091003e-01 -1.94214026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64629675700002 meters 0.07722106108714406 Centerline is valid? [True, True] Translation: X:170.30, Y:-9.36, Z:-19.43 [[ 9.88356410e-01 1.34322536e-01 7.14777149e-02 1.70297223e+02] [-1.34203143e-01 9.90932575e-01 -6.49209372e-03 -9.35514967e+00] [-7.17016306e-02 -3.17603158e-03 9.97421069e-01 -1.94328711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70629675700002 meters 0.07819511729267364 Centerline is valid? [True, True] Translation: X:170.36, Y:-9.36, Z:-19.44 [[ 9.88288193e-01 1.37738751e-01 6.56847350e-02 1.70357286e+02] [-1.37645402e-01 9.90463602e-01 -5.96628852e-03 -9.36054972e+00] [-6.58801283e-02 -3.14478923e-03 9.97822589e-01 -1.94412739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.766296757 meters 0.0767805619931246 Centerline is valid? [True, True] Translation: X:170.42, Y:-9.38, Z:-19.45 [[ 9.89371458e-01 1.31989411e-01 6.10156798e-02 1.70418153e+02] [-1.31898577e-01 9.91247782e-01 -5.53174697e-03 -9.37696132e+00] [-6.12117892e-02 -2.57492879e-03 9.98121479e-01 -1.94470069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.826296757 meters 0.07510274310837071 Centerline is valid? [True, True] Translation: X:170.48, Y:-9.40, Z:-19.45 [[ 9.90808424e-01 1.20868279e-01 6.07414674e-02 1.70477651e+02] [-1.20755857e-01 9.92666823e-01 -5.53181271e-03 -9.39628850e+00] [-6.09646601e-02 -1.85392130e-03 9.98138203e-01 -1.94521068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.886296757 meters 0.07346284376846161 Centerline is valid? [True, True] Translation: X:170.54, Y:-9.42, Z:-19.45 [[ 9.91809687e-01 1.10036524e-01 6.48498918e-02 1.70537023e+02] [-1.09885013e-01 9.93926739e-01 -5.90938509e-03 -9.41755202e+00] [-6.51062897e-02 -1.26504583e-03 9.97877533e-01 -1.94541449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.946296757 meters 0.07223862975014685 Centerline is valid? [True, True] Translation: X:170.60, Y:-9.43, Z:-19.45 [[ 9.91931163e-01 1.04891445e-01 7.12064042e-02 1.70597001e+02] [-1.04695284e-01 9.94483159e-01 -6.49184538e-03 -9.43368735e+00] [-7.14945088e-02 -1.01551099e-03 9.97440476e-01 -1.94538780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.006296757 meters 0.07220359131772149 Centerline is valid? [True, True] Translation: X:170.66, Y:-9.44, Z:-19.46 [[ 9.91535925e-01 1.06512584e-01 7.42400050e-02 1.70656681e+02] [-1.06303972e-01 9.94310652e-01 -6.76710740e-03 -9.43929543e+00] [-7.45384099e-02 -1.18217730e-03 9.97217443e-01 -1.94607985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.066296757 meters 0.07279504326893778 Centerline is valid? [True, True] Translation: X:170.72, Y:-9.44, Z:-19.47 [[ 9.90604555e-01 1.14004102e-01 7.55359469e-02 1.70718027e+02] [-1.13809561e-01 9.93478698e-01 -6.88913799e-03 -9.43897718e+00] [-7.58287442e-02 -1.77230149e-03 9.97119281e-01 -1.94685015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.126296757 meters 0.074228856221696 Centerline is valid? [True, True] Translation: X:170.78, Y:-9.44, Z:-19.48 [[ 9.89338992e-01 1.24770701e-01 7.51041298e-02 1.70778788e+02] [-1.24607561e-01 9.92182303e-01 -6.87262174e-03 -9.43571084e+00] [-7.53744903e-02 -2.55918978e-03 9.97152013e-01 -1.94773116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.186296757 meters 0.0763721361107477 Centerline is valid? [True, True] Translation: X:170.84, Y:-9.43, Z:-19.49 [[ 9.88423852e-01 1.34273410e-01 7.06324367e-02 1.70839662e+02] [-1.34153080e-01 9.90939524e-01 -6.46621876e-03 -9.43204090e+00] [-7.08607144e-02 -3.08419405e-03 9.97481452e-01 -1.94884694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.246296757 meters 0.07852727657291607 Centerline is valid? [True, True] Translation: X:170.90, Y:-9.43, Z:-19.50 [[ 9.88066024e-01 1.38452031e-01 6.75023500e-02 1.70899946e+02] [-1.38351749e-01 9.90363867e-01 -6.18091288e-03 -9.43070254e+00] [-6.77076483e-02 -3.23191815e-03 9.97699969e-01 -1.95004040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.306296757 meters 0.07710740449248252 Centerline is valid? [True, True] Translation: X:170.96, Y:-9.44, Z:-19.51 [[ 9.88752335e-01 1.33959754e-01 6.65101813e-02 1.70960309e+02] [-1.33852172e-01 9.90982589e-01 -6.09135021e-03 -9.44358766e+00] [-6.67264275e-02 -2.87969548e-03 9.97767153e-01 -1.95053289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36629675700001 meters 0.0761380318657625 Centerline is valid? [True, True] Translation: X:171.02, Y:-9.45, Z:-19.51 [[ 9.89429639e-01 1.28340493e-01 6.75107982e-02 1.71019832e+02] [-1.28216362e-01 9.91726924e-01 -6.18647255e-03 -9.45477807e+00] [-6.77462512e-02 -2.53490963e-03 9.97699363e-01 -1.95123586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42629675700002 meters 0.07387136235255741 Centerline is valid? [True, True] Translation: X:171.08, Y:-9.47, Z:-19.52 [[ 9.90725177e-01 1.14427205e-01 7.32805469e-02 1.71078509e+02] [-1.14242811e-01 9.93430151e-01 -6.71673607e-03 -9.47499404e+00] [-7.35676821e-02 -1.71733615e-03 9.97288748e-01 -1.95160226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.486296757 meters 0.0727801606673384 Centerline is valid? [True, True] Translation: X:171.14, Y:-9.49, Z:-19.52 [[ 9.90897421e-01 1.08960744e-01 7.90560329e-02 1.71138441e+02] [-1.08728481e-01 9.94045050e-01 -7.24950985e-03 -9.48795591e+00] [-7.93751702e-02 -1.41212174e-03 9.96843813e-01 -1.95183195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.546296757 meters 0.07228903363649808 Centerline is valid? [True, True] Translation: X:171.20, Y:-9.49, Z:-19.52 [[ 9.90475967e-01 1.09215976e-01 8.38405048e-02 1.71199963e+02] [-1.08955530e-01 9.94016883e-01 -7.68947985e-03 -9.49337683e+00] [-8.41786913e-02 -1.51864165e-03 9.96449518e-01 -1.95234694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.606296757 meters 0.07249186037285303 Centerline is valid? [True, True] Translation: X:171.26, Y:-9.49, Z:-19.53 [[ 9.89492993e-01 1.15029717e-01 8.75887084e-02 1.71261768e+02] [-1.14767889e-01 9.93359830e-01 -8.03617819e-03 -9.49297595e+00] [-8.79315038e-02 -2.10062914e-03 9.96124309e-01 -1.95279397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.666296757 meters 0.07342067507475201 Centerline is valid? [True, True] Translation: X:171.32, Y:-9.49, Z:-19.54 [[ 9.88588134e-01 1.23754633e-01 8.58969848e-02 1.71322922e+02] [-1.23534486e-01 9.92308879e-01 -7.89426084e-03 -9.48977332e+00] [-8.62132920e-02 -2.80706731e-03 9.96272748e-01 -1.95354963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.726296757 meters 0.07722466036417577 Centerline is valid? [True, True] Translation: X:171.38, Y:-9.48, Z:-19.55 [[ 9.87866761e-01 1.33248904e-01 7.97746304e-02 1.71382565e+02] [-1.33089642e-01 9.91076868e-01 -7.33407173e-03 -9.47762002e+00] [-8.00400479e-02 -3.37209128e-03 9.96785945e-01 -1.95502948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.786296757 meters 0.07776315536838012 Centerline is valid? [True, True] Translation: X:171.44, Y:-9.48, Z:-19.56 [[ 9.87644580e-01 1.38063371e-01 7.41396653e-02 1.71443428e+02] [-1.37939360e-01 9.90417228e-01 -6.81523599e-03 -9.47842295e+00] [-7.43701362e-02 -3.49574713e-03 9.97224580e-01 -1.95598084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.846296757 meters 0.07792754493605147 Centerline is valid? [True, True] Translation: X:171.51, Y:-9.48, Z:-19.57 [[ 9.87646034e-01 1.38049530e-01 7.41460606e-02 1.71505148e+02] [-1.37925844e-01 9.90419142e-01 -6.81067431e-03 -9.48408078e+00] [-7.43758881e-02 -3.50012250e-03 9.97224135e-01 -1.95675144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.906296757 meters 0.07696327515360588 Centerline is valid? [True, True] Translation: X:171.57, Y:-9.49, Z:-19.57 [[ 9.88182405e-01 1.33644185e-01 7.50650838e-02 1.71565854e+02] [-1.33502769e-01 9.91024272e-01 -6.92124211e-03 -9.49244165e+00] [-7.53163038e-02 -3.18194686e-03 9.97154617e-01 -1.95734271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.966296757 meters 0.07447473425025629 Centerline is valid? [True, True] Translation: X:171.63, Y:-9.51, Z:-19.58 [[ 9.89153041e-01 1.24421993e-01 7.80732228e-02 1.71626087e+02] [-1.24240076e-01 9.92226049e-01 -7.20213627e-03 -9.50907470e+00] [-7.83623895e-02 -2.57580813e-03 9.96921612e-01 -1.95771466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.026296757 meters 0.07292322400961558 Centerline is valid? [True, True] Translation: X:171.69, Y:-9.52, Z:-19.58 [[ 9.89459127e-01 1.17272290e-01 8.49579039e-02 1.71686720e+02] [-1.17030333e-01 9.93097394e-01 -7.84005454e-03 -9.52192347e+00] [-8.52908941e-02 -2.18523825e-03 9.96353696e-01 -1.95795168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.086296757 meters 0.07242704783135437 Centerline is valid? [True, True] Translation: X:171.75, Y:-9.53, Z:-19.58 [[ 9.89343155e-01 1.15488479e-01 8.86709278e-02 1.71747623e+02] [-1.15217482e-01 9.93306562e-01 -8.18573624e-03 -9.52871797e+00] [-8.90227727e-02 -2.11793894e-03 9.96027339e-01 -1.95838199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14629675700002 meters 0.07220147352493085 Centerline is valid? [True, True] Translation: X:171.81, Y:-9.53, Z:-19.59 [[ 9.88899931e-01 1.17426631e-01 9.10379716e-02 1.71810126e+02] [-1.17149259e-01 9.93078768e-01 -8.40309372e-03 -9.53241336e+00] [-9.13946237e-02 -2.35521208e-03 9.95811968e-01 -1.95894924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20629675700002 meters 0.07313367578371735 Centerline is valid? [True, True] Translation: X:171.87, Y:-9.53, Z:-19.60 [[ 9.88778713e-01 1.20934304e-01 8.77014860e-02 1.71870360e+02] [-1.20688133e-01 9.92657232e-01 -8.12363096e-03 -9.53151418e+00] [-8.80399400e-02 -2.55205527e-03 9.96113676e-01 -1.96010401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.266296757 meters 0.07374646191095965 Centerline is valid? [True, True] Translation: X:171.93, Y:-9.53, Z:-19.61 [[ 9.88835066e-01 1.24237170e-01 8.22820588e-02 1.71930383e+02] [-1.24031558e-01 9.92248972e-01 -7.62560135e-03 -9.53467902e+00] [-8.25916714e-02 -2.66510996e-03 9.96579908e-01 -1.96103435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.326296757 meters 0.07425635083530738 Centerline is valid? [True, True] Translation: X:171.99, Y:-9.54, Z:-19.62 [[ 9.88847606e-01 1.25191328e-01 8.06693443e-02 1.71991463e+02] [-1.24997276e-01 9.92128956e-01 -7.47105595e-03 -9.53871793e+00] [-8.09697037e-02 -2.69571247e-03 9.96712918e-01 -1.96189579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.386296757 meters 0.07465286048601745 Centerline is valid? [True, True] Translation: X:172.05, Y:-9.54, Z:-19.63 [[ 9.88840204e-01 1.25584837e-01 8.01467412e-02 1.72051213e+02] [-1.25392854e-01 9.92079240e-01 -7.44403068e-03 -9.54278159e+00] [-8.04467755e-02 -2.68887177e-03 9.96755279e-01 -1.96285266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.446296757 meters 0.07444025572260532 Centerline is valid? [True, True] Translation: X:172.11, Y:-9.55, Z:-19.63 [[ 9.88593261e-01 1.25930252e-01 8.26131742e-02 1.72112728e+02] [-1.25726202e-01 9.92035186e-01 -7.68841857e-03 -9.54869705e+00] [-8.29233801e-02 -2.78592184e-03 9.96552032e-01 -1.96346387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.506296757 meters 0.07349505349317133 Centerline is valid? [True, True] Translation: X:172.17, Y:-9.56, Z:-19.64 [[ 9.88418365e-01 1.25749457e-01 8.49482764e-02 1.72174668e+02] [-1.25530914e-01 9.92058010e-01 -7.93065499e-03 -9.55871124e+00] [-8.52708936e-02 -2.82482972e-03 9.96353800e-01 -1.96391883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.566296757 meters 0.07362387631955954 Centerline is valid? [True, True] Translation: X:172.24, Y:-9.56, Z:-19.65 [[ 9.88136800e-01 1.26224584e-01 8.74815337e-02 1.72236301e+02] [-1.25994254e-01 9.91997313e-01 -8.17188564e-03 -9.56394332e+00] [-8.78129392e-02 -2.94722963e-03 9.96132622e-01 -1.96459838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.626296757 meters 0.07372132784453861 Centerline is valid? [True, True] Translation: X:172.30, Y:-9.57, Z:-19.65 [[ 9.87798897e-01 1.28002057e-01 8.87063305e-02 1.72297475e+02] [-1.27770394e-01 9.91768973e-01 -8.30847477e-03 -9.56995458e+00] [-8.90396881e-02 -3.12694061e-03 9.96023171e-01 -1.96518318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.686296757 meters 0.07468600186257891 Centerline is valid? [True, True] Translation: X:172.36, Y:-9.57, Z:-19.66 [[ 9.87425531e-01 1.31237631e-01 8.81334531e-02 1.72357881e+02] [-1.31019435e-01 9.91345211e-01 -8.28132726e-03 -9.57100300e+00] [-8.84574985e-02 -3.37000130e-03 9.96074251e-01 -1.96595518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.746296757 meters 0.0752444729182838 Centerline is valid? [True, True] Translation: X:172.42, Y:-9.57, Z:-19.67 [[ 9.86912970e-01 1.36139133e-01 8.64229485e-02 1.72418430e+02] [-1.35947904e-01 9.90682694e-01 -8.12207241e-03 -9.57249969e+00] [-8.67234513e-02 -3.73324008e-03 9.96225429e-01 -1.96666819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.806296757 meters 0.0762872640584364 Centerline is valid? [True, True] Translation: X:172.48, Y:-9.57, Z:-19.68 [[ 9.86989323e-01 1.37684376e-01 8.30366765e-02 1.72477779e+02] [-1.37513099e-01 9.90469190e-01 -7.80585320e-03 -9.57321331e+00] [-8.33200137e-02 -3.71433693e-03 9.96515920e-01 -1.96752537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86629675700001 meters 0.07650398101170448 Centerline is valid? [True, True] Translation: X:172.54, Y:-9.58, Z:-19.68 [[ 9.87248498e-01 1.37406263e-01 8.03736409e-02 1.72539481e+02] [-1.37245429e-01 9.90508310e-01 -7.54852339e-03 -9.57693441e+00] [-8.06479736e-02 -3.57864642e-03 9.96736223e-01 -1.96841533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92629675700002 meters 0.07570744663622292 Centerline is valid? [True, True] Translation: X:172.60, Y:-9.58, Z:-19.69 [[ 9.87403220e-01 1.37056395e-01 7.90596347e-02 1.72600627e+02] [-1.36898168e-01 9.90557157e-01 -7.44377282e-03 -9.58251221e+00] [-7.93333036e-02 -3.47311387e-03 9.96842096e-01 -1.96897627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.986296757 meters 0.07546835594198358 Centerline is valid? [True, True] Translation: X:172.66, Y:-9.59, Z:-19.70 [[ 9.87398186e-01 1.36897509e-01 7.93970640e-02 1.72661967e+02] [-1.36735832e-01 9.90579190e-01 -7.49537903e-03 -9.58844156e+00] [-7.96751781e-02 -3.45549997e-03 9.96814890e-01 -1.96959778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.046296757 meters 0.07577289099209188 Centerline is valid? [True, True] Translation: X:172.73, Y:-9.59, Z:-19.70 [[ 9.86814600e-01 1.39203621e-01 8.25790321e-02 1.72725081e+02] [-1.39035063e-01 9.90256610e-01 -7.81646551e-03 -9.58992994e+00] [-8.28625127e-02 -3.76797861e-03 9.96553865e-01 -1.97018493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.106296757 meters 0.07622364031204622 Centerline is valid? [True, True] Translation: X:172.79, Y:-9.59, Z:-19.71 [[ 9.86287119e-01 1.42348718e-01 8.35138437e-02 1.72786560e+02] [-1.42185456e-01 9.89808271e-01 -7.92986959e-03 -9.59023051e+00] [-8.37915000e-02 -4.05332575e-03 9.96475065e-01 -1.97089043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.166296757 meters 0.07634672145418656 Centerline is valid? [True, True] Translation: X:172.85, Y:-9.59, Z:-19.72 [[ 9.86129960e-01 1.43768339e-01 8.29359187e-02 1.72848655e+02] [-1.43610794e-01 9.89602767e-01 -7.89331235e-03 -9.59307756e+00] [-8.32084230e-02 -4.12666134e-03 9.96523622e-01 -1.97150468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.226296757 meters 0.07543320635903691 Centerline is valid? [True, True] Translation: X:172.91, Y:-9.60, Z:-19.72 [[ 9.86249617e-01 1.43898125e-01 8.12712864e-02 1.72909777e+02] [-1.43745763e-01 9.89584278e-01 -7.75326948e-03 -9.60195403e+00] [-8.15404682e-02 -4.03574401e-03 9.96661861e-01 -1.97209388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.286296757 meters 0.07570161518579335 Centerline is valid? [True, True] Translation: X:172.97, Y:-9.61, Z:-19.73 [[ 9.86330940e-01 1.42925889e-01 8.19967518e-02 1.72970832e+02] [-1.42765703e-01 9.89725432e-01 -7.84368993e-03 -9.60633200e+00] [-8.22753369e-02 -3.96984985e-03 9.96601730e-01 -1.97279033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.346296757 meters 0.07521056555847284 Centerline is valid? [True, True] Translation: X:173.03, Y:-9.61, Z:-19.73 [[ 9.86613087e-01 1.42149533e-01 7.99257542e-02 1.73033183e+02] [-1.41993319e-01 9.89837948e-01 -7.66380110e-03 -9.61486690e+00] [-8.02029503e-02 -3.78771664e-03 9.96771358e-01 -1.97345723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.406296757 meters 0.07497368564569042 Centerline is valid? [True, True] Translation: X:173.09, Y:-9.62, Z:-19.74 [[ 9.86670796e-01 1.41749545e-01 7.99237572e-02 1.73094467e+02] [-1.41590102e-01 9.89895522e-01 -7.68759224e-03 -9.62206320e+00] [-8.02058821e-02 -3.73129017e-03 9.96771335e-01 -1.97410337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.466296757 meters 0.07533304014264207 Centerline is valid? [True, True] Translation: X:173.16, Y:-9.63, Z:-19.75 [[ 9.86620032e-01 1.41756632e-01 8.05355194e-02 1.73155947e+02] [-1.41593114e-01 9.89894473e-01 -7.76680954e-03 -9.62544500e+00] [-8.08226622e-02 -3.74038508e-03 9.96721479e-01 -1.97482758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.526296757 meters 0.07627117538928926 Centerline is valid? [True, True] Translation: X:173.22, Y:-9.63, Z:-19.76 [[ 9.86319811e-01 1.43739708e-01 8.06977477e-02 1.73216634e+02] [-1.43580467e-01 9.89607883e-01 -7.80305876e-03 -9.62686038e+00] [-8.09807367e-02 -3.89030887e-03 9.96708075e-01 -1.97567320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.586296757 meters 0.07608536605505536 Centerline is valid? [True, True] Translation: X:173.28, Y:-9.63, Z:-19.76 [[ 9.86060824e-01 1.45136233e-01 8.13604582e-02 1.73277865e+02] [-1.44977583e-01 9.89403515e-01 -7.88569885e-03 -9.63151612e+00] [-8.16428240e-02 -4.01966391e-03 9.96653546e-01 -1.97621164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64629675700002 meters 0.07625210276603356 Centerline is valid? [True, True] Translation: X:173.34, Y:-9.63, Z:-19.77 [[ 9.85613400e-01 1.47936775e-01 8.17369997e-02 1.73339200e+02] [-1.47784682e-01 9.88987677e-01 -7.94113039e-03 -9.63390430e+00] [-8.20116707e-02 -4.25259201e-03 9.96622296e-01 -1.97685149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70629675700002 meters 0.07685108719892264 Centerline is valid? [True, True] Translation: X:173.40, Y:-9.64, Z:-19.77 [[ 9.85347696e-01 1.49403147e-01 8.22716031e-02 1.73401490e+02] [-1.49252596e-01 9.88766642e-01 -8.01184365e-03 -9.63533706e+00] [-8.25444114e-02 -4.38479862e-03 9.96577741e-01 -1.97744449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.766296757 meters 0.07733423371669511 Centerline is valid? [True, True] Translation: X:173.46, Y:-9.64, Z:-19.78 [[ 9.85222264e-01 1.49685991e-01 8.32537946e-02 1.73462996e+02] [-1.49531088e-01 9.88723613e-01 -8.12835476e-03 -9.63774635e+00] [-8.35316935e-02 -4.44079442e-03 9.96495226e-01 -1.97807660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.826296757 meters 0.07479171125994265 Centerline is valid? [True, True] Translation: X:173.52, Y:-9.65, Z:-19.79 [[ 9.85848407e-01 1.46725616e-01 8.10833637e-02 1.73523643e+02] [-1.46566677e-01 9.89168918e-01 -7.94113204e-03 -9.65091942e+00] [-8.13703106e-02 -4.05536680e-03 9.96675688e-01 -1.97857436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.886296757 meters 0.07335172385533568 Centerline is valid? [True, True] Translation: X:173.58, Y:-9.66, Z:-19.79 [[ 9.87267702e-01 1.37842994e-01 7.93838332e-02 1.73582798e+02] [-1.37661574e-01 9.90448769e-01 -7.77989590e-03 -9.66468537e+00] [-7.96980240e-02 -3.24726345e-03 9.96813764e-01 -1.97935412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.946296757 meters 0.0731492177574225 Centerline is valid? [True, True] Translation: X:173.64, Y:-9.67, Z:-19.80 [[ 9.87711770e-01 1.33730566e-01 8.08801341e-02 1.73641751e+02] [-1.33528257e-01 9.91013284e-01 -7.92945802e-03 -9.67274348e+00] [-8.12136981e-02 -2.96776436e-03 9.96692293e-01 -1.97997509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.006296757 meters 0.07155076936635348 Centerline is valid? [True, True] Translation: X:173.70, Y:-9.68, Z:-19.80 [[ 9.87786567e-01 1.31441750e-01 8.36705733e-02 1.73702570e+02] [-1.31217188e-01 9.91319719e-01 -8.20148141e-03 -9.68442050e+00] [-8.40223063e-02 -2.87770420e-03 9.96459719e-01 -1.98012721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.066296757 meters 0.07269818129346536 Centerline is valid? [True, True] Translation: X:173.76, Y:-9.68, Z:-19.81 [[ 9.87396494e-01 1.34644413e-01 8.31808018e-02 1.73762122e+02] [-1.34433467e-01 9.90889045e-01 -8.15741075e-03 -9.68414188e+00] [-8.35212951e-02 -3.12768482e-03 9.96501084e-01 -1.98101030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.126296757 meters 0.07333739015529302 Centerline is valid? [True, True] Translation: X:173.82, Y:-9.69, Z:-19.82 [[ 9.87018679e-01 1.38099654e-01 8.19915438e-02 1.73823038e+02] [-1.37906650e-01 9.90412599e-01 -8.03982409e-03 -9.68653981e+00] [-8.23157549e-02 -3.37172256e-03 9.96600596e-01 -1.98177271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.186296757 meters 0.07401525773244674 Centerline is valid? [True, True] Translation: X:173.88, Y:-9.69, Z:-19.82 [[ 9.86494580e-01 1.43519434e-01 7.89342533e-02 1.73883359e+02] [-1.43357553e-01 9.89640668e-01 -7.74340119e-03 -9.68960770e+00] [-7.92278757e-02 -3.67699808e-03 9.96849750e-01 -1.98235234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.246296757 meters 0.07556818131684631 Centerline is valid? [True, True] Translation: X:173.94, Y:-9.69, Z:-19.83 [[ 9.85888163e-01 1.48749265e-01 7.67996498e-02 1.73943072e+02] [-1.48611738e-01 9.88866916e-01 -7.53485276e-03 -9.68640395e+00] [-7.70654367e-02 -3.98480727e-03 9.97018074e-01 -1.98336196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.306296757 meters 0.07480369355119154 Centerline is valid? [True, True] Translation: X:174.00, Y:-9.69, Z:-19.84 [[ 9.86019171e-01 1.48523393e-01 7.55446646e-02 1.74004511e+02] [-1.48390205e-01 9.88901168e-01 -7.40448735e-03 -9.69335783e+00] [-7.58059467e-02 -3.90912181e-03 9.97114927e-01 -1.98379591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36629675700001 meters 0.07406947665035388 Centerline is valid? [True, True] Translation: X:174.06, Y:-9.70, Z:-19.84 [[ 9.86397413e-01 1.45197531e-01 7.70572600e-02 1.74064805e+02] [-1.45046741e-01 9.89395768e-01 -7.57998634e-03 -9.70159002e+00] [-7.73407223e-02 -3.70002553e-03 9.96997855e-01 -1.98428816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42629675700002 meters 0.07292292175743847 Centerline is valid? [True, True] Translation: X:174.12, Y:-9.71, Z:-19.85 [[ 9.86989447e-01 1.39384306e-01 8.01489100e-02 1.74124793e+02] [-1.39201912e-01 9.90232617e-01 -7.88617155e-03 -9.71056419e+00] [-8.04652734e-02 -3.37331339e-03 9.96751705e-01 -1.98474787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.486296757 meters 0.07174242988409972 Centerline is valid? [True, True] Translation: X:174.19, Y:-9.72, Z:-19.85 [[ 9.87603624e-01 1.33181970e-01 8.30761414e-02 1.74185003e+02] [-1.32963767e-01 9.91087155e-01 -8.17853712e-03 -9.71933403e+00] [-8.34249303e-02 -2.96896385e-03 9.96509642e-01 -1.98545222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.546296757 meters 0.07220449224382117 Centerline is valid? [True, True] Translation: X:174.25, Y:-9.72, Z:-19.86 [[ 9.87566368e-01 1.31960212e-01 8.54351939e-02 1.74245030e+02] [-1.31724717e-01 9.91250637e-01 -8.41272834e-03 -9.72326011e+00] [-8.57978358e-02 -2.94579920e-03 9.96308212e-01 -1.98626412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.606296757 meters 0.07160966034830535 Centerline is valid? [True, True] Translation: X:174.31, Y:-9.73, Z:-19.87 [[ 9.87202187e-01 1.33653621e-01 8.69974214e-02 1.74306202e+02] [-1.33416109e-01 9.91023097e-01 -8.56520726e-03 -9.73002337e+00] [-8.73612250e-02 -3.15126608e-03 9.96171715e-01 -1.98663615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.666296757 meters 0.07234198098969928 Centerline is valid? [True, True] Translation: X:174.37, Y:-9.73, Z:-19.87 [[ 9.87012067e-01 1.35267026e-01 8.66603231e-02 1.74367537e+02] [-1.35035796e-01 9.90803813e-01 -8.55206930e-03 -9.73259826e+00] [-8.70201915e-02 -3.26125008e-03 9.96201210e-01 -1.98745778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.726296757 meters 0.07322887658496403 Centerline is valid? [True, True] Translation: X:174.43, Y:-9.74, Z:-19.88 [[ 9.86860905e-01 1.38196125e-01 8.37101226e-02 1.74427344e+02] [-1.37988673e-01 9.90399139e-01 -8.28688516e-03 -9.73696083e+00] [-8.40516487e-02 -3.37304573e-03 9.96455690e-01 -1.98833050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.786296757 meters 0.07366322610388788 Centerline is valid? [True, True] Translation: X:174.49, Y:-9.74, Z:-19.89 [[ 9.86674196e-01 1.39648493e-01 8.35004717e-02 1.74488859e+02] [-1.39447626e-01 9.90194982e-01 -8.26179056e-03 -9.74288966e+00] [-8.38354947e-02 -3.49224697e-03 9.96473489e-01 -1.98929001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.846296757 meters 0.07376453284598487 Centerline is valid? [True, True] Translation: X:174.55, Y:-9.75, Z:-19.90 [[ 9.86743863e-01 1.39071026e-01 8.36408897e-02 1.74550331e+02] [-1.38865678e-01 9.90276474e-01 -8.29629815e-03 -9.74971493e+00] [-8.39813801e-02 -3.42852758e-03 9.96461426e-01 -1.98995629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.906296757 meters 0.0727522060126274 Centerline is valid? [True, True] Translation: X:174.61, Y:-9.76, Z:-19.90 [[ 9.87019364e-01 1.35431227e-01 8.63200862e-02 1.74610046e+02] [-1.35196312e-01 9.90781605e-01 -8.58885355e-03 -9.76334215e+00] [-8.66875525e-02 -3.19279256e-03 9.96230432e-01 -1.99046034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.966296757 meters 0.07126646699130702 Centerline is valid? [True, True] Translation: X:174.67, Y:-9.78, Z:-19.91 [[ 9.87554864e-01 1.30146767e-01 8.83018159e-02 1.74669888e+02] [-1.29879641e-01 9.91490816e-01 -8.78863557e-03 -9.78003824e+00] [-8.86942521e-02 -2.78934837e-03 9.96054993e-01 -1.99077175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.026296757 meters 0.07114380109251374 Centerline is valid? [True, True] Translation: X:174.73, Y:-9.79, Z:-19.91 [[ 9.87859250e-01 1.26536530e-01 9.01255151e-02 1.74729380e+02] [-1.26243002e-01 9.91958764e-01 -8.97306296e-03 -9.78937082e+00] [-9.05362147e-02 -2.51359236e-03 9.95889992e-01 -1.99143463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.086296757 meters 0.0721104858426184 Centerline is valid? [True, True] Translation: X:174.79, Y:-9.79, Z:-19.92 [[ 9.87554706e-01 1.27324091e-01 9.23270185e-02 1.74790266e+02] [-1.27019504e-01 9.91857628e-01 -9.19191662e-03 -9.79208098e+00] [-9.27456100e-02 -2.64981160e-03 9.95686311e-01 -1.99231225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14629675700002 meters 0.0718020689225944 Centerline is valid? [True, True] Translation: X:174.85, Y:-9.80, Z:-19.93 [[ 9.87406037e-01 1.28404610e-01 9.24206397e-02 1.74851818e+02] [-1.28103068e-01 9.91718071e-01 -9.21254803e-03 -9.79988648e+00] [-9.28381522e-02 -2.74284199e-03 9.95677435e-01 -1.99287409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20629675700002 meters 0.07298960547076457 Centerline is valid? [True, True] Translation: X:174.91, Y:-9.80, Z:-19.94 [[ 9.87124000e-01 1.31785856e-01 9.06570300e-02 1.74911808e+02] [-1.31507565e-01 9.91273741e-01 -9.06256436e-03 -9.80021436e+00] [-9.10602511e-02 -2.97621046e-03 9.95840938e-01 -1.99375653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.266296757 meters 0.07369478453768431 Centerline is valid? [True, True] Translation: X:174.97, Y:-9.80, Z:-19.95 [[ 9.87367336e-01 1.32648279e-01 8.66612855e-02 1.74972838e+02] [-1.32397267e-01 9.91158872e-01 -8.66340595e-03 -9.80428413e+00] [-8.70442878e-02 -2.91975329e-03 9.96200164e-01 -1.99490765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.326296757 meters 0.07387746568742583 Centerline is valid? [True, True] Translation: X:175.03, Y:-9.81, Z:-19.96 [[ 9.87626697e-01 1.31875460e-01 8.48667762e-02 1.75033046e+02] [-1.31631799e-01 9.91262363e-01 -8.48508393e-03 -9.81329564e+00] [-8.52442155e-02 -2.79107099e-03 9.96356178e-01 -1.99586088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.386296757 meters 0.07332725111577265 Centerline is valid? [True, True] Translation: X:175.09, Y:-9.82, Z:-19.97 [[ 9.87823571e-01 1.30023046e-01 8.54318467e-02 1.75093598e+02] [-1.29767293e-01 9.91507493e-01 -8.56394535e-03 -9.82417144e+00] [-8.58198264e-02 -2.62659237e-03 9.96307211e-01 -1.99652458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.446296757 meters 0.07305924722319689 Centerline is valid? [True, True] Translation: X:175.15, Y:-9.83, Z:-19.97 [[ 9.87647730e-01 1.29726798e-01 8.78801462e-02 1.75154592e+02] [-1.29453134e-01 9.91546221e-01 -8.83047113e-03 -9.83341749e+00] [-8.82827756e-02 -2.65496555e-03 9.96091915e-01 -1.99717785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.506296757 meters 0.07262268269253269 Centerline is valid? [True, True] Translation: X:175.22, Y:-9.84, Z:-19.98 [[ 9.87329340e-01 1.31172834e-01 8.92998430e-02 1.75216489e+02] [-1.30894358e-01 9.91355533e-01 -8.99300939e-03 -9.84218938e+00] [-8.97075320e-02 -2.80978363e-03 9.95964188e-01 -1.99761566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.566296757 meters 0.07395236443281997 Centerline is valid? [True, True] Translation: X:175.28, Y:-9.84, Z:-19.98 [[ 9.87048883e-01 1.32709436e-01 9.01260688e-02 1.75277115e+02] [-1.32429818e-01 9.91150592e-01 -9.10205250e-03 -9.84300908e+00] [-9.05364347e-02 -2.95120812e-03 9.95888771e-01 -1.99841306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.626296757 meters 0.07474503715099341 Centerline is valid? [True, True] Translation: X:175.34, Y:-9.85, Z:-19.99 [[ 9.86652477e-01 1.34330051e-01 9.20452418e-02 1.75337914e+02] [-1.34043494e-01 9.90931653e-01 -9.31666153e-03 -9.84647225e+00] [-9.24620513e-02 -3.14575865e-03 9.95711240e-01 -1.99898560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.686296757 meters 0.07533762003427545 Centerline is valid? [True, True] Translation: X:175.40, Y:-9.85, Z:-20.00 [[ 9.86672890e-01 1.34712774e-01 9.12637810e-02 1.75398822e+02] [-1.34430980e-01 9.90879728e-01 -9.25616771e-03 -9.85092581e+00] [-9.16783545e-02 -3.13586980e-03 9.95783734e-01 -1.99963814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.746296757 meters 0.0761173168664386 Centerline is valid? [True, True] Translation: X:175.46, Y:-9.85, Z:-20.01 [[ 9.86920204e-01 1.35596067e-01 8.71906926e-02 1.75458561e+02] [-1.35340556e-01 9.90759498e-01 -8.86289086e-03 -9.85371670e+00] [-8.75867800e-02 -3.05347076e-03 9.96152213e-01 -2.00065185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.806296757 meters 0.07398565469079546 Centerline is valid? [True, True] Translation: X:175.52, Y:-9.87, Z:-20.01 [[ 9.87266057e-01 1.35388200e-01 8.35210652e-02 1.75519985e+02] [-1.35152614e-01 9.90788380e-01 -8.49447317e-03 -9.86887261e+00] [-8.39017523e-02 -2.90178525e-03 9.96469807e-01 -2.00083748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86629675700001 meters 0.07435496080649681 Centerline is valid? [True, True] Translation: X:175.58, Y:-9.87, Z:-20.02 [[ 9.87619723e-01 1.34538028e-01 8.06647457e-02 1.75580668e+02] [-1.34315366e-01 9.90904668e-01 -8.20501157e-03 -9.87454461e+00] [-8.10349591e-02 -2.73108360e-03 9.96707518e-01 -2.00174091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92629675700002 meters 0.07433047672980787 Centerline is valid? [True, True] Translation: X:175.64, Y:-9.88, Z:-20.03 [[ 9.87872465e-01 1.32991150e-01 8.01333069e-02 1.75640845e+02] [-1.32764870e-01 9.91113896e-01 -8.16910498e-03 -9.88185140e+00] [-8.05076527e-02 -2.56885419e-03 9.96750680e-01 -2.00251994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.986296757 meters 0.0738048313159035 Centerline is valid? [True, True] Translation: X:175.70, Y:-9.89, Z:-20.03 [[ 9.88029200e-01 1.31557368e-01 8.05664821e-02 1.75701887e+02] [-1.31322453e-01 9.91305537e-01 -8.23082903e-03 -9.89192241e+00] [-8.09488259e-02 -2.44788860e-03 9.96715253e-01 -2.00301952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.046296757 meters 0.07366785124203541 Centerline is valid? [True, True] Translation: X:175.76, Y:-9.90, Z:-20.04 [[ 9.87891361e-01 1.31848035e-01 8.17725843e-02 1.75763046e+02] [-1.31605359e-01 9.91266816e-01 -8.37425210e-03 -9.89802857e+00] [-8.21625780e-02 -2.48885903e-03 9.96615832e-01 -2.00373404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.106296757 meters 0.07348068790351803 Centerline is valid? [True, True] Translation: X:175.82, Y:-9.91, Z:-20.04 [[ 9.87559191e-01 1.33698066e-01 8.27748251e-02 1.75824032e+02] [-1.33454200e-01 9.91018555e-01 -8.49705686e-03 -9.90556562e+00] [-8.31674276e-02 -2.65530150e-03 9.96532051e-01 -2.00428459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.166296757 meters 0.07325121821172026 Centerline is valid? [True, True] Translation: X:175.89, Y:-9.91, Z:-20.05 [[ 9.87151235e-01 1.35570450e-01 8.45759610e-02 1.75886059e+02] [-1.35320949e-01 9.90763598e-01 -8.70253531e-03 -9.91148404e+00] [-8.49745900e-02 -2.85418081e-03 9.96379031e-01 -2.00484569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.226296757 meters 0.07373347892531079 Centerline is valid? [True, True] Translation: X:175.95, Y:-9.91, Z:-20.06 [[ 9.86925319e-01 1.38048825e-01 8.31921669e-02 1.75945617e+02] [-1.37813656e-01 9.90420921e-01 -8.59045650e-03 -9.91349263e+00] [-8.35811650e-02 -2.98687761e-03 9.96496496e-01 -2.00573857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.286296757 meters 0.07382185926662387 Centerline is valid? [True, True] Translation: X:176.01, Y:-9.92, Z:-20.07 [[ 9.86862723e-01 1.40368494e-01 7.99915715e-02 1.76006505e+02] [-1.40158746e-01 9.90094599e-01 -8.25894866e-03 -9.91633571e+00] [-8.03585191e-02 -3.06106977e-03 9.96761325e-01 -2.00657813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.346296757 meters 0.0732566973576898 Centerline is valid? [True, True] Translation: X:176.07, Y:-9.92, Z:-20.07 [[ 9.86729950e-01 1.41163110e-01 8.02308048e-02 1.76068059e+02] [-1.40954998e-01 9.89981377e-01 -8.28025477e-03 -9.92170339e+00] [-8.05958690e-02 -3.13855755e-03 9.96741920e-01 -2.00711189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.406296757 meters 0.07361106111932933 Centerline is valid? [True, True] Translation: X:176.13, Y:-9.93, Z:-20.08 [[ 9.86662359e-01 1.41762731e-01 8.00044875e-02 1.76129443e+02] [-1.41556140e-01 9.89895627e-01 -8.27693758e-03 -9.92662419e+00] [-8.03694536e-02 -3.15858372e-03 9.96760139e-01 -2.00768059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.466296757 meters 0.07388279911633922 Centerline is valid? [True, True] Translation: X:176.19, Y:-9.93, Z:-20.09 [[ 9.86698949e-01 1.41383036e-01 8.02248171e-02 1.76190290e+02] [-1.41172432e-01 9.89950062e-01 -8.31980897e-03 -9.93111958e+00] [-8.05948425e-02 -3.11638577e-03 9.96742073e-01 -2.00853913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.526296757 meters 0.07349551287528483 Centerline is valid? [True, True] Translation: X:176.25, Y:-9.94, Z:-20.09 [[ 9.86749924e-01 1.40700621e-01 8.07955552e-02 1.76251584e+02] [-1.40483101e-01 9.90047451e-01 -8.39900225e-03 -9.93922028e+00] [-8.11731783e-02 -3.06269533e-03 9.96695307e-01 -2.00926612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.586296757 meters 0.07320106211612162 Centerline is valid? [True, True] Translation: X:176.31, Y:-9.95, Z:-20.10 [[ 9.86871159e-01 1.39168054e-01 8.19607690e-02 1.76312573e+02] [-1.38936870e-01 9.90264371e-01 -8.54525214e-03 -9.94802603e+00] [-8.23520555e-02 -2.95430983e-03 9.96598922e-01 -2.00989174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64629675700002 meters 0.07222435522147465 Centerline is valid? [True, True] Translation: X:176.37, Y:-9.96, Z:-20.10 [[ 9.86979438e-01 1.37958064e-01 8.26992225e-02 1.76373950e+02] [-1.37718365e-01 9.90433889e-01 -8.62338788e-03 -9.95786649e+00] [-8.30977785e-02 -2.87809520e-03 9.96537243e-01 -2.01037463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70629675700002 meters 0.07264005007513762 Centerline is valid? [True, True] Translation: X:176.43, Y:-9.96, Z:-20.11 [[ 9.86925811e-01 1.37701351e-01 8.37602625e-02 1.76434272e+02] [-1.37452673e-01 9.90469632e-01 -8.75613285e-03 -9.96249083e+00] [-8.41677277e-02 -2.87141846e-03 9.96447464e-01 -2.01119845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.766296757 meters 0.07229704096052704 Centerline is valid? [True, True] Translation: X:176.50, Y:-9.97, Z:-20.12 [[ 9.86758386e-01 1.38399116e-01 8.45787989e-02 1.76496847e+02] [-1.38146529e-01 9.90372169e-01 -8.86022486e-03 -9.97002813e+00] [-8.49907358e-02 -2.94136631e-03 9.96377400e-01 -2.01175567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.826296757 meters 0.07189187642068444 Centerline is valid? [True, True] Translation: X:176.56, Y:-9.98, Z:-20.12 [[ 9.86370983e-01 1.39468548e-01 8.72972347e-02 1.76558468e+02] [-1.39201342e-01 9.90221631e-01 -9.17106724e-03 -9.97759150e+00] [-8.77226855e-02 -3.10581761e-03 9.96140093e-01 -2.01222076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.886296757 meters 0.07265487946493038 Centerline is valid? [True, True] Translation: X:176.62, Y:-9.98, Z:-20.13 [[ 9.86095916e-01 1.41912834e-01 8.64615091e-02 1.76619277e+02] [-1.41658146e-01 9.89873760e-01 -9.10545543e-03 -9.97866023e+00] [-8.68781600e-02 -3.26912469e-03 9.96213581e-01 -2.01297510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.946296757 meters 0.07351085281851603 Centerline is valid? [True, True] Translation: X:176.68, Y:-9.98, Z:-20.14 [[ 9.85902607e-01 1.44902488e-01 8.36619296e-02 1.76679878e+02] [-1.44672714e-01 9.89440121e-01 -8.83472530e-03 -9.98112672e+00] [-8.40586435e-02 -3.39341967e-03 9.96455031e-01 -2.01389369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.006296757 meters 0.07420957273158732 Centerline is valid? [True, True] Translation: X:176.74, Y:-9.98, Z:-20.15 [[ 9.85762821e-01 1.47470534e-01 8.07719165e-02 1.76740570e+02] [-1.47264871e-01 9.89060307e-01 -8.53040378e-03 -9.98430206e+00] [-8.11462797e-02 -3.48591094e-03 9.96696107e-01 -2.01478604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.066296757 meters 0.0748384379616951 Centerline is valid? [True, True] Translation: X:176.80, Y:-9.99, Z:-20.15 [[ 9.85664871e-01 1.48854550e-01 7.94171579e-02 1.76802008e+02] [-1.48660062e-01 9.88852775e-01 -8.38904310e-03 -9.98817619e+00] [-7.97806242e-02 -3.53737453e-03 9.96806169e-01 -2.01547188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.126296757 meters 0.0760005815216475 Centerline is valid? [True, True] Translation: X:176.86, Y:-9.99, Z:-20.16 [[ 9.85221978e-01 1.51887354e-01 7.91699824e-02 1.76862957e+02] [-1.51703297e-01 9.88390642e-01 -8.36954636e-03 -9.99115900e+00] [-7.95220980e-02 -3.76448637e-03 9.96825995e-01 -2.01619650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.186296757 meters 0.07556182420085902 Centerline is valid? [True, True] Translation: X:176.92, Y:-10.00, Z:-20.17 [[ 9.84920422e-01 1.54113465e-01 7.86180794e-02 1.76923858e+02] [-1.53939300e-01 9.88045380e-01 -8.30772694e-03 -1.00002183e+01] [-7.89585628e-02 -3.91996217e-03 9.96870192e-01 -2.01657892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.246296757 meters 0.07594824561723243 Centerline is valid? [True, True] Translation: X:176.99, Y:-10.01, Z:-20.17 [[ 9.84639229e-01 1.55822935e-01 7.87705581e-02 1.76985032e+02] [-1.55652086e-01 9.87776714e-01 -8.34215940e-03 -1.00079155e+01] [-7.91076228e-02 -4.04678427e-03 9.96857867e-01 -2.01714148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.306296757 meters 0.07728169243260713 Centerline is valid? [True, True] Translation: X:177.05, Y:-10.01, Z:-20.18 [[ 9.84790118e-01 1.55810907e-01 7.68855270e-02 1.77045158e+02] [-1.55646549e-01 9.87779088e-01 -8.16242699e-03 -1.00126209e+01] [-7.72177109e-02 -3.92868950e-03 9.97006515e-01 -2.01793687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36629675700001 meters 0.07642103628333645 Centerline is valid? [True, True] Translation: X:177.11, Y:-10.02, Z:-20.19 [[ 9.85143801e-01 1.54383734e-01 7.52153791e-02 1.77106165e+02] [-1.54221038e-01 9.88003971e-01 -8.00158979e-03 -1.00222876e+01] [-7.55484085e-02 -3.71707722e-03 9.97135207e-01 -2.01853370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42629675700002 meters 0.07681730607453052 Centerline is valid? [True, True] Translation: X:177.17, Y:-10.03, Z:-20.19 [[ 9.85346184e-01 1.53889259e-01 7.35594542e-02 1.77166988e+02] [-1.53730908e-01 9.88081618e-01 -7.84378351e-03 -1.00273729e+01] [-7.38898186e-02 -3.57951953e-03 9.97259987e-01 -2.01917551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.486296757 meters 0.07600749711245276 Centerline is valid? [True, True] Translation: X:177.23, Y:-10.04, Z:-20.20 [[ 9.85756690e-01 1.52414486e-01 7.10884894e-02 1.77228971e+02] [-1.52261807e-01 9.88311023e-01 -7.59365459e-03 -1.00373814e+01] [-7.14149206e-02 -3.33856607e-03 9.97441108e-01 -2.01976001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.546296757 meters 0.07630010655883174 Centerline is valid? [True, True] Translation: X:177.29, Y:-10.04, Z:-20.21 [[ 9.86075124e-01 1.52164422e-01 6.70957467e-02 1.77288677e+02] [-1.52025932e-01 9.88350315e-01 -7.19516223e-03 -1.00434233e+01] [-6.74089501e-02 -3.10532294e-03 9.97720597e-01 -2.02066806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.606296757 meters 0.07622381677451123 Centerline is valid? [True, True] Translation: X:177.35, Y:-10.05, Z:-20.21 [[ 9.85952925e-01 1.54094549e-01 6.44336896e-02 1.77349097e+02] [-1.53970864e-01 9.88051221e-01 -6.91071923e-03 -1.00502853e+01] [-6.47286898e-02 -3.10726706e-03 9.97898062e-01 -2.02121916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.666296757 meters 0.0789844486736553 Centerline is valid? [True, True] Translation: X:177.41, Y:-10.05, Z:-20.22 [[ 9.85869390e-01 1.54473085e-01 6.48044099e-02 1.77409275e+02] [-1.54349317e-01 9.87991949e-01 -6.94239403e-03 -1.00497533e+01] [-6.50986483e-02 -3.15822264e-03 9.97873836e-01 -2.02247473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.726296757 meters 0.07559099350522196 Centerline is valid? [True, True] Translation: X:177.47, Y:-10.07, Z:-20.23 [[ 9.86459240e-01 1.50852896e-01 6.43550491e-02 1.77469761e+02] [-1.50721714e-01 9.88552036e-01 -6.91648192e-03 -1.00695542e+01] [-6.46616861e-02 -2.87687579e-03 9.97903096e-01 -2.02255122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.786296757 meters 0.07413100592060456 Centerline is valid? [True, True] Translation: X:177.53, Y:-10.08, Z:-20.23 [[ 9.86949920e-01 1.46244397e-01 6.73975698e-02 1.77529460e+02] [-1.46089515e-01 9.89244825e-01 -7.24770942e-03 -1.00844294e+01] [-6.77326341e-02 -2.69295208e-03 9.97699874e-01 -2.02300979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.846296757 meters 0.07367356984263872 Centerline is valid? [True, True] Translation: X:177.59, Y:-10.10, Z:-20.24 [[ 9.87204911e-01 1.43888830e-01 6.87202191e-02 1.77589719e+02] [-1.43721927e-01 9.89590499e-01 -7.39267906e-03 -1.00961069e+01] [-6.90685999e-02 -2.57851325e-03 9.97608580e-01 -2.02366889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.906296757 meters 0.07416576916666287 Centerline is valid? [True, True] Translation: X:177.65, Y:-10.10, Z:-20.24 [[ 9.86639959e-01 1.46681960e-01 7.08942430e-02 1.77651515e+02] [-1.46511856e-01 9.89179551e-01 -7.62182648e-03 -1.01032427e+01] [-7.12451199e-02 -2.86684855e-03 9.97454718e-01 -2.02420840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.966296757 meters 0.07499998390645819 Centerline is valid? [True, True] Translation: X:177.71, Y:-10.11, Z:-20.25 [[ 9.86136733e-01 1.49657165e-01 7.16734075e-02 1.77713168e+02] [-1.49489075e-01 9.88733129e-01 -7.73409158e-03 -1.01073682e+01] [-7.20233347e-02 -3.08751961e-03 9.97398168e-01 -2.02493599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.026296757 meters 0.07550915429462761 Centerline is valid? [True, True] Translation: X:177.77, Y:-10.11, Z:-20.26 [[ 9.85716534e-01 1.52679629e-01 7.10763336e-02 1.77773375e+02] [-1.52521658e-01 9.88270314e-01 -7.67661170e-03 -1.01132639e+01] [-7.14146927e-02 -3.27371713e-03 9.97441339e-01 -2.02559076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.086296757 meters 0.07577864402662518 Centerline is valid? [True, True] Translation: X:177.84, Y:-10.12, Z:-20.26 [[ 9.85364863e-01 1.54642186e-01 7.17069164e-02 1.77835111e+02] [-1.54487107e-01 9.87964507e-01 -7.73739620e-03 -1.01186354e+01] [-7.20404162e-02 -3.45363570e-03 9.97395734e-01 -2.02629166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14629675700002 meters 0.07745652169017726 Centerline is valid? [True, True] Translation: X:177.89, Y:-10.12, Z:-20.27 [[ 9.85535153e-01 1.55417618e-01 6.75709024e-02 1.77893843e+02] [-1.55280174e-01 9.87843397e-01 -7.31375782e-03 -1.01234165e+01] [-6.78861565e-02 -3.28445606e-03 9.97687668e-01 -2.02747355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20629675700002 meters 0.07633738162442527 Centerline is valid? [True, True] Translation: X:177.95, Y:-10.14, Z:-20.28 [[ 9.86177217e-01 1.51653272e-01 6.67516411e-02 1.77953617e+02] [-1.51510122e-01 9.88429255e-01 -7.23128893e-03 -1.01369405e+01] [-6.70759235e-02 -2.98221689e-03 9.97743417e-01 -2.02796816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.266296757 meters 0.07550778753583244 Centerline is valid? [True, True] Translation: X:178.01, Y:-10.15, Z:-20.29 [[ 9.86422426e-01 1.48942168e-01 6.91883509e-02 1.78013407e+02] [-1.48781530e-01 9.88841663e-01 -7.49813265e-03 -1.01464933e+01] [-6.95331121e-02 -2.89762248e-03 9.97575436e-01 -2.02858006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.326296757 meters 0.07423721463151312 Centerline is valid? [True, True] Translation: X:178.07, Y:-10.16, Z:-20.29 [[ 9.86849095e-01 1.44013913e-01 7.34088356e-02 1.78073908e+02] [-1.43819348e-01 9.89571966e-01 -7.95731417e-03 -1.01588005e+01] [-7.37892897e-02 -2.70494262e-03 9.97270186e-01 -2.02904754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.386296757 meters 0.07322913536024588 Centerline is valid? [True, True] Translation: X:178.13, Y:-10.17, Z:-20.30 [[ 9.87213310e-01 1.40913543e-01 7.45201519e-02 1.78134230e+02] [-1.40703980e-01 9.90018730e-01 -8.08109868e-03 -1.01691861e+01] [-7.49150824e-02 -2.50751379e-03 9.97186764e-01 -2.02959165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.446296757 meters 0.0729047384599499 Centerline is valid? [True, True] Translation: X:178.20, Y:-10.18, Z:-20.30 [[ 9.87166424e-01 1.40083513e-01 7.66750354e-02 1.78195331e+02] [-1.39858979e-01 9.90136502e-01 -8.31706335e-03 -1.01758239e+01] [-7.70838348e-02 -2.51336651e-03 9.97021447e-01 -2.03032336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.506296757 meters 0.07291742155975421 Centerline is valid? [True, True] Translation: X:178.26, Y:-10.18, Z:-20.31 [[ 9.86973193e-01 1.40333689e-01 7.86789135e-02 1.78256697e+02] [-1.40098169e-01 9.90100849e-01 -8.53300805e-03 -1.01825770e+01] [-7.90975275e-02 -2.60092150e-03 9.96863489e-01 -2.03096201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.566296757 meters 0.07338852541341719 Centerline is valid? [True, True] Translation: X:178.32, Y:-10.19, Z:-20.32 [[ 9.86773449e-01 1.42131783e-01 7.79532956e-02 1.78318158e+02] [-1.41904296e-01 9.89844073e-01 -8.47830556e-03 -1.01862653e+01] [-7.83666444e-02 -2.69574069e-03 9.96920961e-01 -2.03176165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.626296757 meters 0.07336182363155742 Centerline is valid? [True, True] Translation: X:178.38, Y:-10.19, Z:-20.32 [[ 9.86675957e-01 1.43737380e-01 7.62241536e-02 1.78379833e+02] [-1.43524265e-01 9.89612032e-01 -8.29525141e-03 -1.01912556e+01] [-7.66246772e-02 -2.75529051e-03 9.97056201e-01 -2.03244225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.686296757 meters 0.07430013299297614 Centerline is valid? [True, True] Translation: X:178.44, Y:-10.19, Z:-20.33 [[ 9.86575443e-01 1.44202014e-01 7.66464296e-02 1.78440721e+02] [-1.43987984e-01 9.89544287e-01 -8.34050674e-03 -1.01945789e+01] [-7.70477544e-02 -2.80762573e-03 9.97023450e-01 -2.03344059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.746296757 meters 0.07382124156001305 Centerline is valid? [True, True] Translation: X:178.50, Y:-10.20, Z:-20.34 [[ 9.86526658e-01 1.45268033e-01 7.52486003e-02 1.78502145e+02] [-1.45062875e-01 9.89388341e-01 -8.21417577e-03 -1.02012665e+01] [-7.56433450e-02 -2.81227492e-03 9.97130972e-01 -2.03407170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.806296757 meters 0.07291185533729957 Centerline is valid? [True, True] Translation: X:178.56, Y:-10.21, Z:-20.34 [[ 9.86450801e-01 1.44881973e-01 7.69677295e-02 1.78563833e+02] [-1.44666179e-01 9.89444849e-01 -8.40161284e-03 -1.02090469e+01] [-7.73725658e-02 -2.84684965e-03 9.96998185e-01 -2.03449489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86629675700001 meters 0.07271513892922418 Centerline is valid? [True, True] Translation: X:178.62, Y:-10.22, Z:-20.35 [[ 9.86522356e-01 1.43675434e-01 7.83007737e-02 1.78623934e+02] [-1.43446181e-01 9.89620977e-01 -8.57410219e-03 -1.02150203e+01] [-7.87199760e-02 -2.77340347e-03 9.96892910e-01 -2.03520871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92629675700002 meters 0.07200490915170729 Centerline is valid? [True, True] Translation: X:178.69, Y:-10.22, Z:-20.36 [[ 9.86478806e-01 1.41809674e-01 8.21558388e-02 1.78685118e+02] [-1.41550578e-01 9.89890118e-01 -8.99935320e-03 -1.02221953e+01] [-8.26014483e-02 -2.75153529e-03 9.96578863e-01 -2.03563317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.986296757 meters 0.07089155111393593 Centerline is valid? [True, True] Translation: X:178.75, Y:-10.23, Z:-20.36 [[ 9.86256787e-01 1.40259136e-01 8.73208198e-02 1.78746121e+02] [-1.39960076e-01 9.90110914e-01 -9.56847234e-03 -1.02282568e+01] [-8.77993623e-02 -2.78445776e-03 9.96134288e-01 -2.03587440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.046296757 meters 0.07053048523172427 Centerline is valid? [True, True] Translation: X:178.81, Y:-10.23, Z:-20.36 [[ 9.86083753e-01 1.40727975e-01 8.85125332e-02 1.78807696e+02] [-1.40422641e-01 9.90044153e-01 -9.69832298e-03 -1.02309457e+01] [-8.89961413e-02 -2.86580499e-03 9.96027848e-01 -2.03631969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.106296757 meters 0.07100951372187823 Centerline is valid? [True, True] Translation: X:178.87, Y:-10.23, Z:-20.37 [[ 9.85901701e-01 1.42212826e-01 8.81665916e-02 1.78868845e+02] [-1.41913765e-01 9.89831662e-01 -9.68321016e-03 -1.02306736e+01] [-8.86471606e-02 -2.96535962e-03 9.96058677e-01 -2.03717163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.166296757 meters 0.07115726676800951 Centerline is valid? [True, True] Translation: X:178.93, Y:-10.23, Z:-20.38 [[ 9.85970649e-01 1.43360679e-01 8.54961695e-02 1.78931030e+02] [-1.43081807e-01 9.89666105e-01 -9.41262379e-03 -1.02306625e+01] [-8.59620612e-02 -2.95237560e-03 9.96294037e-01 -2.03794484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.226296757 meters 0.07207261965530995 Centerline is valid? [True, True] Translation: X:178.99, Y:-10.23, Z:-20.39 [[ 9.85844907e-01 1.46093181e-01 8.22593548e-02 1.78991551e+02] [-1.45843932e-01 9.89266095e-01 -9.06320598e-03 -1.02287924e+01] [-8.27004632e-02 -3.06211229e-03 9.96569745e-01 -2.03890026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.286296757 meters 0.07284062884005948 Centerline is valid? [True, True] Translation: X:179.05, Y:-10.23, Z:-20.40 [[ 9.86070636e-01 1.46901477e-01 7.80042083e-02 1.79052386e+02] [-1.46679810e-01 9.89146681e-01 -8.59510878e-03 -1.02302639e+01] [-7.84202379e-02 -2.96625808e-03 9.96915978e-01 -2.03974285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.346296757 meters 0.07292189848048655 Centerline is valid? [True, True] Translation: X:179.11, Y:-10.23, Z:-20.41 [[ 9.86318362e-01 1.46514586e-01 7.55616639e-02 1.79113563e+02] [-1.46305736e-01 9.89204414e-01 -8.32222666e-03 -1.02327359e+01] [-7.59652590e-02 -2.84673985e-03 9.97106401e-01 -2.04052209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.406296757 meters 0.07213483585780074 Centerline is valid? [True, True] Translation: X:179.18, Y:-10.24, Z:-20.41 [[ 9.86433761e-01 1.45344925e-01 7.63104773e-02 1.79175620e+02] [-1.45126767e-01 9.89377188e-01 -8.42624460e-03 -1.02398783e+01] [-7.67245573e-02 -2.76276069e-03 9.97048499e-01 -2.04094440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.466296757 meters 0.07079526925239293 Centerline is valid? [True, True] Translation: X:179.24, Y:-10.25, Z:-20.41 [[ 9.86585878e-01 1.43001638e-01 7.87326880e-02 1.79236131e+02] [-1.42761265e-01 9.89718893e-01 -8.70254313e-03 -1.02468346e+01] [-7.91677067e-02 -2.65417199e-03 9.96857778e-01 -2.04128130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.526296757 meters 0.07034120016120925 Centerline is valid? [True, True] Translation: X:179.30, Y:-10.25, Z:-20.42 [[ 9.87026891e-01 1.38797058e-01 8.07049740e-02 1.79297117e+02] [-1.38530268e-01 9.90318003e-01 -8.92294126e-03 -1.02516421e+01] [-8.11620667e-02 -2.37289867e-03 9.96698093e-01 -2.04184875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.586296757 meters 0.06955774111967572 Centerline is valid? [True, True] Translation: X:179.36, Y:-10.26, Z:-20.42 [[ 9.87470073e-01 1.35430529e-01 8.10026396e-02 1.79357905e+02] [-1.35150328e-01 9.90784614e-01 -8.95748836e-03 -1.02601558e+01] [-8.14692864e-02 -2.10228166e-03 9.96673636e-01 -2.04233477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64629675700002 meters 0.06943165289222035 Centerline is valid? [True, True] Translation: X:179.42, Y:-10.26, Z:-20.43 [[ 9.87720191e-01 1.33339274e-01 8.14215123e-02 1.79419221e+02] [-1.33049308e-01 9.91068547e-01 -9.00097938e-03 -1.02621218e+01] [-8.18944839e-02 -1.94262677e-03 9.96639112e-01 -2.04316554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70629675700002 meters 0.06956790972236206 Centerline is valid? [True, True] Translation: X:179.48, Y:-10.26, Z:-20.44 [[ 9.87593577e-01 1.35337193e-01 7.96415137e-02 1.79480862e+02] [-1.35064689e-01 9.90797493e-01 -8.82368434e-03 -1.02618114e+01] [-8.01027848e-02 -2.04254232e-03 9.96784516e-01 -2.04390652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.766296757 meters 0.06939130105618434 Centerline is valid? [True, True] Translation: X:179.54, Y:-10.26, Z:-20.44 [[ 9.87120079e-01 1.38241523e-01 8.05185153e-02 1.79543265e+02] [-1.37971177e-01 9.90395909e-01 -8.93856028e-03 -1.02622355e+01] [-8.09808884e-02 -2.28580201e-03 9.96713033e-01 -2.04444826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.826296757 meters 0.06942335762743446 Centerline is valid? [True, True] Translation: X:179.61, Y:-10.26, Z:-20.45 [[ 9.86714663e-01 1.40114606e-01 8.22318060e-02 1.79605984e+02] [-1.39837419e-01 9.90132208e-01 -9.14916624e-03 -1.02625383e+01] [-8.27022915e-02 -2.47146706e-03 9.96571233e-01 -2.04507013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.886296757 meters 0.06925379617918695 Centerline is valid? [True, True] Translation: X:179.67, Y:-10.27, Z:-20.46 [[ 9.86693497e-01 1.40332320e-01 8.21144455e-02 1.79668718e+02] [-1.40054693e-01 9.90101397e-01 -9.16004230e-03 -1.02669071e+01] [-8.25870772e-02 -2.46235925e-03 9.96580810e-01 -2.04576036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.946296757 meters 0.06888523174874124 Centerline is valid? [True, True] Translation: X:179.73, Y:-10.27, Z:-20.46 [[ 9.86914967e-01 1.37423055e-01 8.43430577e-02 1.79730033e+02] [-1.37116914e-01 9.90509892e-01 -9.43955973e-03 -1.02729417e+01] [-8.48398461e-02 -2.24881698e-03 9.96392063e-01 -2.04627949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.006296757 meters 0.06898259511782975 Centerline is valid? [True, True] Translation: X:179.79, Y:-10.28, Z:-20.47 [[ 9.87002190e-01 1.34799525e-01 8.74972306e-02 1.79790873e+02] [-1.34459278e-01 9.90870679e-01 -9.79796605e-03 -1.02775250e+01] [-8.80192014e-02 -2.09420053e-03 9.96116577e-01 -2.04665504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.066296757 meters 0.06868791520051153 Centerline is valid? [True, True] Translation: X:179.85, Y:-10.28, Z:-20.47 [[ 9.86642331e-01 1.33351806e-01 9.35639147e-02 1.79852407e+02] [-1.32955881e-01 9.91066541e-01 -1.04806750e-02 -1.02800498e+01] [-9.41256822e-02 -2.09919510e-03 9.95558109e-01 -2.04711002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.126296757 meters 0.068775983527971 Centerline is valid? [True, True] Translation: X:179.91, Y:-10.28, Z:-20.48 [[ 9.86229421e-01 1.35479633e-01 9.48514574e-02 1.79914568e+02] [-1.35082314e-01 9.90777387e-01 -1.06271883e-02 -1.02813640e+01] [-9.54164467e-02 -2.33190858e-03 9.95434711e-01 -2.04762534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.186296757 meters 0.06946754441715187 Centerline is valid? [True, True] Translation: X:179.98, Y:-10.28, Z:-20.48 [[ 9.85613020e-01 1.39983632e-01 9.47183082e-02 1.79976226e+02] [-1.39605590e-01 9.90150034e-01 -1.06390245e-02 -1.02805341e+01] [-9.52746254e-02 -2.73724430e-03 9.95447263e-01 -2.04825815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.246296757 meters 0.07062890573137878 Centerline is valid? [True, True] Translation: X:180.04, Y:-10.27, Z:-20.49 [[ 9.84749346e-01 1.48164536e-01 9.11920796e-02 1.80037350e+02] [-1.47848728e-01 9.88956906e-01 -1.02465454e-02 -1.02746535e+01] [-9.17032116e-02 -3.39235403e-03 9.95780605e-01 -2.04917620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.306296757 meters 0.07210441924176514 Centerline is valid? [True, True] Translation: X:180.10, Y:-10.27, Z:-20.50 [[ 9.83681554e-01 1.56914497e-01 8.80252274e-02 1.80098776e+02] [-1.56655055e-01 9.87603847e-01 -9.89116576e-03 -1.02712292e+01] [-8.84861205e-02 -4.05983957e-03 9.96069136e-01 -2.05010016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36629675700001 meters 0.07359001567673502 Centerline is valid? [True, True] Translation: X:180.16, Y:-10.27, Z:-20.51 [[ 9.83313075e-01 1.62220741e-01 8.23397104e-02 1.80159187e+02] [-1.62011968e-01 9.86745388e-01 -9.25533428e-03 -1.02707933e+01] [-8.27497367e-02 -4.23912735e-03 9.96561343e-01 -2.05104603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42629675700002 meters 0.07515889851779 Centerline is valid? [True, True] Translation: X:180.22, Y:-10.27, Z:-20.52 [[ 9.84058922e-01 1.59484466e-01 7.86939823e-02 1.80219353e+02] [-1.59285465e-01 9.87192987e-01 -8.84010636e-03 -1.02703558e+01] [-7.90960071e-02 -3.83562205e-03 9.96859624e-01 -2.05224896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.486296757 meters 0.07267996904750419 Centerline is valid? [True, True] Translation: X:180.28, Y:-10.29, Z:-20.53 [[ 9.85424733e-01 1.51386938e-01 7.75892468e-02 1.80278932e+02] [-1.51166600e-01 9.88469666e-01 -8.73948308e-03 -1.02906279e+01] [-7.80176604e-02 -3.11679985e-03 9.96947105e-01 -2.05261176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.546296757 meters 0.0715793227579333 Centerline is valid? [True, True] Translation: X:180.34, Y:-10.30, Z:-20.53 [[ 9.86409281e-01 1.44685499e-01 7.78642236e-02 1.80338662e+02] [-1.44442466e-01 9.89474299e-01 -8.77417290e-03 -1.03048554e+01] [-7.83141436e-02 -2.59197486e-03 9.96925362e-01 -2.05325284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.606296757 meters 0.07061746084585532 Centerline is valid? [True, True] Translation: X:180.40, Y:-10.32, Z:-20.54 [[ 9.87586147e-01 1.34913424e-01 8.04485564e-02 1.80397767e+02] [-1.34621314e-01 9.90855619e-01 -9.06889099e-03 -1.03202155e+01] [-8.09364193e-02 -1.87377926e-03 9.96717505e-01 -2.05408315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.666296757 meters 0.06994475526746659 Centerline is valid? [True, True] Translation: X:180.46, Y:-10.34, Z:-20.55 [[ 9.88429598e-01 1.26521852e-01 8.36609252e-02 1.80455492e+02] [-1.26175708e-01 9.91963056e-01 -9.43329790e-03 -1.03396450e+01] [-8.41820653e-02 -1.23182564e-03 9.96449629e-01 -2.05481722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.726296757 meters 0.06958347053167667 Centerline is valid? [True, True] Translation: X:180.52, Y:-10.36, Z:-20.55 [[ 9.88429690e-01 1.25425436e-01 8.52948265e-02 1.80515950e+02] [-1.25062011e-01 9.92102364e-01 -9.61214958e-03 -1.03552208e+01] [-8.58268070e-02 -1.16620850e-03 9.96309389e-01 -2.05532289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.786296757 meters 0.06991394622978649 Centerline is valid? [True, True] Translation: X:180.58, Y:-10.36, Z:-20.56 [[ 9.87774428e-01 1.31022658e-01 8.44674017e-02 1.80576628e+02] [-1.30684884e-01 9.91378058e-01 -9.53978721e-03 -1.03620691e+01] [-8.49890569e-02 -1.61545477e-03 9.96380575e-01 -2.05618685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.846296757 meters 0.07127546141064746 Centerline is valid? [True, True] Translation: X:180.64, Y:-10.37, Z:-20.57 [[ 9.86900529e-01 1.40622790e-01 7.90732406e-02 1.80636853e+02] [-1.40355704e-01 9.90060661e-01 -8.95338416e-03 -1.03671067e+01] [-7.95463547e-02 -2.26228082e-03 9.96828601e-01 -2.05715404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.906296757 meters 0.07290815771895875 Centerline is valid? [True, True] Translation: X:180.70, Y:-10.37, Z:-20.58 [[ 9.86117131e-01 1.48630991e-01 7.40393989e-02 1.80697455e+02] [-1.48419188e-01 9.88888988e-01 -8.38534817e-03 -1.03712811e+01] [-7.44630688e-02 -2.71993198e-03 9.97220063e-01 -2.05822038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.966296757 meters 0.07416016551793987 Centerline is valid? [True, True] Translation: X:180.76, Y:-10.38, Z:-20.59 [[ 9.85695011e-01 1.52622567e-01 7.14961324e-02 1.80756664e+02] [-1.52435436e-01 9.88280249e-01 -8.09861593e-03 -1.03770081e+01] [-7.18942471e-02 -2.91577878e-03 9.97407999e-01 -2.05906207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.026296757 meters 0.07289833413068286 Centerline is valid? [True, True] Translation: X:180.82, Y:-10.40, Z:-20.59 [[ 9.86204911e-01 1.50189236e-01 6.95921428e-02 1.80817469e+02] [-1.50006164e-01 9.88653666e-01 -7.87908715e-03 -1.03958093e+01] [-6.99858811e-02 -2.66885594e-03 9.97544412e-01 -2.05926677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.086296757 meters 0.0724296563797144 Centerline is valid? [True, True] Translation: X:180.88, Y:-10.41, Z:-20.60 [[ 9.87250898e-01 1.43501049e-01 6.88702658e-02 1.80875287e+02] [-1.43303624e-01 9.89647841e-01 -7.82444318e-03 -1.04116565e+01] [-6.92801257e-02 -2.14467013e-03 9.97594940e-01 -2.06007285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14629675700002 meters 0.07143537824981062 Centerline is valid? [True, True] Translation: X:180.93, Y:-10.43, Z:-20.61 [[ 9.88163196e-01 1.36531473e-01 6.99475192e-02 1.80934140e+02] [-1.36310413e-01 9.90634305e-01 -7.94636353e-03 -1.04288248e+01] [-7.03773408e-02 -1.68227123e-03 9.97519022e-01 -2.06064073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20629675700002 meters 0.07132416920337577 Centerline is valid? [True, True] Translation: X:180.99, Y:-10.44, Z:-20.62 [[ 9.88371543e-01 1.33576395e-01 7.26570010e-02 1.80992480e+02] [-1.33329598e-01 9.91037346e-01 -8.25819672e-03 -1.04385212e+01] [-7.31089016e-02 -1.52516208e-03 9.97322797e-01 -2.06153344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.266296757 meters 0.07049543653604926 Centerline is valid? [True, True] Translation: X:181.05, Y:-10.45, Z:-20.62 [[ 9.87954623e-01 1.35500032e-01 7.47355559e-02 1.81054488e+02] [-1.35245044e-01 9.90775842e-01 -8.48580467e-03 -1.04473032e+01] [-7.51960102e-02 -1.72402362e-03 9.97167282e-01 -2.06159105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.326296757 meters 0.07073793537690254 Centerline is valid? [True, True] Translation: X:181.11, Y:-10.45, Z:-20.62 [[ 9.87095581e-01 1.41199405e-01 7.55317294e-02 1.81114170e+02] [-1.40953494e-01 9.89978833e-01 -8.60367572e-03 -1.04470891e+01] [-7.59896471e-02 -2.15381090e-03 9.97106281e-01 -2.06237122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.386296757 meters 0.07242541820421748 Centerline is valid? [True, True] Translation: X:181.17, Y:-10.44, Z:-20.63 [[ 9.85780759e-01 1.50597311e-01 7.45435787e-02 1.81174085e+02] [-1.50384740e-01 9.88591104e-01 -8.48871033e-03 -1.04433737e+01] [-7.49714957e-02 -2.84220942e-03 9.97181627e-01 -2.06327669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.446296757 meters 0.07445896168760081 Centerline is valid? [True, True] Translation: X:181.24, Y:-10.44, Z:-20.64 [[ 9.84813350e-01 1.58822602e-01 7.01287926e-02 1.81235088e+02] [-1.58654699e-01 9.87301773e-01 -7.99344950e-03 -1.04400635e+01] [-7.05078218e-02 -3.25420672e-03 9.97505918e-01 -2.06424576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.506296757 meters 0.07513823516431348 Centerline is valid? [True, True] Translation: X:181.30, Y:-10.45, Z:-20.65 [[ 9.84644685e-01 1.61800784e-01 6.55389206e-02 1.81295088e+02] [-1.61660589e-01 9.86818131e-01 -7.47200548e-03 -1.04460041e+01] [-6.58839714e-02 -3.23779005e-03 9.97822038e-01 -2.06499561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.566296757 meters 0.07613056874302375 Centerline is valid? [True, True] Translation: X:181.35, Y:-10.45, Z:-20.66 [[ 9.85106479e-01 1.59280702e-01 6.47679095e-02 1.81354577e+02] [-1.59138569e-01 9.87228666e-01 -7.38080616e-03 -1.04515240e+01] [-6.51163569e-02 -3.03619248e-03 9.97873059e-01 -2.06597472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.626296757 meters 0.07237609341413342 Centerline is valid? [True, True] Translation: X:181.41, Y:-10.47, Z:-20.66 [[ 9.86189066e-01 1.51522244e-01 6.68740274e-02 1.81414576e+02] [-1.51352258e-01 9.88450438e-01 -7.63057111e-03 -1.04719392e+01] [-6.72578629e-02 -2.59634924e-03 9.97732248e-01 -2.06583969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.686296757 meters 0.07156637306194051 Centerline is valid? [True, True] Translation: X:181.47, Y:-10.49, Z:-20.66 [[ 9.87011204e-01 1.43912640e-01 7.14005200e-02 1.81474123e+02] [-1.43698683e-01 9.89587918e-01 -8.15119277e-03 -1.04875091e+01] [-7.18301516e-02 -2.21484211e-03 9.97414419e-01 -2.06631879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.746296757 meters 0.07106012129140032 Centerline is valid? [True, True] Translation: X:181.53, Y:-10.50, Z:-20.67 [[ 9.87491987e-01 1.39197726e-01 7.40511205e-02 1.81532436e+02] [-1.38954119e-01 9.90262710e-01 -8.45683424e-03 -1.04999987e+01] [-7.45072353e-02 -1.93865219e-03 9.97218589e-01 -2.06698230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.806296757 meters 0.0708493752749296 Centerline is valid? [True, True] Translation: X:181.59, Y:-10.51, Z:-20.68 [[ 9.87112530e-01 1.39263974e-01 7.88314521e-02 1.81592900e+02] [-1.38988102e-01 9.90253130e-01 -9.00260588e-03 -1.05072465e+01] [-7.93168308e-02 -2.07004885e-03 9.96847308e-01 -2.06750741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86629675700001 meters 0.07180880645903262 Centerline is valid? [True, True] Translation: X:181.65, Y:-10.51, Z:-20.68 [[ 9.86436400e-01 1.44586232e-01 7.77048935e-02 1.81654262e+02] [-1.44334484e-01 9.89489147e-01 -8.87612987e-03 -1.05084119e+01] [-7.81715149e-02 -2.45975808e-03 9.96936891e-01 -2.06821823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92629675700002 meters 0.07328776075542616 Centerline is valid? [True, True] Translation: X:181.71, Y:-10.51, Z:-20.69 [[ 9.85616675e-01 1.51734622e-01 7.44068099e-02 1.81714694e+02] [-1.51523944e-01 9.88417028e-01 -8.50135082e-03 -1.05067783e+01] [-7.48349072e-02 -2.89534018e-03 9.97191734e-01 -2.06932868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.986296757 meters 0.07435610688534841 Centerline is valid? [True, True] Translation: X:181.78, Y:-10.51, Z:-20.70 [[ 9.85244317e-01 1.56327038e-01 6.96813709e-02 1.81775250e+02] [-1.56153470e-01 9.87700691e-01 -7.96489262e-03 -1.05079886e+01] [-7.00694663e-02 -3.03362265e-03 9.97537502e-01 -2.07039752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.046296757 meters 0.07465614224595872 Centerline is valid? [True, True] Translation: X:181.83, Y:-10.52, Z:-20.71 [[ 9.85738191e-01 1.54102119e-01 6.76221575e-02 1.81834917e+02] [-1.53933793e-01 9.88050972e-01 -7.72424428e-03 -1.05162640e+01] [-6.80044609e-02 -2.79525261e-03 9.97681101e-01 -2.07145379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.106296757 meters 0.07424585669144768 Centerline is valid? [True, True] Translation: X:181.89, Y:-10.53, Z:-20.72 [[ 9.86684460e-01 1.47266854e-01 6.90380355e-02 1.81894661e+02] [-1.47073002e-01 9.89094009e-01 -7.91037343e-03 -1.05302101e+01] [-6.94500431e-02 -2.34858863e-03 9.97582666e-01 -2.07219996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.166296757 meters 0.07323766417848858 Centerline is valid? [True, True] Translation: X:181.95, Y:-10.55, Z:-20.73 [[ 9.87698217e-01 1.37741726e-01 7.40233068e-02 1.81953798e+02] [-1.37491998e-01 9.90466548e-01 -8.48341987e-03 -1.05475985e+01] [-7.44861300e-02 -1.79855368e-03 9.97220428e-01 -2.07283529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.226296757 meters 0.07242558773012853 Centerline is valid? [True, True] Translation: X:182.01, Y:-10.57, Z:-20.73 [[ 9.88195167e-01 1.29946646e-01 8.11429674e-02 1.82013217e+02] [-1.29620077e-01 9.91520102e-01 -9.30182017e-03 -1.05653848e+01] [-8.16636236e-02 -1.32574396e-03 9.96659067e-01 -2.07316855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.286296757 meters 0.07251720336504255 Centerline is valid? [True, True] Translation: X:182.07, Y:-10.58, Z:-20.74 [[ 9.88193885e-01 1.28510779e-01 8.34135824e-02 1.82072420e+02] [-1.28160430e-01 9.91707337e-01 -9.56354642e-03 -1.05763869e+01] [-8.39508805e-02 -1.23968247e-03 9.96469123e-01 -2.07389502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.346296757 meters 0.0731580295120501 Centerline is valid? [True, True] Translation: X:182.13, Y:-10.58, Z:-20.75 [[ 9.87260444e-01 1.33855708e-01 8.60201480e-02 1.82133701e+02] [-1.33503632e-01 9.90999286e-01 -9.85881073e-03 -1.05804836e+01] [-8.65655633e-02 -1.75078830e-03 9.96244618e-01 -2.07454061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.406296757 meters 0.07401501234578614 Centerline is valid? [True, True] Translation: X:182.19, Y:-10.58, Z:-20.75 [[ 9.85862834e-01 1.43497790e-01 8.65035029e-02 1.82194505e+02] [-1.43176458e-01 9.89647259e-01 -9.94000756e-03 -1.05826051e+01] [-8.70343237e-02 -2.58578112e-03 9.96201958e-01 -2.07505991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.466296757 meters 0.07447570493099619 Centerline is valid? [True, True] Translation: X:182.25, Y:-10.59, Z:-20.76 [[ 9.85466486e-01 1.46896444e-01 8.53067402e-02 1.82254738e+02] [-1.46596505e-01 9.89147788e-01 -9.80402501e-03 -1.05864922e+01] [-8.58211497e-02 -2.84413190e-03 9.96306500e-01 -2.07579694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.526296757 meters 0.07707439883688276 Centerline is valid? [True, True] Translation: X:182.32, Y:-10.58, Z:-20.77 [[ 9.83805935e-01 1.58552800e-01 8.35876254e-02 1.82315062e+02] [-1.58306664e-01 9.87343259e-01 -9.60672219e-03 -1.05803429e+01] [-8.40528511e-02 -3.78132781e-03 9.96454123e-01 -2.07693361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.586296757 meters 0.07926922612186021 Centerline is valid? [True, True] Translation: X:182.38, Y:-10.58, Z:-20.78 [[ 9.82680022e-01 1.66440741e-01 8.14705679e-02 1.82376028e+02] [-1.66233374e-01 9.86041926e-01 -9.36943267e-03 -1.05790252e+01] [-8.18928510e-02 -4.33597305e-03 9.96631707e-01 -2.07802713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64629675700002 meters 0.07882686377632939 Centerline is valid? [True, True] Translation: X:182.44, Y:-10.59, Z:-20.79 [[ 9.82520550e-01 1.66688201e-01 8.28758927e-02 1.82437115e+02] [-1.66474733e-01 9.85999683e-01 -9.52829994e-03 -1.05891176e+01] [-8.33038591e-02 -4.43499164e-03 9.96514324e-01 -2.07877748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70629675700002 meters 0.07797823021635411 Centerline is valid? [True, True] Translation: X:182.50, Y:-10.60, Z:-20.79 [[ 9.83332018e-01 1.61530784e-01 8.34622582e-02 1.82496388e+02] [-1.61293512e-01 9.86859569e-01 -9.62261243e-03 -1.06036557e+01] [-8.39198763e-02 -3.99969788e-03 9.96464478e-01 -2.07943537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.766296757 meters 0.0767667064733183 Centerline is valid? [True, True] Translation: X:182.56, Y:-10.62, Z:-20.80 [[ 9.83884272e-01 1.56019389e-01 8.73480945e-02 1.82556112e+02] [-1.55737640e-01 9.87747091e-01 -1.00732846e-02 -1.06199687e+01] [-8.78494540e-02 -3.69243985e-03 9.96126919e-01 -2.07997451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.826296757 meters 0.0770275736049247 Centerline is valid? [True, True] Translation: X:182.62, Y:-10.63, Z:-20.81 [[ 9.84267573e-01 1.52431284e-01 8.93423129e-02 1.82615550e+02] [-1.52121554e-01 9.88308060e-01 -1.03059100e-02 -1.06293448e+01] [-8.98686710e-02 -3.44711841e-03 9.95947659e-01 -2.08069157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.886296757 meters 0.077244464300576 Centerline is valid? [True, True] Translation: X:182.68, Y:-10.64, Z:-20.81 [[ 9.83864895e-01 1.54575672e-01 9.00901180e-02 1.82676527e+02] [-1.54269932e-01 9.87974112e-01 -1.03894998e-02 -1.06385999e+01] [-9.06126682e-02 -3.67633222e-03 9.95879425e-01 -2.08138461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.946296757 meters 0.0775078883161606 Centerline is valid? [True, True] Translation: X:182.74, Y:-10.65, Z:-20.82 [[ 9.83194496e-01 1.59045361e-01 8.96278732e-02 1.82736215e+02] [-1.58758953e-01 9.87263002e-01 -1.03614216e-02 -1.06463650e+01] [-9.01342192e-02 -4.04193457e-03 9.95921425e-01 -2.08217429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.006296757 meters 0.07895487888321194 Centerline is valid? [True, True] Translation: X:182.80, Y:-10.65, Z:-20.83 [[ 9.82636466e-01 1.63421621e-01 8.78575566e-02 1.82795507e+02] [-1.63163437e-01 9.86546728e-01 -1.01610237e-02 -1.06499767e+01] [-8.83361159e-02 -4.35054845e-03 9.96081223e-01 -2.08306558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.066296757 meters 0.08051959517485013 Centerline is valid? [True, True] Translation: X:182.86, Y:-10.66, Z:-20.84 [[ 9.82272997e-01 1.67491144e-01 8.41812078e-02 1.82855978e+02] [-1.67268956e-01 9.85863230e-01 -9.73591735e-03 -1.06551543e+01] [-8.46218374e-02 -4.51757401e-03 9.96402899e-01 -2.08381256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.126296757 meters 0.0807930561236577 Centerline is valid? [True, True] Translation: X:182.92, Y:-10.67, Z:-20.85 [[ 9.82561810e-01 1.67608223e-01 8.04970348e-02 1.82916255e+02] [-1.67405698e-01 9.85844167e-01 -9.30646584e-03 -1.06654868e+01] [-8.09173724e-02 -4.33148438e-03 9.96711401e-01 -2.08451719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.186296757 meters 0.07954205532195842 Centerline is valid? [True, True] Translation: X:182.98, Y:-10.68, Z:-20.85 [[ 9.83418254e-01 1.63203518e-01 7.90768567e-02 1.82975649e+02] [-1.62991991e-01 9.86584815e-01 -9.16592758e-03 -1.06812890e+01] [-7.95119377e-02 -3.87495383e-03 9.96826382e-01 -2.08487049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.246296757 meters 0.0782889074719174 Centerline is valid? [True, True] Translation: X:183.04, Y:-10.70, Z:-20.85 [[ 9.84407767e-01 1.56910363e-01 7.95014908e-02 1.83035389e+02] [-1.56676011e-01 9.87607052e-01 -9.21616036e-03 -1.06974690e+01] [-7.99623440e-02 -3.38351661e-03 9.96792143e-01 -2.08535353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.306296757 meters 0.07696546854837773 Centerline is valid? [True, True] Translation: X:183.09, Y:-10.72, Z:-20.86 [[ 9.85494408e-01 1.48856521e-01 8.15015883e-02 1.83093646e+02] [-1.48582598e-01 9.88854849e-01 -9.44979536e-03 -1.07162248e+01] [-8.19999044e-02 -2.79699722e-03 9.96628412e-01 -2.08597427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36629675700001 meters 0.07526241102040887 Centerline is valid? [True, True] Translation: X:183.15, Y:-10.74, Z:-20.86 [[ 9.86137610e-01 1.44816077e-01 8.09994886e-02 1.83153260e+02] [-1.44531613e-01 9.89455578e-01 -9.39531165e-03 -1.07358708e+01] [-8.15059880e-02 -2.44191655e-03 9.96669861e-01 -2.08631797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42629675700002 meters 0.0759641084445897 Centerline is valid? [True, True] Translation: X:183.21, Y:-10.74, Z:-20.87 [[ 9.85955441e-01 1.47128573e-01 7.90256332e-02 1.83212388e+02] [-1.46865119e-01 9.89114044e-01 -9.16758179e-03 -1.07406984e+01] [-7.95141769e-02 -2.56728189e-03 9.96830429e-01 -2.08723482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.486296757 meters 0.07635187416015592 Centerline is valid? [True, True] Translation: X:183.27, Y:-10.75, Z:-20.88 [[ 9.85317510e-01 1.52957181e-01 7.58518604e-02 1.83272651e+02] [-1.52731008e-01 9.88228544e-01 -8.80816596e-03 -1.07478780e+01] [-7.63062458e-02 -2.90609092e-03 9.97080193e-01 -2.08762966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.546296757 meters 0.07906151942199377 Centerline is valid? [True, True] Translation: X:183.33, Y:-10.75, Z:-20.89 [[ 9.84845909e-01 1.58096896e-01 7.13015219e-02 1.83332428e+02] [-1.57910417e-01 9.87418723e-01 -8.28042324e-03 -1.07475591e+01] [-7.17135669e-02 -3.10431210e-03 9.97420437e-01 -2.08880204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.606296757 meters 0.0783249888430362 Centerline is valid? [True, True] Translation: X:183.39, Y:-10.76, Z:-20.89 [[ 9.84916006e-01 1.59130675e-01 6.79550537e-02 1.83392343e+02] [-1.58963983e-01 9.87252869e-01 -7.88821460e-03 -1.07596102e+01] [-6.83440787e-02 -3.03317722e-03 9.97657199e-01 -2.08923738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.666296757 meters 0.07696198188316956 Centerline is valid? [True, True] Translation: X:183.45, Y:-10.77, Z:-20.90 [[ 9.85635772e-01 1.53996080e-01 6.93349329e-02 1.83451981e+02] [-1.53808960e-01 9.88067718e-01 -8.06149062e-03 -1.07715677e+01] [-6.97490470e-02 -2.71864038e-03 9.97560865e-01 -2.08989972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.726296757 meters 0.07515983580660496 Centerline is valid? [True, True] Translation: X:183.51, Y:-10.79, Z:-20.90 [[ 9.86263865e-01 1.49195522e-01 7.08821907e-02 1.83511921e+02] [-1.48987445e-01 9.88804727e-01 -8.24331934e-03 -1.07858862e+01] [-7.13185116e-02 -2.43046849e-03 9.97450632e-01 -2.09002056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.786296757 meters 0.07461266079169851 Centerline is valid? [True, True] Translation: X:183.57, Y:-10.79, Z:-20.90 [[ 9.86465631e-01 1.44588501e-01 7.73286724e-02 1.83571990e+02] [-1.44326562e-01 9.89489229e-01 -8.99499257e-03 -1.07924306e+01] [-7.78164609e-02 -2.28733043e-03 9.96965078e-01 -2.09049035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.846296757 meters 0.07356738685100285 Centerline is valid? [True, True] Translation: X:183.63, Y:-10.80, Z:-20.91 [[ 9.86599131e-01 1.42293250e-01 7.98422526e-02 1.83632985e+02] [-1.42006220e-01 9.89822163e-01 -9.29080744e-03 -1.08005247e+01] [-8.03516503e-02 -2.17179394e-03 9.96764213e-01 -2.09083869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.906296757 meters 0.07324758759566281 Centerline is valid? [True, True] Translation: X:183.69, Y:-10.81, Z:-20.91 [[ 9.86704755e-01 1.42446109e-01 7.82485316e-02 1.83694340e+02] [-1.42171070e-01 9.89800241e-01 -9.10332587e-03 -1.08062908e+01] [-7.87471487e-02 -2.14238257e-03 9.96892320e-01 -2.09135106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.966296757 meters 0.07358903975917194 Centerline is valid? [True, True] Translation: X:183.76, Y:-10.81, Z:-20.92 [[ 9.86653889e-01 1.43419572e-01 7.71033671e-02 1.83755719e+02] [-1.43154033e-01 9.89659600e-01 -8.98888330e-03 -1.08082921e+01] [-7.75952692e-02 -2.16874126e-03 9.96982583e-01 -2.09225199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.026296757 meters 0.0734177403983472 Centerline is valid? [True, True] Translation: X:183.82, Y:-10.81, Z:-20.93 [[ 9.86364760e-01 1.46064493e-01 7.58269332e-02 1.83816890e+02] [-1.45814053e-01 9.89272352e-01 -8.85860402e-03 -1.08118482e+01] [-7.63074160e-02 -2.31881761e-03 9.97081642e-01 -2.09281458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.086296757 meters 0.07389626949293293 Centerline is valid? [True, True] Translation: X:183.88, Y:-10.81, Z:-20.94 [[ 9.86292825e-01 1.48155130e-01 7.26396620e-02 1.83876363e+02] [-1.47929139e-01 9.88961339e-01 -8.51115030e-03 -1.08134747e+01] [-7.30987880e-02 -2.35103620e-03 9.97321934e-01 -2.09366062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14629675700002 meters 0.07382042415800262 Centerline is valid? [True, True] Translation: X:183.94, Y:-10.82, Z:-20.95 [[ 9.86667178e-01 1.47355631e-01 6.90955752e-02 1.83937309e+02] [-1.47149372e-01 9.89081168e-01 -8.09349170e-03 -1.08216102e+01] [-6.95337538e-02 -2.18178786e-03 9.97577213e-01 -2.09455345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20629675700002 meters 0.0736772458979719 Centerline is valid? [True, True] Translation: X:184.00, Y:-10.83, Z:-20.95 [[ 9.87114602e-01 1.43741699e-01 7.03070898e-02 1.83997614e+02] [-1.43518605e-01 9.89613308e-01 -8.24080133e-03 -1.08318339e+01] [-7.07613785e-02 -1.95576015e-03 9.97491355e-01 -2.09517340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.266296757 meters 0.07301162084811566 Centerline is valid? [True, True] Translation: X:184.06, Y:-10.84, Z:-20.96 [[ 9.87372342e-01 1.40177432e-01 7.37980088e-02 1.84058086e+02] [-1.39921244e-01 9.90124801e-01 -8.65587069e-03 -1.08428786e+01] [-7.42825965e-02 -1.77934187e-03 9.97235644e-01 -2.09565566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.326296757 meters 0.07332769415877585 Centerline is valid? [True, True] Translation: X:184.12, Y:-10.85, Z:-20.96 [[ 9.86874448e-01 1.42062854e-01 7.67917271e-02 1.84118327e+02] [-1.41791341e-01 9.89855614e-01 -9.00438545e-03 -1.08480722e+01] [-7.72919108e-02 -2.00220406e-03 9.97006495e-01 -2.09627622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.386296757 meters 0.07345454074596362 Centerline is valid? [True, True] Translation: X:184.18, Y:-10.85, Z:-20.97 [[ 9.86604226e-01 1.43525683e-01 7.75401775e-02 1.84180786e+02] [-1.43252105e-01 9.89644318e-01 -9.10809956e-03 -1.08544906e+01] [-7.80444423e-02 -2.12170417e-03 9.96947623e-01 -2.09692024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.446296757 meters 0.0740670305810913 Centerline is valid? [True, True] Translation: X:184.24, Y:-10.86, Z:-20.98 [[ 9.86450163e-01 1.44493621e-01 7.77024392e-02 1.84241283e+02] [-1.44220087e-01 9.89503330e-01 -9.15017306e-03 -1.08584106e+01] [-7.82089640e-02 -2.18006286e-03 9.96934604e-01 -2.09771741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.506296757 meters 0.07348167491763674 Centerline is valid? [True, True] Translation: X:184.30, Y:-10.87, Z:-20.98 [[ 9.86352642e-01 1.44817011e-01 7.83358091e-02 1.84303039e+02] [-1.44538715e-01 9.89455992e-01 -9.24119084e-03 -1.08650781e+01] [-7.88481174e-02 -2.20748416e-03 9.96884197e-01 -2.09807996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.566296757 meters 0.07447670205577651 Centerline is valid? [True, True] Translation: X:184.36, Y:-10.87, Z:-20.99 [[ 9.86209034e-01 1.45577032e-01 7.87341612e-02 1.84364270e+02] [-1.45296787e-01 9.89344337e-01 -9.30737894e-03 -1.08668438e+01] [-7.92501370e-02 -2.26079941e-03 9.96852198e-01 -2.09913749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.626296757 meters 0.07593061662179929 Centerline is valid? [True, True] Translation: X:184.42, Y:-10.87, Z:-21.00 [[ 9.86066312e-01 1.48696255e-01 7.45831828e-02 1.84424236e+02] [-1.48451828e-01 9.88880116e-01 -8.84144128e-03 -1.08677380e+01] [-7.50685157e-02 -2.35376245e-03 9.97175600e-01 -2.10019147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.686296757 meters 0.07475053259708818 Centerline is valid? [True, True] Translation: X:184.49, Y:-10.88, Z:-21.00 [[ 9.86218614e-01 1.48339674e-01 7.32679109e-02 1.84485177e+02] [-1.48103012e-01 9.88933823e-01 -8.68283907e-03 -1.08814877e+01] [-7.37451247e-02 -2.28802075e-03 9.97274497e-01 -2.10014343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.746296757 meters 0.07483039571885947 Centerline is valid? [True, True] Translation: X:184.55, Y:-10.89, Z:-21.01 [[ 9.86612446e-01 1.45529905e-01 7.35997768e-02 1.84545025e+02] [-1.45281328e-01 9.89351706e-01 -8.74858141e-03 -1.08895420e+01] [-7.40892450e-02 -2.06121402e-03 9.97249485e-01 -2.10092846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.806296757 meters 0.0740651777794988 Centerline is valid? [True, True] Translation: X:184.60, Y:-10.90, Z:-21.02 [[ 9.86887629e-01 1.42271435e-01 7.62341563e-02 1.84604802e+02] [-1.41994769e-01 9.89825899e-01 -9.06510599e-03 -1.08999820e+01] [-7.67482479e-02 -1.87861045e-03 9.97048734e-01 -2.10163192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86629675700001 meters 0.07347089320096925 Centerline is valid? [True, True] Translation: X:184.66, Y:-10.91, Z:-21.02 [[ 9.86739144e-01 1.40634386e-01 8.10421527e-02 1.84664811e+02] [-1.40316051e-01 9.90059850e-01 -9.63843248e-03 -1.09111936e+01] [-8.15920766e-02 -1.86089620e-03 9.96664071e-01 -2.10235372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92629675700002 meters 0.07311929863992708 Centerline is valid? [True, True] Translation: X:184.73, Y:-10.92, Z:-21.03 [[ 9.86211488e-01 1.42332002e-01 8.44304594e-02 1.84725796e+02] [-1.41992932e-01 9.89816770e-01 -1.00383443e-02 -1.09200918e+01] [-8.49994623e-02 -2.08859794e-03 9.96378808e-01 -2.10303923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.986296757 meters 0.0738428854575887 Centerline is valid? [True, True] Translation: X:184.79, Y:-10.93, Z:-21.04 [[ 9.85345754e-01 1.46426893e-01 8.74809124e-02 1.84786658e+02] [-1.46076972e-01 9.89218314e-01 -1.04232983e-02 -1.09254990e+01] [-8.80639719e-02 -2.50839412e-03 9.96111663e-01 -2.10381375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.046296757 meters 0.07436340405864078 Centerline is valid? [True, True] Translation: X:184.85, Y:-10.93, Z:-21.05 [[ 9.85063243e-01 1.48973451e-01 8.63557676e-02 1.84848409e+02] [-1.48640300e-01 9.88837568e-01 -1.03113955e-02 -1.09309845e+01] [-8.69279514e-02 -2.67857048e-03 9.96211000e-01 -2.10459766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.106296757 meters 0.07434487857014631 Centerline is valid? [True, True] Translation: X:184.91, Y:-10.94, Z:-21.06 [[ 9.85707189e-01 1.46509983e-01 8.31634670e-02 1.84908580e+02] [-1.46192215e-01 9.89206355e-01 -9.93090390e-03 -1.09427863e+01] [-8.37208067e-02 -2.36888811e-03 9.96486435e-01 -2.10564369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.166296757 meters 0.07270162929237575 Centerline is valid? [True, True] Translation: X:184.97, Y:-10.96, Z:-21.06 [[ 9.87021492e-01 1.38782808e-01 8.07954565e-02 1.84968353e+02] [-1.38455076e-01 9.90321485e-01 -9.67208572e-03 -1.09649195e+01] [-8.13557957e-02 -1.63998458e-03 9.96683774e-01 -2.10567238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.226296757 meters 0.07238058095392028 Centerline is valid? [True, True] Translation: X:185.03, Y:-10.98, Z:-21.06 [[ 9.88253026e-01 1.30497033e-01 7.95391730e-02 1.85028530e+02] [-1.30152062e-01 9.91448258e-01 -9.52848229e-03 -1.09806339e+01] [-8.01024132e-02 -9.35635888e-04 9.96786200e-01 -2.10627193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.286296757 meters 0.07226696053090223 Centerline is valid? [True, True] Translation: X:185.09, Y:-10.99, Z:-21.07 [[ 9.89026563e-01 1.23810311e-01 8.06068565e-02 1.85087283e+02] [-1.23433374e-01 9.92305826e-01 -9.66179388e-03 -1.09943846e+01] [-8.11828830e-02 -3.93805485e-04 9.96699144e-01 -2.10699844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.346296757 meters 0.07232859091985958 Centerline is valid? [True, True] Translation: X:185.15, Y:-11.01, Z:-21.08 [[ 9.89332722e-01 1.21326323e-01 8.06268422e-02 1.85148447e+02] [-1.20941367e-01 9.92612656e-01 -9.65921085e-03 -1.10062525e+01] [-8.12031406e-02 -1.94947173e-04 9.96697553e-01 -2.10754868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.406296757 meters 0.07276938186923672 Centerline is valid? [True, True] Translation: X:185.21, Y:-11.01, Z:-21.08 [[ 9.89091967e-01 1.22887388e-01 8.12143525e-02 1.85209095e+02] [-1.22500163e-01 9.92420575e-01 -9.75252857e-03 -1.10127742e+01] [-8.17972572e-02 -3.02623736e-04 9.96648944e-01 -2.10830236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.466296757 meters 0.07324166512142856 Centerline is valid? [True, True] Translation: X:185.27, Y:-11.02, Z:-21.09 [[ 9.88875077e-01 1.26278164e-01 7.86123850e-02 1.85270157e+02] [-1.25925111e-01 9.91994718e-01 -9.45230547e-03 -1.10204257e+01] [-7.91766905e-02 -5.52123978e-04 9.96860445e-01 -2.10906882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.526296757 meters 0.07355338092438651 Centerline is valid? [True, True] Translation: X:185.33, Y:-11.03, Z:-21.10 [[ 9.88775454e-01 1.28200845e-01 7.67309860e-02 1.85331334e+02] [-1.27869885e-01 9.91747990e-01 -9.23129728e-03 -1.10283729e+01] [-7.72812612e-02 -6.83902218e-04 9.97009097e-01 -2.11010292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.586296757 meters 0.07364166540711652 Centerline is valid? [True, True] Translation: X:185.39, Y:-11.04, Z:-21.11 [[ 9.88792147e-01 1.28362869e-01 7.62434463e-02 1.85392484e+02] [-1.28036611e-01 9.91727026e-01 -9.17233915e-03 -1.10368337e+01] [-7.67900740e-02 -6.92415583e-04 9.97047043e-01 -2.11099948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64629675700002 meters 0.07361778496843709 Centerline is valid? [True, True] Translation: X:185.45, Y:-11.05, Z:-21.12 [[ 9.89046760e-01 1.26508618e-01 7.60399640e-02 1.85452430e+02] [-1.26176966e-01 9.91965369e-01 -9.16949402e-03 -1.10490808e+01] [-7.65890310e-02 -5.25433640e-04 9.97062608e-01 -2.11157989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70629675700002 meters 0.07304003195287538 Centerline is valid? [True, True] Translation: X:185.51, Y:-11.06, Z:-21.12 [[ 9.89565450e-01 1.20862362e-01 7.84379326e-02 1.85512034e+02] [-1.20490599e-01 9.92669272e-01 -9.47269500e-03 -1.10629000e+01] [-7.90078177e-02 -7.71818329e-05 9.96873993e-01 -2.11244470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.766296757 meters 0.07298554489667759 Centerline is valid? [True, True] Translation: X:185.57, Y:-11.07, Z:-21.13 [[ 9.89809186e-01 1.18233982e-01 7.93630939e-02 1.85573523e+02] [-1.17844947e-01 9.92985754e-01 -9.58441244e-03 -1.10733615e+01] [-7.99396249e-02 1.34199888e-04 9.96799698e-01 -2.11307671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.826296757 meters 0.07290243527931797 Centerline is valid? [True, True] Translation: X:185.64, Y:-11.08, Z:-21.13 [[ 9.89913544e-01 1.16625856e-01 8.04337268e-02 1.85635131e+02] [-1.16220354e-01 9.93175883e-01 -9.72086959e-03 -1.10842596e+01] [-8.10185424e-02 2.74784295e-04 9.96712557e-01 -2.11339120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.886296757 meters 0.07278239094211753 Centerline is valid? [True, True] Translation: X:185.70, Y:-11.09, Z:-21.14 [[ 9.89658892e-01 1.17868039e-01 8.17459690e-02 1.85697176e+02] [-1.17451819e-01 9.93029248e-01 -9.89862921e-03 -1.10886536e+01] [-8.23428701e-02 1.95053645e-04 9.96604041e-01 -2.11381304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.946296757 meters 0.0732668622054004 Centerline is valid? [True, True] Translation: X:185.76, Y:-11.09, Z:-21.15 [[ 9.89527637e-01 1.21261735e-01 7.82984520e-02 1.85758978e+02] [-1.20888707e-01 9.92620566e-01 -9.50434112e-03 -1.10905993e+01] [-7.88731667e-02 -6.05904421e-05 9.96884657e-01 -2.11490775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.006296757 meters 0.07390666393017062 Centerline is valid? [True, True] Translation: X:185.82, Y:-11.09, Z:-21.16 [[ 9.89201754e-01 1.26179801e-01 7.45556704e-02 1.85819696e+02] [-1.25855124e-01 9.92007297e-01 -9.05597779e-03 -1.10935770e+01] [-7.51024506e-02 -4.25024017e-04 9.97175732e-01 -2.11589871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.066296757 meters 0.07421449995592357 Centerline is valid? [True, True] Translation: X:185.88, Y:-11.10, Z:-21.17 [[ 9.88749683e-01 1.29993251e-01 7.39987782e-02 1.85881235e+02] [-1.29684415e-01 9.91514622e-01 -8.98372739e-03 -1.10980429e+01] [-7.45386945e-02 -7.13830655e-04 9.97217867e-01 -2.11667303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.126296757 meters 0.07404939209910352 Centerline is valid? [True, True] Translation: X:185.94, Y:-11.10, Z:-21.17 [[ 9.88169752e-01 1.33380960e-01 7.56971707e-02 1.85943420e+02] [-1.33066278e-01 9.91064363e-01 -9.20833312e-03 -1.11031015e+01] [-7.62489846e-02 -9.73344539e-04 9.97088334e-01 -2.11704751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.186296757 meters 0.07410920443526925 Centerline is valid? [True, True] Translation: X:186.00, Y:-11.11, Z:-21.18 [[ 9.87619822e-01 1.36084622e-01 7.80260394e-02 1.86003852e+02] [-1.35757088e-01 9.90696492e-01 -9.51178154e-03 -1.11083914e+01] [-7.85945307e-02 -1.19856391e-03 9.96905945e-01 -2.11816012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.246296757 meters 0.07349472298840112 Centerline is valid? [True, True] Translation: X:186.07, Y:-11.12, Z:-21.18 [[ 9.87454000e-01 1.36495031e-01 7.93958728e-02 1.86065315e+02] [-1.36155628e-01 9.90639988e-01 -9.69844091e-03 -1.11203083e+01] [-7.99765154e-02 -1.23343062e-03 9.96795985e-01 -2.11839669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.306296757 meters 0.07366511413002913 Centerline is valid? [True, True] Translation: X:186.13, Y:-11.13, Z:-21.19 [[ 9.87390334e-01 1.37134172e-01 7.90856966e-02 1.86125970e+02] [-1.36797898e-01 9.90551679e-01 -9.68015974e-03 -1.11289437e+01] [-7.96659503e-02 -1.26066087e-03 9.96820820e-01 -2.11909817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36629675700001 meters 0.07378326431698841 Centerline is valid? [True, True] Translation: X:186.19, Y:-11.14, Z:-21.20 [[ 9.87234035e-01 1.38051087e-01 7.94409017e-02 1.86187795e+02] [-1.37713232e-01 9.90424227e-01 -9.74248740e-03 -1.11371168e+01] [-8.00251547e-02 -1.32194815e-03 9.96791968e-01 -2.11997937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42629675700002 meters 0.07417654614742228 Centerline is valid? [True, True] Translation: X:186.25, Y:-11.14, Z:-21.21 [[ 9.86867980e-01 1.41051467e-01 7.87151408e-02 1.86249093e+02] [-1.40727455e-01 9.90001085e-01 -9.67649046e-03 -1.11449474e+01] [-7.92929580e-02 -1.52796285e-03 9.96850185e-01 -2.12052256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.486296757 meters 0.07462111691826076 Centerline is valid? [True, True] Translation: X:186.31, Y:-11.15, Z:-21.21 [[ 9.86585366e-01 1.43114980e-01 7.85329148e-02 1.86310120e+02] [-1.42797412e-01 9.89704660e-01 -9.67398969e-03 -1.11495389e+01] [-7.91088845e-02 -1.67008029e-03 9.96864582e-01 -2.12126337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.546296757 meters 0.07552637480652273 Centerline is valid? [True, True] Translation: X:186.37, Y:-11.15, Z:-21.22 [[ 9.86061842e-01 1.47288146e-01 7.73837527e-02 1.86370634e+02] [-1.46991085e-01 9.89091693e-01 -9.55215058e-03 -1.11518574e+01] [-7.79465455e-02 -1.95571060e-03 9.96955621e-01 -2.12210752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.606296757 meters 0.07592999687242911 Centerline is valid? [True, True] Translation: X:186.43, Y:-11.16, Z:-21.23 [[ 9.85834829e-01 1.49886551e-01 7.52576333e-02 1.86430892e+02] [-1.49612196e-01 9.88700995e-01 -9.30228584e-03 -1.11559730e+01] [-7.58015845e-02 -2.08894244e-03 9.97120733e-01 -2.12285825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.666296757 meters 0.07626106185498545 Centerline is valid? [True, True] Translation: X:186.49, Y:-11.16, Z:-21.24 [[ 9.85782130e-01 1.50833148e-01 7.40469750e-02 1.86491944e+02] [-1.50569849e-01 9.88556958e-01 -9.15758251e-03 -1.11620027e+01] [-7.45809193e-02 -2.12186064e-03 9.97212708e-01 -2.12359619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.726296757 meters 0.07649062445114403 Centerline is valid? [True, True] Translation: X:186.55, Y:-11.17, Z:-21.24 [[ 9.85468273e-01 1.52119457e-01 7.55774626e-02 1.86553070e+02] [-1.51847437e-01 9.88359563e-01 -9.36640470e-03 -1.11670708e+01] [-7.61225204e-02 -2.24594933e-03 9.97095942e-01 -2.12427709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.786296757 meters 0.07716935438434225 Centerline is valid? [True, True] Translation: X:186.61, Y:-11.17, Z:-21.25 [[ 9.85092720e-01 1.54103108e-01 7.64497545e-02 1.86613931e+02] [-1.53828932e-01 9.88051847e-01 -9.49773874e-03 -1.11695698e+01] [-7.69999522e-02 -2.40403076e-03 9.97028198e-01 -2.12502215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.846296757 meters 0.07683926573358668 Centerline is valid? [True, True] Translation: X:186.68, Y:-11.18, Z:-21.25 [[ 9.84490835e-01 1.57461893e-01 7.73534038e-02 1.86675758e+02] [-1.57190987e-01 9.87521396e-01 -9.61692477e-03 -1.11754472e+01] [-7.79024406e-02 -2.69148362e-03 9.96957354e-01 -2.12535302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.906296757 meters 0.07675501861645845 Centerline is valid? [True, True] Translation: X:186.74, Y:-11.18, Z:-21.26 [[ 9.84329227e-01 1.58657716e-01 7.69655918e-02 1.86737000e+02] [-1.58391725e-01 9.87329806e-01 -9.58724129e-03 -1.11827948e+01] [-7.75115126e-02 -2.75371102e-03 9.96987654e-01 -2.12592673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.966296757 meters 0.07880473698067614 Centerline is valid? [True, True] Translation: X:186.80, Y:-11.18, Z:-21.27 [[ 9.83864229e-01 1.62318521e-01 7.52587367e-02 1.86796990e+02] [-1.62073031e-01 9.86734004e-01 -9.39885726e-03 -1.11793429e+01] [-7.57859631e-02 -2.95021211e-03 9.97119744e-01 -2.12705114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.026296757 meters 0.07853772221793616 Centerline is valid? [True, True] Translation: X:186.86, Y:-11.19, Z:-21.28 [[ 9.83479952e-01 1.65121065e-01 7.41769359e-02 1.86857925e+02] [-1.64889855e-01 9.86268398e-01 -9.27271364e-03 -1.11851563e+01] [-7.46894880e-02 -3.11149624e-03 9.97201985e-01 -2.12762022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.086296757 meters 0.07850861483559969 Centerline is valid? [True, True] Translation: X:186.92, Y:-11.19, Z:-21.28 [[ 9.83350481e-01 1.65479720e-01 7.50885734e-02 1.86919744e+02] [-1.65244175e-01 9.86208060e-01 -9.38217324e-03 -1.11922926e+01] [-7.56055157e-02 -3.18198483e-03 9.97132730e-01 -2.12817089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14629675700002 meters 0.07769786334319893 Centerline is valid? [True, True] Translation: X:186.98, Y:-11.20, Z:-21.29 [[ 9.83449781e-01 1.64217606e-01 7.65448036e-02 1.86980343e+02] [-1.63966930e-01 9.86419208e-01 -9.59123106e-03 -1.12010490e+01] [-7.70803136e-02 -3.11832238e-03 9.97020010e-01 -2.12855349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20629675700002 meters 0.07733849016373061 Centerline is valid? [True, True] Translation: X:187.04, Y:-11.21, Z:-21.29 [[ 9.83670242e-01 1.62383247e-01 7.76178895e-02 1.87041483e+02] [-1.62119572e-01 9.86723162e-01 -9.72859439e-03 -1.12063398e+01] [-7.81671301e-02 -3.01365020e-03 9.96935714e-01 -2.12911557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.266296757 meters 0.07729454628400736 Centerline is valid? [True, True] Translation: X:187.10, Y:-11.21, Z:-21.30 [[ 9.83421669e-01 1.62577026e-01 8.03152057e-02 1.87102829e+02] [-1.62295594e-01 9.86690865e-01 -1.00636211e-02 -1.12114262e+01] [-8.08823934e-02 -3.13802100e-03 9.96718712e-01 -2.12978027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.326296757 meters 0.07766354346552334 Centerline is valid? [True, True] Translation: X:187.16, Y:-11.21, Z:-21.30 [[ 9.83145156e-01 1.63328082e-01 8.21555851e-02 1.87163694e+02] [-1.63034206e-01 9.86566459e-01 -1.03184419e-02 -1.12141019e+01] [-8.27372360e-02 -3.24964447e-03 9.96566099e-01 -2.13035224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.386296757 meters 0.07733221786857945 Centerline is valid? [True, True] Translation: X:187.23, Y:-11.22, Z:-21.31 [[ 9.82776254e-01 1.64382298e-01 8.44351504e-02 1.87225121e+02] [-1.64074923e-01 9.86390770e-01 -1.06145706e-02 -1.12182123e+01] [-8.50309005e-02 -3.42194284e-03 9.96372439e-01 -2.13095302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.446296757 meters 0.07816592230365015 Centerline is valid? [True, True] Translation: X:187.29, Y:-11.22, Z:-21.32 [[ 9.82488290e-01 1.65834332e-01 8.49454781e-02 1.87285577e+02] [-1.65526552e-01 9.86147254e-01 -1.07030078e-02 -1.12189009e+01] [-8.55436762e-02 -3.54515226e-03 9.96328114e-01 -2.13177681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.506296757 meters 0.07860297859473224 Centerline is valid? [True, True] Translation: X:187.35, Y:-11.22, Z:-21.33 [[ 9.82217631e-01 1.68996130e-01 8.17852907e-02 1.87346782e+02] [-1.68720772e-01 9.85609897e-01 -1.03165435e-02 -1.12200021e+01] [-8.23518479e-02 -3.66578647e-03 9.96596576e-01 -2.13267972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.566296757 meters 0.07806806281259993 Centerline is valid? [True, True] Translation: X:187.41, Y:-11.23, Z:-21.33 [[ 9.81893373e-01 1.70446251e-01 8.26648625e-02 1.87408729e+02] [-1.70170243e-01 9.85359529e-01 -1.04252810e-02 -1.12255761e+01] [-8.32315601e-02 -3.83058535e-03 9.96522872e-01 -2.13332437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.626296757 meters 0.07758769608988395 Centerline is valid? [True, True] Translation: X:187.47, Y:-11.23, Z:-21.34 [[ 9.82197334e-01 1.68709650e-01 8.26162881e-02 1.87470539e+02] [-1.68425755e-01 9.85659010e-01 -1.04441729e-02 -1.12334219e+01] [-8.31935215e-02 -3.65647194e-03 9.96526702e-01 -2.13401450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.686296757 meters 0.0762901249220731 Centerline is valid? [True, True] Translation: X:187.53, Y:-11.25, Z:-21.35 [[ 9.83399175e-01 1.62360421e-01 8.10256578e-02 1.87530039e+02] [-1.62065169e-01 9.86726806e-01 -1.02513998e-02 -1.12457283e+01] [-8.16146101e-02 -3.05021879e-03 9.96659296e-01 -2.13458248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.746296757 meters 0.07570573999974331 Centerline is valid? [True, True] Translation: X:187.59, Y:-11.26, Z:-21.35 [[ 9.84406209e-01 1.54918166e-01 8.33353274e-02 1.87588738e+02] [-1.54578792e-01 9.87924148e-01 -1.05486498e-02 -1.12559037e+01] [-8.39631599e-02 -2.49771786e-03 9.96465729e-01 -2.13524509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.806296757 meters 0.0748923317080417 Centerline is valid? [True, True] Translation: X:187.65, Y:-11.27, Z:-21.36 [[ 9.85121021e-01 1.48860290e-01 8.58905620e-02 1.87648743e+02] [-1.48476753e-01 9.88856129e-01 -1.08724337e-02 -1.12674808e+01] [-8.65518823e-02 -2.04208876e-03 9.96245252e-01 -2.13583138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86629675700001 meters 0.07496962109479195 Centerline is valid? [True, True] Translation: X:187.71, Y:-11.27, Z:-21.37 [[ 9.85490125e-01 1.45548297e-01 8.73207161e-02 1.87708211e+02] [-1.45138804e-01 9.89349547e-01 -1.10544590e-02 -1.12735527e+01] [-8.79996686e-02 -1.77956420e-03 9.96118914e-01 -2.13668653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92629675700002 meters 0.07485283328744477 Centerline is valid? [True, True] Translation: X:187.77, Y:-11.28, Z:-21.37 [[ 9.85332248e-01 1.46031463e-01 8.82902745e-02 1.87769975e+02] [-1.45614167e-01 9.89278241e-01 -1.11837275e-02 -1.12796699e+01] [-8.89768235e-02 -1.83662742e-03 9.96032003e-01 -2.13723217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.986296757 meters 0.07486255132475607 Centerline is valid? [True, True] Translation: X:187.83, Y:-11.29, Z:-21.38 [[ 9.84942674e-01 1.47151353e-01 9.07436403e-02 1.87831324e+02] [-1.46713176e-01 9.89112026e-01 -1.15171179e-02 -1.12873955e+01] [-9.14503854e-02 -1.96958682e-03 9.95807686e-01 -2.13774271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.046296757 meters 0.07514167932737337 Centerline is valid? [True, True] Translation: X:187.89, Y:-11.29, Z:-21.39 [[ 9.84861655e-01 1.47415284e-01 9.11935039e-02 1.87893759e+02] [-1.46971836e-01 9.89072700e-01 -1.15963010e-02 -1.12918404e+01] [-9.19064771e-02 -1.98212447e-03 9.95765671e-01 -2.13867645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.106296757 meters 0.07525483528726169 Centerline is valid? [True, True] Translation: X:187.95, Y:-11.30, Z:-21.40 [[ 9.84746161e-01 1.48964828e-01 8.99137295e-02 1.87954348e+02] [-1.48537855e-01 9.88840326e-01 -1.14592738e-02 -1.12979911e+01] [-9.06173504e-02 -2.07111668e-03 9.95883631e-01 -2.13961250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.166296757 meters 0.07506237259519358 Centerline is valid? [True, True] Translation: X:188.02, Y:-11.31, Z:-21.40 [[ 9.84556223e-01 1.50159752e-01 9.00060647e-02 1.88015701e+02] [-1.49735057e-01 9.88659379e-01 -1.14910618e-02 -1.13069505e+01] [-9.07108350e-02 -2.16346679e-03 9.95874924e-01 -2.14030452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.226296757 meters 0.07496245776151421 Centerline is valid? [True, True] Translation: X:188.08, Y:-11.31, Z:-21.41 [[ 9.84066019e-01 1.53124144e-01 9.03718206e-02 1.88076659e+02] [-1.52706364e-01 9.88203987e-01 -1.15605300e-02 -1.13133104e+01] [-9.10759897e-02 -2.42402747e-03 9.95840995e-01 -2.14097091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.286296757 meters 0.07598014159612478 Centerline is valid? [True, True] Translation: X:188.14, Y:-11.31, Z:-21.42 [[ 9.83269595e-01 1.59081061e-01 8.87362324e-02 1.88135981e+02] [-1.58700333e-01 9.87261271e-01 -1.13748085e-02 -1.13148131e+01] [-8.94153622e-02 -2.89796631e-03 9.95990208e-01 -2.14187418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.346296757 meters 0.0767245362012126 Centerline is valid? [True, True] Translation: X:188.20, Y:-11.32, Z:-21.43 [[ 9.82583067e-01 1.63714575e-01 8.79093570e-02 1.88196303e+02] [-1.63358832e-01 9.86502289e-01 -1.12750337e-02 -1.13187438e+01] [-8.85686692e-02 -3.28211270e-03 9.96064666e-01 -2.14261338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.406296757 meters 0.07694354855471498 Centerline is valid? [True, True] Translation: X:188.26, Y:-11.32, Z:-21.43 [[ 9.81961891e-01 1.66266913e-01 9.00342102e-02 1.88257839e+02] [-1.65903670e-01 9.86074252e-01 -1.15560665e-02 -1.13241242e+01] [-9.07018079e-02 -3.58938897e-03 9.95871627e-01 -2.14325574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.466296757 meters 0.07709494855814142 Centerline is valid? [True, True] Translation: X:188.32, Y:-11.33, Z:-21.44 [[ 9.81605094e-01 1.67664353e-01 9.13241688e-02 1.88318482e+02] [-1.67294521e-01 9.85837008e-01 -1.17446457e-02 -1.13293734e+01] [-9.19999038e-02 -3.74942898e-03 9.95751957e-01 -2.14404930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.526296757 meters 0.07573488240507106 Centerline is valid? [True, True] Translation: X:188.38, Y:-11.34, Z:-21.45 [[ 9.81721936e-01 1.67315017e-01 9.07068099e-02 1.88379580e+02] [-1.66946872e-01 9.85896649e-01 -1.16849884e-02 -1.13418883e+01] [-9.13826139e-02 -3.67180877e-03 9.95809086e-01 -2.14462410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.586296757 meters 0.07548214101922603 Centerline is valid? [True, True] Translation: X:188.44, Y:-11.35, Z:-21.45 [[ 9.81987644e-01 1.65798532e-01 9.06151926e-02 1.88439535e+02] [-1.65422564e-01 9.86153420e-01 -1.16964430e-02 -1.13509396e+01] [-9.12997352e-02 -3.50403503e-03 9.95817293e-01 -2.14538133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64629675700002 meters 0.07520625674629665 Centerline is valid? [True, True] Translation: X:188.50, Y:-11.36, Z:-21.46 [[ 9.82185452e-01 1.64261016e-01 9.12691474e-02 1.88499754e+02] [-1.63871007e-01 9.86411172e-01 -1.18022563e-02 -1.13602069e+01] [-9.19675572e-02 -3.36436266e-03 9.95756320e-01 -2.14593800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70629675700002 meters 0.07442759999785588 Centerline is valid? [True, True] Translation: X:188.56, Y:-11.37, Z:-21.46 [[ 9.82160500e-01 1.64716142e-01 9.07157373e-02 1.88560828e+02] [-1.64330961e-01 9.86335267e-01 -1.17505620e-02 -1.13721215e+01] [-9.14116382e-02 -3.36646643e-03 9.95807501e-01 -2.14625106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.766296757 meters 0.07476743107331756 Centerline is valid? [True, True] Translation: X:188.62, Y:-11.38, Z:-21.47 [[ 9.81919252e-01 1.67281315e-01 8.86089419e-02 1.88620901e+02] [-1.66922044e-01 9.85903005e-01 -1.15020339e-02 -1.13780136e+01] [-8.92838975e-02 -3.49671718e-03 9.96000080e-01 -2.14695290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.826296757 meters 0.07531247663411803 Centerline is valid? [True, True] Translation: X:188.68, Y:-11.38, Z:-21.48 [[ 9.81720477e-01 1.70270475e-01 8.50462846e-02 1.88681201e+02] [-1.69949422e-01 9.85390783e-01 -1.10543223e-02 -1.13832568e+01] [-8.56860497e-02 -3.60131236e-03 9.96315679e-01 -2.14781124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.886296757 meters 0.07600057316393104 Centerline is valid? [True, True] Translation: X:188.74, Y:-11.39, Z:-21.49 [[ 9.81563701e-01 1.72885475e-01 8.15065287e-02 1.88741212e+02] [-1.72599298e-01 9.84935112e-01 -1.05975478e-02 -1.13887734e+01] [-8.21108041e-02 -3.66580139e-03 9.96616465e-01 -2.14871264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.946296757 meters 0.07713031896243464 Centerline is valid? [True, True] Translation: X:188.80, Y:-11.39, Z:-21.49 [[ 9.80930390e-01 1.76207404e-01 8.20153669e-02 1.88800926e+02] [-1.75929225e-01 9.84345061e-01 -1.06634244e-02 -1.13940617e+01] [-8.26103956e-02 -3.96882287e-03 9.96574017e-01 -2.14947031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.006296757 meters 0.07786961982187766 Centerline is valid? [True, True] Translation: X:188.86, Y:-11.40, Z:-21.50 [[ 9.80351616e-01 1.78331741e-01 8.43119159e-02 1.88862097e+02] [-1.78045007e-01 9.83961208e-01 -1.09688516e-02 -1.13999090e+01] [-8.49157491e-02 -4.25798427e-03 9.96379037e-01 -2.15003545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.066296757 meters 0.07849023757947812 Centerline is valid? [True, True] Translation: X:188.92, Y:-11.41, Z:-21.51 [[ 9.80161372e-01 1.78845542e-01 8.54280859e-02 1.88923113e+02] [-1.78551465e-01 9.83867586e-01 -1.11331334e-02 -1.14065155e+01] [-8.60410360e-02 -4.34104263e-03 9.96282136e-01 -2.15078601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.126296757 meters 0.078581976876042 Centerline is valid? [True, True] Translation: X:188.98, Y:-11.41, Z:-21.52 [[ 9.80108200e-01 1.78890875e-01 8.59416679e-02 1.88984623e+02] [-1.78591630e-01 9.83859301e-01 -1.12207524e-02 -1.14135991e+01] [-8.65617995e-02 -4.35091114e-03 9.96236982e-01 -2.15152582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.186296757 meters 0.07866344053671588 Centerline is valid? [True, True] Translation: X:189.05, Y:-11.42, Z:-21.52 [[ 9.80335548e-01 1.78372536e-01 8.44123950e-02 1.89045340e+02] [-1.78080281e-01 9.83954025e-01 -1.10403750e-02 -1.14215498e+01] [-8.50272155e-02 -4.20891095e-03 9.96369739e-01 -2.15228230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.246296757 meters 0.07832791828486964 Centerline is valid? [True, True] Translation: X:189.11, Y:-11.43, Z:-21.53 [[ 9.80523153e-01 1.76892070e-01 8.53436690e-02 1.89105183e+02] [-1.76585433e-01 9.84221718e-01 -1.11890052e-02 -1.14281581e+01] [-8.59763389e-02 -4.09937016e-03 9.96288745e-01 -2.15306248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.306296757 meters 0.07735371126509823 Centerline is valid? [True, True] Translation: X:189.17, Y:-11.44, Z:-21.54 [[ 9.80480969e-01 1.78048781e-01 8.34008479e-02 1.89165702e+02] [-1.77760286e-01 9.84013093e-01 -1.09321895e-02 -1.14384226e+01] [-8.40139893e-02 -4.10655488e-03 9.96456113e-01 -2.15358013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36629675700001 meters 0.080627327205271 Centerline is valid? [True, True] Translation: X:189.23, Y:-11.44, Z:-21.55 [[ 9.80350649e-01 1.79962684e-01 8.07838905e-02 1.89225230e+02] [-1.79696579e-01 9.83664840e-01 -1.06123537e-02 -1.14361919e+01] [-8.13741004e-02 -4.11276089e-03 9.96675143e-01 -2.15479128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42629675700002 meters 0.07893624597196154 Centerline is valid? [True, True] Translation: X:189.29, Y:-11.45, Z:-21.55 [[ 9.80083441e-01 1.80299335e-01 8.32382027e-02 1.89286515e+02] [-1.80018495e-01 9.83602507e-01 -1.09292603e-02 -1.14473372e+01] [-8.38438432e-02 -4.27282893e-03 9.96469745e-01 -2.15511220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.486296757 meters 0.07931133961937946 Centerline is valid? [True, True] Translation: X:189.35, Y:-11.45, Z:-21.56 [[ 9.80082672e-01 1.79757913e-01 8.44100005e-02 1.89348110e+02] [-1.79465393e-01 9.83701626e-01 -1.11032967e-02 -1.14537054e+01] [-8.50301602e-02 -4.26652524e-03 9.96369243e-01 -2.15585190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.546296757 meters 0.07621935472966845 Centerline is valid? [True, True] Translation: X:189.41, Y:-11.47, Z:-21.56 [[ 9.80324525e-01 1.78352023e-01 8.45835829e-02 1.89408184e+02] [-1.78051458e-01 9.83958060e-01 -1.11451778e-02 -1.14718706e+01] [-8.52144632e-02 -4.13433917e-03 9.96354055e-01 -2.15609322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.606296757 meters 0.07590968390049271 Centerline is valid? [True, True] Translation: X:189.47, Y:-11.48, Z:-21.57 [[ 9.80729500e-01 1.75396976e-01 8.60554940e-02 1.89468526e+02] [-1.75072181e-01 9.84489992e-01 -1.13660974e-02 -1.14800233e+01] [-8.67143516e-02 -3.91885596e-03 9.96225509e-01 -2.15677004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.666296757 meters 0.07416033512685559 Centerline is valid? [True, True] Translation: X:189.53, Y:-11.50, Z:-21.57 [[ 9.81712555e-01 1.70495358e-01 8.46864331e-02 1.89528186e+02] [-1.70162368e-01 9.85352521e-01 -1.11883073e-02 -1.14950637e+01] [-8.53535448e-02 -3.42674225e-03 9.96344835e-01 -2.15739427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.726296757 meters 0.07361282302808166 Centerline is valid? [True, True] Translation: X:189.59, Y:-11.50, Z:-21.58 [[ 9.82216771e-01 1.66753303e-01 8.62760138e-02 1.89588097e+02] [-1.66392949e-01 9.85993598e-01 -1.14022915e-02 -1.15030537e+01] [-8.69689671e-02 -3.15619837e-03 9.96206021e-01 -2.15815622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.786296757 meters 0.07284498689528626 Centerline is valid? [True, True] Translation: X:189.65, Y:-11.51, Z:-21.59 [[ 9.82781158e-01 1.63672821e-01 8.57461494e-02 1.89648811e+02] [-1.63305106e-01 9.86510517e-01 -1.13332076e-02 -1.15131666e+01] [-8.64444162e-02 -2.86472108e-03 9.96252556e-01 -2.15879942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.846296757 meters 0.07242765899826603 Centerline is valid? [True, True] Translation: X:189.71, Y:-11.52, Z:-21.60 [[ 9.83247774e-01 1.61598939e-01 8.43184301e-02 1.89709699e+02] [-1.61235786e-01 9.86852991e-01 -1.11442810e-02 -1.15217405e+01] [-8.50107989e-02 -2.63755891e-03 9.96376539e-01 -2.15957432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.906296757 meters 0.07237766463157591 Centerline is valid? [True, True] Translation: X:189.77, Y:-11.53, Z:-21.60 [[ 9.83663289e-01 1.60632413e-01 8.12635360e-02 1.89770537e+02] [-1.60290218e-01 9.87011280e-01 -1.07600523e-02 -1.15275335e+01] [-8.19364398e-02 -2.44148149e-03 9.96634566e-01 -2.16045228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.966296757 meters 0.07279522974809059 Centerline is valid? [True, True] Translation: X:189.83, Y:-11.53, Z:-21.61 [[ 9.83466622e-01 1.62044686e-01 8.08388702e-02 1.89832083e+02] [-1.61709367e-01 9.86780182e-01 -1.07215743e-02 -1.15317825e+01] [-8.15075692e-02 -2.52809212e-03 9.96669516e-01 -2.16105689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.026296757 meters 0.07257524214050297 Centerline is valid? [True, True] Translation: X:189.89, Y:-11.54, Z:-21.62 [[ 9.83446664e-01 1.61374428e-01 8.24072421e-02 1.89893870e+02] [-1.61021934e-01 9.86890085e-01 -1.09497531e-02 -1.15384014e+01] [-8.30939003e-02 -2.50087531e-03 9.96538584e-01 -2.16153547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.086296757 meters 0.0727891209925148 Centerline is valid? [True, True] Translation: X:189.96, Y:-11.55, Z:-21.62 [[ 9.83349249e-01 1.61793843e-01 8.27466390e-02 1.89955987e+02] [-1.61438315e-01 9.86821343e-01 -1.10139972e-02 -1.15453415e+01] [-8.34381463e-02 -2.52787211e-03 9.96509752e-01 -2.16224943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14629675700002 meters 0.07313034097031235 Centerline is valid? [True, True] Translation: X:190.02, Y:-11.55, Z:-21.63 [[ 9.83355447e-01 1.62351724e-01 8.15719473e-02 1.90016427e+02] [-1.62006217e-01 9.86729746e-01 -1.08809304e-02 -1.15502234e+01] [-8.22560046e-02 -2.51534043e-03 9.96608059e-01 -2.16296246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20629675700002 meters 0.07342710756290047 Centerline is valid? [True, True] Translation: X:190.08, Y:-11.56, Z:-21.64 [[ 9.83466573e-01 1.63304714e-01 7.82628311e-02 1.90077102e+02] [-1.62987974e-01 9.86572593e-01 -1.04613088e-02 -1.15572206e+01] [-7.89203453e-02 -2.46755279e-03 9.96877871e-01 -2.16366834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.266296757 meters 0.07247838610605765 Centerline is valid? [True, True] Translation: X:190.14, Y:-11.57, Z:-21.64 [[ 9.83903597e-01 1.61859846e-01 7.57304504e-02 1.90138665e+02] [-1.61559359e-01 9.86811124e-01 -1.01182873e-02 -1.15686939e+01] [-7.63693953e-02 -2.27954377e-03 9.97076988e-01 -2.16388442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.326296757 meters 0.07188103836117149 Centerline is valid? [True, True] Translation: X:190.20, Y:-11.58, Z:-21.64 [[ 9.84094130e-01 1.59721013e-01 7.77685138e-02 1.90199519e+02] [-1.59395447e-01 9.87159863e-01 -1.04161549e-02 -1.15776731e+01] [-7.84336342e-02 -2.14547020e-03 9.96917029e-01 -2.16434759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.386296757 meters 0.071779576174255 Centerline is valid? [True, True] Translation: X:190.26, Y:-11.58, Z:-21.65 [[ 9.84279204e-01 1.58530422e-01 7.78623994e-02 1.90260420e+02] [-1.58200447e-01 9.87351956e-01 -1.04275299e-02 -1.15831971e+01] [-7.85306730e-02 -2.05426551e-03 9.96909581e-01 -2.16504177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.446296757 meters 0.07206307523199829 Centerline is valid? [True, True] Translation: X:190.32, Y:-11.59, Z:-21.66 [[ 9.84142089e-01 1.59093120e-01 7.84457047e-02 1.90322540e+02] [-1.58758555e-01 9.87261353e-01 -1.05233724e-02 -1.15877149e+01] [-7.91206087e-02 -2.09743301e-03 9.96862844e-01 -2.16569958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.506296757 meters 0.0721866479315148 Centerline is valid? [True, True] Translation: X:190.38, Y:-11.59, Z:-21.66 [[ 9.84102189e-01 1.59881118e-01 7.73363383e-02 1.90384346e+02] [-1.59556962e-01 9.87134017e-01 -1.03927079e-02 -1.15937335e+01] [-7.80029280e-02 -2.11206463e-03 9.96950893e-01 -2.16628466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.566296757 meters 0.07178823071697382 Centerline is valid? [True, True] Translation: X:190.45, Y:-11.60, Z:-21.67 [[ 9.84050990e-01 1.60132854e-01 7.74668861e-02 1.90446536e+02] [-1.59807018e-01 9.87093198e-01 -1.04276416e-02 -1.16010777e+01] [-7.81368443e-02 -2.11842098e-03 9.96940392e-01 -2.16681091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.626296757 meters 0.07190300420520909 Centerline is valid? [True, True] Translation: X:190.51, Y:-11.61, Z:-21.68 [[ 9.84013224e-01 1.61021432e-01 7.60925292e-02 1.90507473e+02] [-1.60707935e-01 9.86948618e-01 -1.02657366e-02 -1.16058027e+01] [-7.67524201e-02 -2.12705272e-03 9.97047913e-01 -2.16754693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.686296757 meters 0.07166834349827436 Centerline is valid? [True, True] Translation: X:190.57, Y:-11.61, Z:-21.68 [[ 9.84041568e-01 1.60850525e-01 7.60874544e-02 1.90569069e+02] [-1.60535269e-01 9.86976551e-01 -1.02818254e-02 -1.16134752e+01] [-7.67503703e-02 -2.09697642e-03 9.97048135e-01 -2.16811988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.746296757 meters 0.07290942464368604 Centerline is valid? [True, True] Translation: X:190.63, Y:-11.62, Z:-21.69 [[ 9.83950366e-01 1.61538672e-01 7.58085434e-02 1.90629778e+02] [-1.61226253e-01 9.86864099e-01 -1.02638121e-02 -1.16158379e+01] [-7.64707324e-02 -2.12324574e-03 9.97069566e-01 -2.16909388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.806296757 meters 0.07229432855801404 Centerline is valid? [True, True] Translation: X:190.69, Y:-11.63, Z:-21.69 [[ 9.83888436e-01 1.62193996e-01 7.52107237e-02 1.90690761e+02] [-1.61887152e-01 9.86756568e-01 -1.01992677e-02 -1.16264631e+01] [-7.58689356e-02 -2.14070831e-03 9.97115501e-01 -2.16926330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86629675700001 meters 0.07255540341163332 Centerline is valid? [True, True] Translation: X:190.75, Y:-11.63, Z:-21.70 [[ 9.83902397e-01 1.62811313e-01 7.36786960e-02 1.90751468e+02] [-1.62517189e-01 9.86654935e-01 -1.00101336e-02 -1.16334764e+01] [-7.43252120e-02 -2.12506009e-03 9.97231792e-01 -2.17007696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92629675700002 meters 0.07263315715773752 Centerline is valid? [True, True] Translation: X:190.81, Y:-11.64, Z:-21.71 [[ 9.83687603e-01 1.64298524e-01 7.32440716e-02 1.90812486e+02] [-1.64010787e-01 9.86408191e-01 -9.96711037e-03 -1.16404915e+01] [-7.38861337e-02 -2.20829489e-03 9.97264239e-01 -2.17075510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.986296757 meters 0.07356053892930083 Centerline is valid? [True, True] Translation: X:190.87, Y:-11.64, Z:-21.72 [[ 9.82970328e-01 1.68274236e-01 7.38452188e-02 1.90873274e+02] [-1.67991184e-01 9.85737038e-01 -1.00723914e-02 -1.16408117e+01] [-7.44868912e-02 -2.50448389e-03 9.97218848e-01 -2.17169637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.046296757 meters 0.07379336025614792 Centerline is valid? [True, True] Translation: X:190.93, Y:-11.65, Z:-21.72 [[ 9.82534480e-01 1.71230550e-01 7.28429499e-02 1.90934426e+02] [-1.70962399e-01 9.85227342e-01 -9.94698367e-03 -1.16453798e+01] [-7.34700934e-02 -2.68015103e-03 9.97293819e-01 -2.17228236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.106296757 meters 0.0737943163875537 Centerline is valid? [True, True] Translation: X:191.00, Y:-11.65, Z:-21.73 [[ 9.82444354e-01 1.71618835e-01 7.31441530e-02 1.90996661e+02] [-1.71349996e-01 9.85159653e-01 -9.98188641e-03 -1.16517038e+01] [-7.37717481e-02 -2.72660235e-03 9.97271425e-01 -2.17293909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.166296757 meters 0.07367816182323733 Centerline is valid? [True, True] Translation: X:191.06, Y:-11.66, Z:-21.74 [[ 9.82383281e-01 1.71426008e-01 7.44057311e-02 1.91058626e+02] [-1.71145234e-01 9.85193208e-01 -1.01809699e-02 -1.16581336e+01] [-7.50493040e-02 -2.73257160e-03 9.97176080e-01 -2.17359576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.226296757 meters 0.07384771503567826 Centerline is valid? [True, True] Translation: X:191.12, Y:-11.66, Z:-21.74 [[ 9.82118474e-01 1.72929961e-01 7.44213073e-02 1.91119919e+02] [-1.72652908e-01 9.84930024e-01 -1.01892852e-02 -1.16635798e+01] [-7.50618127e-02 -2.84196993e-03 9.97174833e-01 -2.17432410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.286296757 meters 0.07417411176195436 Centerline is valid? [True, True] Translation: X:191.18, Y:-11.67, Z:-21.75 [[ 9.82029184e-01 1.73288255e-01 7.47653831e-02 1.91180811e+02] [-1.73008264e-01 9.84866984e-01 -1.02549779e-02 -1.16710081e+01] [-7.54110246e-02 -2.86434155e-03 9.97148421e-01 -2.17504366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.346296757 meters 0.07422120807504526 Centerline is valid? [True, True] Translation: X:191.24, Y:-11.68, Z:-21.76 [[ 9.81936442e-01 1.73750551e-01 7.49104084e-02 1.91242647e+02] [-1.73469335e-01 9.84785467e-01 -1.02943728e-02 -1.16799772e+01] [-7.55593344e-02 -2.88623888e-03 9.97137130e-01 -2.17563857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.406296757 meters 0.0746000317699084 Centerline is valid? [True, True] Translation: X:191.30, Y:-11.69, Z:-21.77 [[ 9.82338945e-01 1.72232509e-01 7.31174405e-02 1.91303202e+02] [-1.71958851e-01 9.85052673e-01 -1.00689633e-02 -1.16883959e+01] [-7.37587331e-02 -2.68205632e-03 9.97272508e-01 -2.17657186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.466296757 meters 0.0747315213575534 Centerline is valid? [True, True] Translation: X:191.36, Y:-11.70, Z:-21.77 [[ 9.82933822e-01 1.69635940e-01 7.11670497e-02 1.91363179e+02] [-1.69368540e-01 9.85503871e-01 -9.81928060e-03 -1.17023553e+01] [-7.18011058e-02 -2.40175631e-03 9.97416078e-01 -2.17711793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.526296757 meters 0.07480807724219073 Centerline is valid? [True, True] Translation: X:191.42, Y:-11.71, Z:-21.78 [[ 9.83481207e-01 1.67285322e-01 6.91399743e-02 1.91423467e+02] [-1.67026048e-01 9.85906180e-01 -9.55530479e-03 -1.17134944e+01] [-6.97639901e-02 -2.15071393e-03 9.97561206e-01 -2.17795737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.586296757 meters 0.0748151765390363 Centerline is valid? [True, True] Translation: X:191.48, Y:-11.73, Z:-21.79 [[ 9.83734541e-01 1.65677288e-01 6.94074077e-02 1.91484254e+02] [-1.65410706e-01 9.86177941e-01 -9.61081864e-03 -1.17256971e+01] [-7.00403488e-02 -2.02623404e-03 9.97542101e-01 -2.17872740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64629675700002 meters 0.07374183939173208 Centerline is valid? [True, True] Translation: X:191.54, Y:-11.74, Z:-21.79 [[ 9.84342582e-01 1.61408459e-01 7.08307181e-02 1.91543648e+02] [-1.61117956e-01 9.86886167e-01 -9.83344980e-03 -1.17428133e+01] [-7.14890579e-02 -1.73261716e-03 9.97439879e-01 -2.17880491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70629675700002 meters 0.07317551558910133 Centerline is valid? [True, True] Translation: X:191.60, Y:-11.76, Z:-21.79 [[ 9.84962655e-01 1.57119938e-01 7.18463133e-02 1.91603807e+02] [-1.56809639e-01 9.87578476e-01 -9.97449200e-03 -1.17557914e+01] [-7.25210642e-02 -1.44169232e-03 9.97365839e-01 -2.17930084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.766296757 meters 0.07340458671995302 Centerline is valid? [True, True] Translation: X:191.66, Y:-11.76, Z:-21.80 [[ 9.85021286e-01 1.55533881e-01 7.44464821e-02 1.91664084e+02] [-1.55195798e-01 9.87829611e-01 -1.03404241e-02 -1.17639697e+01] [-7.51487257e-02 -1.36824340e-03 9.97171398e-01 -2.17992851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.826296757 meters 0.07367179496437146 Centerline is valid? [True, True] Translation: X:191.72, Y:-11.77, Z:-21.81 [[ 9.84525238e-01 1.59295886e-01 7.30402332e-02 1.91723758e+02] [-1.58980763e-01 9.87229550e-01 -1.01455268e-02 -1.17714333e+01] [-7.37236173e-02 -1.62346490e-03 9.97277390e-01 -2.18065502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.886296757 meters 0.07442498029925261 Centerline is valid? [True, True] Translation: X:191.78, Y:-11.77, Z:-21.82 [[ 9.83847005e-01 1.63719215e-01 7.23953706e-02 1.91783365e+02] [-1.63420861e-01 9.86505095e-01 -1.00657703e-02 -1.17748116e+01] [-7.30663620e-02 -1.92773585e-03 9.97325218e-01 -2.18179963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.946296757 meters 0.0742483135306137 Centerline is valid? [True, True] Translation: X:191.84, Y:-11.79, Z:-21.82 [[ 9.83480937e-01 1.66490723e-01 7.10358071e-02 1.91843801e+02] [-1.66211183e-01 9.86040784e-01 -9.86986508e-03 -1.17860696e+01] [-7.16874439e-02 -2.10012135e-03 9.97424934e-01 -2.18227054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.006296757 meters 0.07472079130779113 Centerline is valid? [True, True] Translation: X:191.90, Y:-11.79, Z:-21.83 [[ 9.83363216e-01 1.66952673e-01 7.15792656e-02 1.91903817e+02] [-1.66668828e-01 9.85962602e-01 -9.96234775e-03 -1.17941189e+01] [-7.22377196e-02 -2.13342599e-03 9.97385161e-01 -2.18328766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.066296757 meters 0.07352668812131953 Centerline is valid? [True, True] Translation: X:191.96, Y:-11.81, Z:-21.84 [[ 9.83249339e-01 1.66979310e-01 7.30660498e-02 1.91964369e+02] [-1.66682392e-01 9.85958026e-01 -1.01858376e-02 -1.18085195e+01] [-7.37408823e-02 -2.16360593e-03 9.97275088e-01 -2.18372309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.126296757 meters 0.0733756609006359 Centerline is valid? [True, True] Translation: X:192.02, Y:-11.82, Z:-21.85 [[ 9.83449750e-01 1.64403571e-01 7.61449633e-02 1.92023379e+02] [-1.64071255e-01 9.86391078e-01 -1.06425952e-02 -1.18204688e+01] [-7.68583930e-02 -2.02674216e-03 9.97039959e-01 -2.18451945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.186296757 meters 0.0717661889666098 Centerline is valid? [True, True] Translation: X:192.08, Y:-11.84, Z:-21.85 [[ 9.83975002e-01 1.59921543e-01 7.88561742e-02 1.92082502e+02] [-1.59550662e-01 9.87128202e-01 -1.10226245e-02 -1.18403110e+01] [-7.96039086e-02 -1.73556781e-03 9.96825063e-01 -2.18456286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.246296757 meters 0.07115365304349688 Centerline is valid? [True, True] Translation: X:192.14, Y:-11.86, Z:-21.85 [[ 9.84882297e-01 1.53382846e-01 8.05019493e-02 1.92141304e+02] [-1.52974252e-01 9.88166075e-01 -1.12555242e-02 -1.18571532e+01] [-8.12756996e-02 -1.22935904e-03 9.96690900e-01 -2.18522100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.306296757 meters 0.07105665319753429 Centerline is valid? [True, True] Translation: X:192.20, Y:-11.87, Z:-21.86 [[ 9.85384173e-01 1.50174975e-01 8.04083886e-02 1.92199836e+02] [-1.49756966e-01 9.88658961e-01 -1.12387582e-02 -1.18728159e+01] [-8.11842542e-02 -9.67221931e-04 9.96698641e-01 -2.18610539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36629675700001 meters 0.07112757381869064 Centerline is valid? [True, True] Translation: X:192.26, Y:-11.88, Z:-21.87 [[ 9.85009332e-01 1.51732783e-01 8.20595981e-02 1.92260554e+02] [-1.51301203e-01 9.88420940e-01 -1.14887536e-02 -1.18829844e+01] [-8.28526456e-02 -1.09918644e-03 9.96561203e-01 -2.18681222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42629675700002 meters 0.07175567670965732 Centerline is valid? [True, True] Translation: X:192.32, Y:-11.89, Z:-21.88 [[ 9.84224730e-01 1.57012885e-01 8.15391660e-02 1.92320157e+02] [-1.56602732e-01 9.87595402e-01 -1.14413940e-02 -1.18907342e+01] [-8.23241517e-02 -1.50835325e-03 9.96604465e-01 -2.18758881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.486296757 meters 0.0726371257862862 Centerline is valid? [True, True] Translation: X:192.38, Y:-11.90, Z:-21.88 [[ 9.83006577e-01 1.64886921e-01 8.06868784e-02 1.92380152e+02] [-1.64511488e-01 9.86310153e-01 -1.13248746e-02 -1.18963774e+01] [-8.14496110e-02 -2.14149228e-03 9.96675160e-01 -2.18847376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.546296757 meters 0.07302298756675499 Centerline is valid? [True, True] Translation: X:192.44, Y:-11.91, Z:-21.89 [[ 9.82029261e-01 1.70861601e-01 8.01551276e-02 1.92440136e+02] [-1.70510845e-01 9.85291560e-01 -1.12513591e-02 -1.19070394e+01] [-8.08985960e-02 -2.61815462e-03 9.96718898e-01 -2.18908312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.606296757 meters 0.07438602922374168 Centerline is valid? [True, True] Translation: X:192.50, Y:-11.91, Z:-21.90 [[ 9.81615374e-01 1.73215542e-01 8.01725300e-02 1.92499976e+02] [-1.72872187e-01 9.84879933e-01 -1.12571563e-02 -1.19149830e+01] [-8.09102305e-02 -2.80940297e-03 9.96717433e-01 -2.19014172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.666296757 meters 0.07340209439984732 Centerline is valid? [True, True] Translation: X:192.56, Y:-11.93, Z:-21.91 [[ 9.81558205e-01 1.72616402e-01 8.21405333e-02 1.92560185e+02] [-1.72253771e-01 9.84985069e-01 -1.15348198e-02 -1.19317710e+01] [-8.28982980e-02 -2.82691962e-03 9.96554003e-01 -2.19061496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.726296757 meters 0.07295914404213372 Centerline is valid? [True, True] Translation: X:192.62, Y:-11.95, Z:-21.91 [[ 9.81644965e-01 1.70564723e-01 8.53278255e-02 1.92619853e+02] [-1.70163230e-01 9.85342694e-01 -1.20104506e-02 -1.19461112e+01] [-8.61257086e-02 -2.72965999e-03 9.96280538e-01 -2.19118193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.786296757 meters 0.07286824856623157 Centerline is valid? [True, True] Translation: X:192.68, Y:-11.96, Z:-21.92 [[ 9.81476554e-01 1.70487184e-01 8.73950423e-02 1.92680563e+02] [-1.70065788e-01 9.85355942e-01 -1.23001983e-02 -1.19585755e+01] [-8.82122504e-02 -2.79055051e-03 9.96097792e-01 -2.19176075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.846296757 meters 0.0728158665691198 Centerline is valid? [True, True] Translation: X:192.74, Y:-11.97, Z:-21.92 [[ 9.81239938e-01 1.71075590e-01 8.88894075e-02 1.92741498e+02] [-1.70640039e-01 9.85253726e-01 -1.25328896e-02 -1.19689933e+01] [-8.97226914e-02 -2.87032009e-03 9.95962650e-01 -2.19238039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.906296757 meters 0.07239618199049008 Centerline is valid? [True, True] Translation: X:192.80, Y:-11.98, Z:-21.93 [[ 9.80820644e-01 1.73099572e-01 8.95957773e-02 1.92801821e+02] [-1.72663249e-01 9.84899590e-01 -1.26570538e-02 -1.19806747e+01] [-9.04337749e-02 -3.05559831e-03 9.95897784e-01 -2.19295769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.966296757 meters 0.07344566561008446 Centerline is valid? [True, True] Translation: X:192.86, Y:-11.99, Z:-21.94 [[ 9.80337070e-01 1.76103352e-01 8.90327947e-02 1.92861501e+02] [-1.75683565e-01 9.84366159e-01 -1.25916352e-02 -1.19874331e+01] [-8.98582994e-02 -3.29755207e-03 9.95949101e-01 -2.19373044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.026296757 meters 0.07405143289032287 Centerline is valid? [True, True] Translation: X:192.92, Y:-12.00, Z:-21.95 [[ 9.80009381e-01 1.78985937e-01 8.68656902e-02 1.92921523e+02] [-1.78597414e-01 9.83845506e-01 -1.22875808e-02 -1.19957428e+01] [-8.76617231e-02 -3.47204310e-03 9.96144250e-01 -2.19466277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.086296757 meters 0.0749187197111595 Centerline is valid? [True, True] Translation: X:192.98, Y:-12.00, Z:-21.96 [[ 9.79706852e-01 1.81302510e-01 8.54627623e-02 1.92980264e+02] [-1.80934890e-01 9.83420727e-01 -1.20929244e-02 -1.20028240e+01] [-8.62383294e-02 -3.61567456e-03 9.96267975e-01 -2.19573223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14629675700002 meters 0.07407736355744132 Centerline is valid? [True, True] Translation: X:193.04, Y:-12.02, Z:-21.96 [[ 9.79624614e-01 1.81726173e-01 8.55056302e-02 1.93040687e+02] [-1.81360356e-01 9.83342358e-01 -1.20924815e-02 -1.20183862e+01] [-8.62788285e-02 -3.66123898e-03 9.96264302e-01 -2.19645007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20629675700002 meters 0.07456236069849305 Centerline is valid? [True, True] Translation: X:193.10, Y:-12.03, Z:-21.97 [[ 9.79702970e-01 1.80299475e-01 8.76024574e-02 1.93099816e+02] [-1.79907076e-01 9.83605202e-01 -1.24197971e-02 -1.20297592e+01] [-8.84055157e-02 -3.59258988e-03 9.96078088e-01 -2.19710470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.266296757 meters 0.07379950746193882 Centerline is valid? [True, True] Translation: X:193.16, Y:-12.05, Z:-21.98 [[ 9.80174836e-01 1.75687642e-01 9.16031878e-02 1.93158977e+02] [-1.75237443e-01 9.84440392e-01 -1.29982274e-02 -1.20462107e+01] [-9.24615060e-02 -3.31177302e-03 9.95710752e-01 -2.19754833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.326296757 meters 0.07276626206388369 Centerline is valid? [True, True] Translation: X:193.22, Y:-12.06, Z:-21.98 [[ 9.81007733e-01 1.69247922e-01 9.47574192e-02 1.93217448e+02] [-1.68735499e-01 9.85569555e-01 -1.34529844e-02 -1.20624102e+01] [-9.56669171e-02 -2.79145868e-03 9.95409488e-01 -2.19794038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.386296757 meters 0.07164329037617267 Centerline is valid? [True, True] Translation: X:193.28, Y:-12.08, Z:-21.99 [[ 9.81940081e-01 1.63338652e-01 9.54681245e-02 1.93276501e+02] [-1.62790498e-01 9.86567539e-01 -1.35552841e-02 -1.20790795e+01] [-9.63998544e-02 -2.23082676e-03 9.95340189e-01 -2.19861283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.446296757 meters 0.07121290115546648 Centerline is valid? [True, True] Translation: X:193.34, Y:-12.09, Z:-21.99 [[ 9.82740542e-01 1.58948160e-01 9.46388416e-02 1.93336446e+02] [-1.58388935e-01 9.87285323e-01 -1.34401249e-02 -1.20931661e+01] [-9.55718224e-02 -1.78158975e-03 9.95420942e-01 -2.19940242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.506296757 meters 0.07102321783937496 Centerline is valid? [True, True] Translation: X:193.40, Y:-12.10, Z:-22.00 [[ 9.82980177e-01 1.57849008e-01 9.39875677e-02 1.93395761e+02] [-1.57292220e-01 9.87461864e-01 -1.33500812e-02 -1.21045531e+01] [-9.49164359e-02 -1.66064799e-03 9.95483858e-01 -2.20017214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.566296757 meters 0.07148676211341735 Centerline is valid? [True, True] Translation: X:193.46, Y:-12.11, Z:-22.01 [[ 9.82794107e-01 1.61024218e-01 9.04817350e-02 1.93456100e+02] [-1.60519850e-01 9.86948677e-01 -1.28719389e-02 -1.21134349e+01] [-9.13735225e-02 -1.87364882e-03 9.95814927e-01 -2.20090789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.626296757 meters 0.07241192501017805 Centerline is valid? [True, True] Translation: X:193.52, Y:-12.12, Z:-22.02 [[ 9.82274290e-01 1.65754699e-01 8.75362679e-02 1.93515823e+02] [-1.65299598e-01 9.86164521e-01 -1.24732115e-02 -1.21192117e+01] [-8.83926551e-02 -2.21759494e-03 9.96083240e-01 -2.20205144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.686296757 meters 0.07255435708822938 Centerline is valid? [True, True] Translation: X:193.58, Y:-12.13, Z:-22.03 [[ 9.82371162e-01 1.66695515e-01 8.46138590e-02 1.93576342e+02] [-1.66272100e-01 9.86005955e-01 -1.20766773e-02 -1.21311316e+01] [-8.54428967e-02 -2.20514452e-03 9.96340629e-01 -2.20282608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.746296757 meters 0.07263542050919652 Centerline is valid? [True, True] Translation: X:193.64, Y:-12.14, Z:-22.03 [[ 9.82691781e-01 1.64095317e-01 8.59627300e-02 1.93635660e+02] [-1.63647707e-01 9.86442453e-01 -1.22766129e-02 -1.21432187e+01] [-8.68118209e-02 -2.00347708e-03 9.96222713e-01 -2.20344299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.806296757 meters 0.07227514757850961 Centerline is valid? [True, True] Translation: X:193.69, Y:-12.16, Z:-22.04 [[ 9.83254667e-01 1.60220977e-01 8.68302866e-02 1.93693955e+02] [-1.59748871e-01 9.87079751e-01 -1.24041922e-02 -1.21569157e+01] [-8.76958295e-02 -1.67456039e-03 9.96145892e-01 -2.20416230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86629675700001 meters 0.07137435045635791 Centerline is valid? [True, True] Translation: X:193.75, Y:-12.17, Z:-22.05 [[ 9.83675819e-01 1.57786151e-01 8.65182871e-02 1.93754297e+02] [-1.57308360e-01 9.87472233e-01 -1.23559292e-02 -1.21718608e+01] [-8.73840006e-02 -1.45582108e-03 9.96173638e-01 -2.20458636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92629675700002 meters 0.07158900018532591 Centerline is valid? [True, True] Translation: X:193.82, Y:-12.18, Z:-22.05 [[ 9.83687952e-01 1.57576443e-01 8.67621849e-02 1.93815560e+02] [-1.57093157e-01 9.87505773e-01 -1.24132624e-02 -1.21813037e+01] [-8.76341962e-02 -1.41896881e-03 9.96151712e-01 -2.20535403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.986296757 meters 0.0721047736739579 Centerline is valid? [True, True] Translation: X:193.88, Y:-12.19, Z:-22.06 [[ 9.84121114e-01 1.55921876e-01 8.48174627e-02 1.93876436e+02] [-1.55452131e-01 9.87768634e-01 -1.21556760e-02 -1.21920715e+01] [-8.56753651e-02 -1.22239797e-03 9.96322356e-01 -2.20604813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.046296757 meters 0.07220756354241441 Centerline is valid? [True, True] Translation: X:193.94, Y:-12.20, Z:-22.07 [[ 9.84404254e-01 1.53692741e-01 8.55967634e-02 1.93936828e+02] [-1.53204013e-01 9.88118165e-01 -1.22891014e-02 -1.22033675e+01] [-8.64684625e-02 -1.01632399e-03 9.96254070e-01 -2.20676726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.106296757 meters 0.07228866638569427 Centerline is valid? [True, True] Translation: X:194.00, Y:-12.21, Z:-22.07 [[ 9.84528093e-01 1.53661576e-01 8.42172992e-02 1.93998016e+02] [-1.53186654e-01 9.88123052e-01 -1.21112949e-02 -1.22135890e+01] [-8.50780954e-02 -9.77056285e-04 9.96373807e-01 -2.20732306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.166296757 meters 0.0729641913263877 Centerline is valid? [True, True] Translation: X:194.06, Y:-12.22, Z:-22.08 [[ 9.84539114e-01 1.54782265e-01 8.20072210e-02 1.94057537e+02] [-1.54333705e-01 9.87948081e-01 -1.18193494e-02 -1.22203963e+01] [-8.28483022e-02 -1.01986644e-03 9.96561648e-01 -2.20837655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.226296757 meters 0.07367384930027555 Centerline is valid? [True, True] Translation: X:194.12, Y:-12.23, Z:-22.09 [[ 9.84187080e-01 1.57563681e-01 8.09288471e-02 1.94118302e+02] [-1.57136438e-01 9.87508050e-01 -1.16614979e-02 -1.22266524e+01] [-8.17553165e-02 -1.23977515e-03 9.96651660e-01 -2.20927952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.286296757 meters 0.073956321313472 Centerline is valid? [True, True] Translation: X:194.18, Y:-12.23, Z:-22.10 [[ 9.83667356e-01 1.60308456e-01 8.18518914e-02 1.94179596e+02] [-1.59879345e-01 9.87065879e-01 -1.18129731e-02 -1.22341718e+01] [-8.26869286e-02 -1.46639075e-03 9.96574494e-01 -2.20997750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.346296757 meters 0.07406766350307778 Centerline is valid? [True, True] Translation: X:194.24, Y:-12.24, Z:-22.11 [[ 9.83171514e-01 1.62648935e-01 8.31811120e-02 1.94241823e+02] [-1.62212452e-01 9.86682589e-01 -1.20244951e-02 -1.22428449e+01] [-8.40291263e-02 -1.67087105e-03 9.96461898e-01 -2.21065345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.406296757 meters 0.07465568166982686 Centerline is valid? [True, True] Translation: X:194.30, Y:-12.25, Z:-22.11 [[ 9.82961149e-01 1.64407518e-01 8.22043009e-02 1.94301562e+02] [-1.63984965e-01 9.86390912e-01 -1.19121687e-02 -1.22488728e+01] [-8.30440255e-02 -1.77107045e-03 9.96544306e-01 -2.21149806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.466296757 meters 0.07526454116209376 Centerline is valid? [True, True] Translation: X:194.36, Y:-12.26, Z:-22.12 [[ 9.82742235e-01 1.67057161e-01 7.94330166e-02 1.94361913e+02] [-1.66670740e-01 9.85945341e-01 -1.15173017e-02 -1.22556547e+01] [-8.02406604e-02 -1.92062086e-03 9.96773669e-01 -2.21249175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.526296757 meters 0.07514788470979711 Centerline is valid? [True, True] Translation: X:194.42, Y:-12.26, Z:-22.13 [[ 9.82425562e-01 1.68943874e-01 7.93598362e-02 1.94423408e+02] [-1.68564590e-01 9.85623486e-01 -1.15031425e-02 -1.22627280e+01] [-8.01623038e-02 -2.07627703e-03 9.96779662e-01 -2.21323913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.586296757 meters 0.07485475088294145 Centerline is valid? [True, True] Translation: X:194.49, Y:-12.27, Z:-22.14 [[ 9.82114008e-01 1.69758455e-01 8.14502486e-02 1.94485201e+02] [-1.69359593e-01 9.85483302e-01 -1.18316937e-02 -1.22724192e+01] [-8.22763900e-02 -2.17430880e-03 9.96607178e-01 -2.21358573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64629675700002 meters 0.07517698972660904 Centerline is valid? [True, True] Translation: X:194.54, Y:-12.28, Z:-22.14 [[ 9.81746141e-01 1.69962313e-01 8.53658390e-02 1.94544866e+02] [-1.69524021e-01 9.85447908e-01 -1.24107247e-02 -1.22783633e+01] [-8.62329430e-02 -2.28737922e-03 9.96272376e-01 -2.21418071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70629675700002 meters 0.07493302345559044 Centerline is valid? [True, True] Translation: X:194.61, Y:-12.29, Z:-22.15 [[ 9.81497268e-01 1.71667136e-01 8.48145436e-02 1.94605558e+02] [-1.71241150e-01 9.85152026e-01 -1.23269673e-02 -1.22862008e+01] [-8.56713546e-02 -2.42485524e-03 9.96320500e-01 -2.21483579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.766296757 meters 0.07570998867792175 Centerline is valid? [True, True] Translation: X:194.67, Y:-12.29, Z:-22.16 [[ 9.80960811e-01 1.74993910e-01 8.42200597e-02 1.94666898e+02] [-1.74584164e-01 9.84565885e-01 -1.22632449e-02 -1.22906377e+01] [-8.50661908e-02 -2.67372602e-03 9.96371715e-01 -2.21562563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.826296757 meters 0.07713019326673679 Centerline is valid? [True, True] Translation: X:194.73, Y:-12.29, Z:-22.17 [[ 9.80915374e-01 1.75909782e-01 8.28298084e-02 1.94727041e+02] [-1.75516138e-01 9.84402588e-01 -1.20677207e-02 -1.22944104e+01] [-8.36607079e-02 -2.70055536e-03 9.96490639e-01 -2.21664388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.886296757 meters 0.07561986572793668 Centerline is valid? [True, True] Translation: X:194.79, Y:-12.31, Z:-22.17 [[ 9.81127567e-01 1.74247363e-01 8.38245381e-02 1.94788163e+02] [-1.73836235e-01 9.84698565e-01 -1.22351524e-02 -1.23092249e+01] [-8.46738455e-02 -2.56749678e-03 9.96405413e-01 -2.21707468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.946296757 meters 0.07488718786588647 Centerline is valid? [True, True] Translation: X:194.85, Y:-12.32, Z:-22.18 [[ 9.81404827e-01 1.72319703e-01 8.45605461e-02 1.94849029e+02] [-1.71893408e-01 9.85038118e-01 -1.23515753e-02 -1.23214163e+01] [-8.54237810e-02 -2.41350487e-03 9.96341785e-01 -2.21769434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.006296757 meters 0.07515901738988683 Centerline is valid? [True, True] Translation: X:194.91, Y:-12.33, Z:-22.19 [[ 9.81518867e-01 1.72185669e-01 8.35033426e-02 1.94909319e+02] [-1.71767607e-01 9.85061711e-01 -1.22194227e-02 -1.23291315e+01] [-8.43599550e-02 -2.34957544e-03 9.96432575e-01 -2.21856011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.066296757 meters 0.07529904276279442 Centerline is valid? [True, True] Translation: X:194.97, Y:-12.34, Z:-22.19 [[ 9.81543159e-01 1.71927380e-01 8.37496479e-02 1.94970649e+02] [-1.71504212e-01 9.85106907e-01 -1.22754376e-02 -1.23375487e+01] [-8.46128405e-02 -2.31454552e-03 9.96411215e-01 -2.21923907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.126296757 meters 0.07578059918982631 Centerline is valid? [True, True] Translation: X:195.03, Y:-12.34, Z:-22.20 [[ 9.81020720e-01 1.74713017e-01 8.41053463e-02 1.95032123e+02] [-1.74294613e-01 9.84616112e-01 -1.23490965e-02 -1.23439538e+01] [-8.49690269e-02 -2.54438923e-03 9.96380344e-01 -2.21979882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.186296757 meters 0.07638022899099577 Centerline is valid? [True, True] Translation: X:195.09, Y:-12.35, Z:-22.21 [[ 9.80505993e-01 1.78009990e-01 8.31891903e-02 1.95093035e+02] [-1.77610689e-01 9.84024759e-01 -1.22358757e-02 -1.23489192e+01] [-8.40383311e-02 -2.77794001e-03 9.96458650e-01 -2.22050460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.246296757 meters 0.07903425823650657 Centerline is valid? [True, True] Translation: X:195.15, Y:-12.35, Z:-22.22 [[ 9.79775503e-01 1.83218774e-01 8.04415637e-02 1.95153084e+02] [-1.82860889e-01 9.83067300e-01 -1.18566290e-02 -1.23459006e+01] [-8.12518278e-02 -3.09278117e-03 9.96688806e-01 -2.22155267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.306296757 meters 0.07934339945637536 Centerline is valid? [True, True] Translation: X:195.21, Y:-12.35, Z:-22.22 [[ 9.79823375e-01 1.83083415e-01 8.01661879e-02 1.95214532e+02] [-1.82727807e-01 9.83092575e-01 -1.18125813e-02 -1.23526255e+01] [-8.09734718e-02 -3.07434848e-03 9.96711516e-01 -2.22230591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36629675700001 meters 0.0777949039439565 Centerline is valid? [True, True] Translation: X:195.27, Y:-12.37, Z:-22.23 [[ 9.80524162e-01 1.79360877e-01 8.00127734e-02 1.95274768e+02] [-1.78992879e-01 9.83779520e-01 -1.18070469e-02 -1.23662543e+01] [-8.08326500e-02 -2.74462190e-03 9.96723908e-01 -2.22267166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42629675700002 meters 0.07656702008871168 Centerline is valid? [True, True] Translation: X:195.33, Y:-12.38, Z:-22.23 [[ 9.81248512e-01 1.74554337e-01 8.17443649e-02 1.95334796e+02] [-1.74152951e-01 9.84644637e-01 -1.20701546e-02 -1.23768302e+01] [-8.25960483e-02 -2.39220121e-03 9.96580238e-01 -2.22315551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.486296757 meters 0.07544614952093376 Centerline is valid? [True, True] Translation: X:195.39, Y:-12.39, Z:-22.24 [[ 9.81987342e-01 1.69607456e-01 8.32716675e-02 1.95393981e+02] [-1.69172846e-01 9.85509651e-01 -1.22994035e-02 -1.23880107e+01] [-8.41511025e-02 -2.00944641e-03 9.96450979e-01 -2.22369078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.546296757 meters 0.07476656975063878 Centerline is valid? [True, True] Translation: X:195.45, Y:-12.40, Z:-22.24 [[ 9.82291874e-01 1.67266645e-01 8.44070070e-02 1.95454643e+02] [-1.66811718e-01 9.85909984e-01 -1.24641300e-02 -1.23998960e+01] [-8.53025441e-02 -1.83666427e-03 9.96353402e-01 -2.22406104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.606296757 meters 0.07441805761692104 Centerline is valid? [True, True] Translation: X:195.52, Y:-12.41, Z:-22.24 [[ 9.82440956e-01 1.66469660e-01 8.42473733e-02 1.95516563e+02] [-1.66011717e-01 9.86045036e-01 -1.24617776e-02 -1.24071453e+01] [-8.51462121e-02 -1.74309043e-03 9.96366943e-01 -2.22449275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.666296757 meters 0.07498728873426493 Centerline is valid? [True, True] Translation: X:195.58, Y:-12.41, Z:-22.25 [[ 9.82111783e-01 1.69987450e-01 8.09982296e-02 1.95577411e+02] [-1.69574251e-01 9.85444306e-01 -1.20038977e-02 -1.24088439e+01] [-8.18597561e-02 -1.94604478e-03 9.96641958e-01 -2.22519550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.726296757 meters 0.07538577548254531 Centerline is valid? [True, True] Translation: X:195.64, Y:-12.41, Z:-22.26 [[ 9.81800681e-01 1.73671896e-01 7.68472219e-02 1.95637824e+02] [-1.73310151e-01 9.84801282e-01 -1.14029011e-02 -1.24112839e+01] [-7.76596061e-02 -2.12302755e-03 9.96977672e-01 -2.22621999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.786296757 meters 0.07572862082244443 Centerline is valid? [True, True] Translation: X:195.70, Y:-12.42, Z:-22.27 [[ 9.81673870e-01 1.75289621e-01 7.47660463e-02 1.95699060e+02] [-1.74951881e-01 9.84514477e-01 -1.10943390e-02 -1.24181573e+01] [-7.55529774e-02 -2.18943775e-03 9.97139385e-01 -2.22702462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.846296757 meters 0.07632941985749502 Centerline is valid? [True, True] Translation: X:195.76, Y:-12.42, Z:-22.28 [[ 9.81560053e-01 1.77639499e-01 7.05979570e-02 1.95759971e+02] [-1.77343992e-01 9.84093101e-01 -1.04822648e-02 -1.24230171e+01] [-7.13370267e-02 -2.23115120e-03 9.97449773e-01 -2.22769145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.906296757 meters 0.07643923363049293 Centerline is valid? [True, True] Translation: X:195.82, Y:-12.43, Z:-22.29 [[ 9.82035539e-01 1.75404129e-01 6.95671729e-02 1.95819761e+02] [-1.75112031e-01 9.84494394e-01 -1.03230225e-02 -1.24315559e+01] [-7.02991925e-02 -2.04447404e-03 9.97523856e-01 -2.22855583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.966296757 meters 0.07440661082999184 Centerline is valid? [True, True] Translation: X:195.88, Y:-12.45, Z:-22.28 [[ 9.82749980e-01 1.70878374e-01 7.07322981e-02 1.95880190e+02] [-1.70563019e-01 9.85290617e-01 -1.05193017e-02 -1.24489782e+01] [-7.14893908e-02 -1.72647085e-03 9.97439866e-01 -2.22842869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.026296757 meters 0.07363671472789995 Centerline is valid? [True, True] Translation: X:195.94, Y:-12.46, Z:-22.29 [[ 9.83620685e-01 1.65022381e-01 7.25118018e-02 1.95939105e+02] [-1.64674677e-01 9.86288928e-01 -1.07889818e-02 -1.24612815e+01] [-7.32980107e-02 -1.32859190e-03 9.97309198e-01 -2.22896522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.086296757 meters 0.07311754912719334 Centerline is valid? [True, True] Translation: X:196.00, Y:-12.47, Z:-22.30 [[ 9.83956761e-01 1.62194462e-01 7.43104952e-02 1.95997995e+02] [-1.61821361e-01 9.86758146e-01 -1.10547658e-02 -1.24722086e+01] [-7.51195083e-02 -1.14761386e-03 9.97173878e-01 -2.22952161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14629675700002 meters 0.0726592269062028 Centerline is valid? [True, True] Translation: X:196.06, Y:-12.48, Z:-22.30 [[ 9.84067367e-01 1.61222865e-01 7.49573495e-02 1.96059215e+02] [-1.60840184e-01 9.86917434e-01 -1.11540719e-02 -1.24828351e+01] [-7.57750065e-02 -1.07979567e-03 9.97124357e-01 -2.22996180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.206296757 meters 0.07280823443768644 Centerline is valid? [True, True] Translation: X:196.12, Y:-12.49, Z:-22.31 [[ 9.83860864e-01 1.62334253e-01 7.52687920e-02 1.96120950e+02] [-1.61950269e-01 9.86735153e-01 -1.12182269e-02 -1.24904394e+01] [-7.60914655e-02 -1.15262665e-03 9.97100176e-01 -2.23068194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.266296757 meters 0.07326960743746047 Centerline is valid? [True, True] Translation: X:196.18, Y:-12.50, Z:-22.32 [[ 9.83429999e-01 1.65356410e-01 7.43148349e-02 1.96182602e+02] [-1.64988596e-01 9.86232964e-01 -1.11042038e-02 -1.24959682e+01] [-7.51278912e-02 -1.34089312e-03 9.97173005e-01 -2.23157987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.326296757 meters 0.07420757677498331 Centerline is valid? [True, True] Translation: X:196.24, Y:-12.50, Z:-22.33 [[ 9.82620600e-01 1.71203585e-01 7.17362491e-02 1.96242816e+02] [-1.70875940e-01 9.85234174e-01 -1.07254689e-02 -1.24995329e+01] [-7.25132428e-02 -1.71893226e-03 9.97365968e-01 -2.23254540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.386296757 meters 0.07536272665517282 Centerline is valid? [True, True] Translation: X:196.30, Y:-12.50, Z:-22.33 [[ 9.81646536e-01 1.77915081e-01 6.86753337e-02 1.96303219e+02] [-1.77631098e-01 9.84043565e-01 -1.02691702e-02 -1.25038676e+01] [-6.94065605e-02 -2.11817953e-03 9.97586208e-01 -2.23338087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.446296757 meters 0.07690276453881391 Centerline is valid? [True, True] Translation: X:196.36, Y:-12.51, Z:-22.34 [[ 9.80754844e-01 1.82496611e-01 6.93896424e-02 1.96363302e+02] [-1.82218049e-01 9.83203388e-01 -1.03769306e-02 -1.25083332e+01] [-7.01178861e-02 -2.46682034e-03 9.97535662e-01 -2.23421068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.506296757 meters 0.07777906984621474 Centerline is valid? [True, True] Translation: X:196.42, Y:-12.52, Z:-22.35 [[ 9.80119426e-01 1.85046115e-01 7.15810459e-02 1.96424141e+02] [-1.84756633e-01 9.82726031e-01 -1.07021165e-02 -1.25152430e+01] [-7.23249422e-02 -2.73572072e-03 9.97377370e-01 -2.23483985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.566296757 meters 0.07635691373755599 Centerline is valid? [True, True] Translation: X:196.48, Y:-12.53, Z:-22.35 [[ 9.80072062e-01 1.84437560e-01 7.37667931e-02 1.96484601e+02] [-1.84126429e-01 9.82840393e-01 -1.10553061e-02 -1.25296881e+01] [-7.45399976e-02 -2.74741955e-03 9.97214240e-01 -2.23510689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.626296757 meters 0.07596536983654423 Centerline is valid? [True, True] Translation: X:196.54, Y:-12.54, Z:-22.36 [[ 9.80453418e-01 1.81723519e-01 7.54165674e-02 1.96544654e+02] [-1.81389727e-01 9.83346251e-01 -1.13100370e-02 -1.25396824e+01] [-7.62158986e-02 -2.59082614e-03 9.97087972e-01 -2.23583643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.686296757 meters 0.07469809555429952 Centerline is valid? [True, True] Translation: X:196.60, Y:-12.55, Z:-22.36 [[ 9.80848868e-01 1.78914446e-01 7.69747946e-02 1.96604842e+02] [-1.78557903e-01 9.83861660e-01 -1.15459470e-02 -1.25528589e+01] [-7.77982859e-02 -2.41962890e-03 9.96966184e-01 -2.23618999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.746296757 meters 0.07418339203859797 Centerline is valid? [True, True] Translation: X:196.67, Y:-12.56, Z:-22.37 [[ 9.81099587e-01 1.77382260e-01 7.73248647e-02 1.96665644e+02] [-1.77017875e-01 9.84139317e-01 -1.15964226e-02 -1.25631365e+01] [-7.81554392e-02 -2.31063781e-03 9.96938508e-01 -2.23655223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.806296757 meters 0.07500481004215369 Centerline is valid? [True, True] Translation: X:196.73, Y:-12.57, Z:-22.37 [[ 9.80959397e-01 1.79080050e-01 7.51598043e-02 1.96725231e+02] [-1.78738747e-01 9.83831698e-01 -1.12982832e-02 -1.25663417e+01] [-7.59678950e-02 -2.35081215e-03 9.97107493e-01 -2.23748742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86629675700001 meters 0.0756734805226345 Centerline is valid? [True, True] Translation: X:196.79, Y:-12.57, Z:-22.38 [[ 9.80883342e-01 1.81407015e-01 7.04227481e-02 1.96785156e+02] [-1.81113595e-01 9.83405237e-01 -1.05832351e-02 -1.25730391e+01] [-7.11739724e-02 -2.37359807e-03 9.97461093e-01 -2.23828862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92629675700002 meters 0.0761993740609889 Centerline is valid? [True, True] Translation: X:196.85, Y:-12.58, Z:-22.39 [[ 9.80815373e-01 1.82486565e-01 6.85555092e-02 1.96846670e+02] [-1.82210576e-01 9.83205470e-01 -1.03107007e-02 -1.25794876e+01] [-6.92857160e-02 -2.37864508e-03 9.97594021e-01 -2.23895421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.986296757 meters 0.07587940135342436 Centerline is valid? [True, True] Translation: X:196.91, Y:-12.59, Z:-22.39 [[ 9.81066910e-01 1.81777061e-01 6.68192951e-02 1.96907419e+02] [-1.81513101e-01 9.83337154e-01 -1.00516018e-02 -1.25892715e+01] [-6.75330461e-02 -2.26728361e-03 9.97714462e-01 -2.23932493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.046296757 meters 0.07547905722752608 Centerline is valid? [True, True] Translation: X:196.97, Y:-12.60, Z:-22.40 [[ 9.81470900e-01 1.78790099e-01 6.89127920e-02 1.96966028e+02] [-1.78501177e-01 9.83884966e-01 -1.03780330e-02 -1.25977377e+01] [-6.96577496e-02 -2.11527714e-03 9.97568706e-01 -2.24017752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.106296757 meters 0.0735546214746941 Centerline is valid? [True, True] Translation: X:197.03, Y:-12.61, Z:-22.40 [[ 9.82268054e-01 1.72920323e-01 7.24433064e-02 1.97026077e+02] [-1.72584426e-01 9.84934212e-01 -1.09185225e-02 -1.26116434e+01] [-7.32399254e-02 -1.77767066e-03 9.97312766e-01 -2.24049322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.166296757 meters 0.07337352425244449 Centerline is valid? [True, True] Translation: X:197.09, Y:-12.62, Z:-22.41 [[ 9.82631982e-01 1.68280017e-01 7.82062924e-02 1.97085153e+02] [-1.67873577e-01 9.85738025e-01 -1.17901774e-02 -1.26208146e+01] [-7.90749674e-02 -1.54336469e-03 9.96867477e-01 -2.24093068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.226296757 meters 0.07336609807705373 Centerline is valid? [True, True] Translation: X:197.15, Y:-12.63, Z:-22.41 [[ 9.82568809e-01 1.68333170e-01 7.88826894e-02 1.97146456e+02] [-1.67920329e-01 9.85728912e-01 -1.18859337e-02 -1.26303102e+01] [-7.97577445e-02 -1.56725944e-03 9.96813045e-01 -2.24111286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.286296757 meters 0.07383410677160247 Centerline is valid? [True, True] Translation: X:197.21, Y:-12.64, Z:-22.42 [[ 9.82375373e-01 1.70041740e-01 7.76172236e-02 1.97207485e+02] [-1.69645896e-01 9.85435463e-01 -1.17140241e-02 -1.26367725e+01] [-7.84786377e-02 -1.65987461e-03 9.96914414e-01 -2.24193905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.346296757 meters 0.07502405922874053 Centerline is valid? [True, True] Translation: X:197.27, Y:-12.64, Z:-22.43 [[ 9.81731056e-01 1.75097756e-01 7.44641464e-02 1.97268096e+02] [-1.74746072e-01 9.84549112e-01 -1.12630655e-02 -1.26367063e+01] [-7.52857467e-02 -1.95501590e-03 9.97160085e-01 -2.24294027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.406296757 meters 0.07579400352317707 Centerline is valid? [True, True] Translation: X:197.33, Y:-12.63, Z:-22.44 [[ 9.80880759e-01 1.80952880e-01 7.16169745e-02 1.97330034e+02] [-1.80643084e-01 9.83489052e-01 -1.08333309e-02 -1.26342713e+01] [-7.23948328e-02 -2.31090534e-03 9.97373374e-01 -2.24379913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.466296757 meters 0.07596346445251141 Centerline is valid? [True, True] Translation: X:197.39, Y:-12.64, Z:-22.44 [[ 9.80262797e-01 1.83984451e-01 7.23503343e-02 1.97391973e+02] [-1.83676798e-01 9.82925808e-01 -1.09402870e-02 -1.26382003e+01] [-7.31278535e-02 -2.56472134e-03 9.97319276e-01 -2.24447634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.526296757 meters 0.07584475897998712 Centerline is valid? [True, True] Translation: X:197.45, Y:-12.64, Z:-22.45 [[ 9.79921931e-01 1.84748923e-01 7.49722913e-02 1.97454368e+02] [-1.84418855e-01 9.82782065e-01 -1.13621555e-02 -1.26408341e+01] [-7.57805692e-02 -2.69227875e-03 9.97120884e-01 -2.24519017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.586296757 meters 0.0758717704257951 Centerline is valid? [True, True] Translation: X:197.52, Y:-12.64, Z:-22.46 [[ 9.79162900e-01 1.87184907e-01 7.87516738e-02 1.97516444e+02] [-1.86828337e-01 9.82320042e-01 -1.19376403e-02 -1.26428156e+01] [-7.95938936e-02 -3.02414973e-03 9.96822786e-01 -2.24558327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64629675700002 meters 0.07590338961467492 Centerline is valid? [True, True] Translation: X:197.58, Y:-12.65, Z:-22.46 [[ 9.79156488e-01 1.85869023e-01 8.18857583e-02 1.97576865e+02] [-1.85476621e-01 9.82569929e-01 -1.24402087e-02 -1.26458924e+01] [-8.27707331e-02 -3.00698265e-03 9.96564079e-01 -2.24620346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.706296757 meters 0.07497171454489428 Centerline is valid? [True, True] Translation: X:197.64, Y:-12.66, Z:-22.47 [[ 9.79158866e-01 1.85317866e-01 8.30975537e-02 1.97637771e+02] [-1.84911991e-01 9.82674029e-01 -1.26217754e-02 -1.26566412e+01] [-8.39968483e-02 -3.00701079e-03 9.96461483e-01 -2.24660888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.766296757 meters 0.07437563014058564 Centerline is valid? [True, True] Translation: X:197.70, Y:-12.66, Z:-22.47 [[ 9.79222273e-01 1.84358186e-01 8.44736608e-02 1.97700247e+02] [-1.83932976e-01 9.82854704e-01 -1.28565929e-02 -1.26623727e+01] [-8.53955530e-02 -2.94802977e-03 9.96342767e-01 -2.24705271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.826296757 meters 0.0744186133554748 Centerline is valid? [True, True] Translation: X:197.76, Y:-12.67, Z:-22.48 [[ 9.79689575e-01 1.82684491e-01 8.26723294e-02 1.97762153e+02] [-1.82271015e-01 9.83167776e-01 -1.25857305e-02 -1.26658471e+01] [-8.35799881e-02 -2.73866035e-03 9.96497308e-01 -2.24786593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.886296757 meters 0.07491927521458037 Centerline is valid? [True, True] Translation: X:197.82, Y:-12.67, Z:-22.49 [[ 9.79842430e-01 1.84373959e-01 7.69094033e-02 1.97822313e+02] [-1.84019484e-01 9.82852575e-01 -1.17322747e-02 -1.26688034e+01] [-7.77537310e-02 -2.65704810e-03 9.96969055e-01 -2.24883869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.946296757 meters 0.07569358160378377 Centerline is valid? [True, True] Translation: X:197.88, Y:-12.67, Z:-22.50 [[ 9.79904781e-01 1.85274241e-01 7.38923212e-02 1.97883437e+02] [-1.84949317e-01 9.82683370e-01 -1.12758105e-02 -1.26701063e+01] [-7.47018725e-02 -2.61711367e-03 9.97202477e-01 -2.24970093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.006296757 meters 0.07602772790567014 Centerline is valid? [True, True] Translation: X:197.94, Y:-12.67, Z:-22.50 [[ 9.79799645e-01 1.86387621e-01 7.24728223e-02 1.97943929e+02] [-1.86078152e-01 9.82472712e-01 -1.10585491e-02 -1.26730360e+01] [-7.32637469e-02 -2.65044638e-03 9.97309079e-01 -2.25033490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.066296757 meters 0.07625406723554518 Centerline is valid? [True, True] Translation: X:198.01, Y:-12.68, Z:-22.51 [[ 9.79589902e-01 1.87382979e-01 7.27409290e-02 1.98005988e+02] [-1.87073604e-01 9.82283139e-01 -1.11041549e-02 -1.26769424e+01] [-7.35329177e-02 -2.73038977e-03 9.97289053e-01 -2.25087580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.126296757 meters 0.07521447412624147 Centerline is valid? [True, True] Translation: X:198.07, Y:-12.68, Z:-22.51 [[ 9.79380913e-01 1.87880874e-01 7.42549953e-02 1.98068259e+02] [-1.87558213e-01 9.82187822e-01 -1.13577944e-02 -1.26849198e+01] [-7.50662645e-02 -2.80352712e-03 9.97174607e-01 -2.25104790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.186296757 meters 0.07548035232003272 Centerline is valid? [True, True] Translation: X:198.13, Y:-12.69, Z:-22.52 [[ 9.79247249e-01 1.88535078e-01 7.43595986e-02 1.98129312e+02] [-1.88212854e-01 9.82062319e-01 -1.13808563e-02 -1.26876142e+01] [-7.51714505e-02 -2.85076008e-03 9.97166549e-01 -2.25175546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.246296757 meters 0.07604323447097673 Centerline is valid? [True, True] Translation: X:198.19, Y:-12.69, Z:-22.53 [[ 9.79458655e-01 1.87609840e-01 7.39140756e-02 1.98190715e+02] [-1.87287583e-01 9.82239790e-01 -1.13294491e-02 -1.26887794e+01] [-7.47268623e-02 -2.74646159e-03 9.97200257e-01 -2.25274839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.306296757 meters 0.0753340231888977 Centerline is valid? [True, True] Translation: X:198.25, Y:-12.70, Z:-22.53 [[ 9.79935977e-01 1.84487424e-01 7.54312327e-02 1.98251466e+02] [-1.84140533e-01 9.82831608e-01 -1.15885541e-02 -1.26956583e+01] [-7.62741423e-02 -2.53390626e-03 9.97083665e-01 -2.25314990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36629675700001 meters 0.07428972489275297 Centerline is valid? [True, True] Translation: X:198.31, Y:-12.70, Z:-22.53 [[ 9.80641558e-01 1.80758049e-01 7.52905154e-02 1.98312787e+02] [-1.80401413e-01 9.83525046e-01 -1.15678020e-02 -1.27043760e+01] [-7.61410810e-02 -2.23864798e-03 9.97094541e-01 -2.25346602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42629675700002 meters 0.0745703564633212 Centerline is valid? [True, True] Translation: X:198.37, Y:-12.71, Z:-22.54 [[ 9.80937586e-01 1.80565085e-01 7.18171489e-02 1.98374119e+02] [-1.80239827e-01 9.83560760e-01 -1.10379141e-02 -1.27069215e+01] [-7.26295914e-02 -2.11680572e-03 9.97356737e-01 -2.25421645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.486296757 meters 0.07500455480219918 Centerline is valid? [True, True] Translation: X:198.44, Y:-12.71, Z:-22.55 [[ 9.80612832e-01 1.83468380e-01 6.88318755e-02 1.98435415e+02] [-1.83176481e-01 9.83023081e-01 -1.05829421e-02 -1.27080292e+01] [-6.96049576e-02 -2.23061195e-03 9.97572140e-01 -2.25505257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.546296757 meters 0.07547122464128334 Centerline is valid? [True, True] Translation: X:198.50, Y:-12.71, Z:-22.56 [[ 9.80057652e-01 1.86702269e-01 6.80386809e-02 1.98495739e+02] [-1.86424616e-01 9.82413541e-01 -1.04641296e-02 -1.27092223e+01] [-6.87957981e-02 -2.42863472e-03 9.97627806e-01 -2.25580170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.606296757 meters 0.07535278692456827 Centerline is valid? [True, True] Translation: X:198.56, Y:-12.72, Z:-22.56 [[ 9.79481761e-01 1.89243538e-01 6.92990791e-02 1.98557222e+02] [-1.88962391e-01 9.81926571e-01 -1.06501114e-02 -1.27150811e+01] [-7.00620719e-02 -2.66332981e-03 9.97539078e-01 -2.25645705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.666296757 meters 0.07511069383898199 Centerline is valid? [True, True] Translation: X:198.62, Y:-12.72, Z:-22.57 [[ 9.78970771e-01 1.90616591e-01 7.26742402e-02 1.98618919e+02] [-1.90309705e-01 9.81660346e-01 -1.11884300e-02 -1.27209717e+01] [-7.34741202e-02 -2.87746726e-03 9.97292973e-01 -2.25682808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.726296757 meters 0.07496271184500915 Centerline is valid? [True, True] Translation: X:198.68, Y:-12.73, Z:-22.57 [[ 9.78819723e-01 1.91338930e-01 7.28104591e-02 1.98680204e+02] [-1.91031520e-01 9.81519686e-01 -1.12278648e-02 -1.27276626e+01] [-7.36132266e-02 -2.91903718e-03 9.97282594e-01 -2.25726545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.786296757 meters 0.07639035704401272 Centerline is valid? [True, True] Translation: X:198.74, Y:-12.73, Z:-22.58 [[ 9.78693915e-01 1.91785648e-01 7.33245235e-02 1.98741768e+02] [-1.91473687e-01 9.81432390e-01 -1.13265561e-02 -1.27280270e+01] [-7.41353333e-02 -2.95448529e-03 9.97243813e-01 -2.25822205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.846296757 meters 0.07493227107536841 Centerline is valid? [True, True] Translation: X:198.80, Y:-12.74, Z:-22.59 [[ 9.78602483e-01 1.93083556e-01 7.11049983e-02 1.98802159e+02] [-1.92791921e-01 9.81177923e-01 -1.10072503e-02 -1.27364448e+01] [-7.18919736e-02 -2.93674671e-03 9.97408101e-01 -2.25850262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.906296757 meters 0.07575196860229762 Centerline is valid? [True, True] Translation: X:198.86, Y:-12.74, Z:-22.60 [[ 9.78324421e-01 1.95056885e-01 6.95279748e-02 1.98861739e+02] [-1.94782881e-01 9.80787308e-01 -1.07649955e-02 -1.27364636e+01] [-7.02919418e-02 -3.01120120e-03 9.97521917e-01 -2.25964095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.966296757 meters 0.076066351645792 Centerline is valid? [True, True] Translation: X:198.92, Y:-12.74, Z:-22.60 [[ 9.78176272e-01 1.96838531e-01 6.65264860e-02 1.98921190e+02] [-1.96591968e-01 9.80431312e-01 -1.02975633e-02 -1.27386735e+01] [-6.72516072e-02 -3.00574072e-03 9.97731520e-01 -2.26044731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.026296757 meters 0.07506390136509491 Centerline is valid? [True, True] Translation: X:198.98, Y:-12.75, Z:-22.61 [[ 9.78002015e-01 1.98171720e-01 6.51154974e-02 1.98982038e+02] [-1.97938096e-01 9.80162646e-01 -1.00845415e-02 -1.27476697e+01] [-6.58222492e-02 -3.02613569e-03 9.97826776e-01 -2.26081852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.086296757 meters 0.07391479579734982 Centerline is valid? [True, True] Translation: X:199.04, Y:-12.75, Z:-22.61 [[ 9.77921721e-01 1.99384125e-01 6.25705842e-02 1.99043017e+02] [-1.99170782e-01 9.79916866e-01 -9.69197967e-03 -1.27545656e+01] [-6.32463977e-02 -2.98423474e-03 9.97993481e-01 -2.26084855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14629675700002 meters 0.0741195309637086 Centerline is valid? [True, True] Translation: X:199.11, Y:-12.76, Z:-22.61 [[ 9.77797476e-01 2.00244483e-01 6.17595556e-02 1.99105570e+02] [-2.00038256e-01 9.79741371e-01 -9.56779747e-03 -1.27578763e+01] [-6.24242903e-02 -2.99890557e-03 9.98045197e-01 -2.26125896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.206296757 meters 0.07395014554215996 Centerline is valid? [True, True] Translation: X:199.17, Y:-12.76, Z:-22.62 [[ 9.77820866e-01 1.99849436e-01 6.26622450e-02 1.99167978e+02] [-1.99636542e-01 9.79821963e-01 -9.70425310e-03 -1.27620086e+01] [-6.33372334e-02 -3.02065273e-03 9.97987610e-01 -2.26159475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.266296757 meters 0.0740350473583013 Centerline is valid? [True, True] Translation: X:199.23, Y:-12.77, Z:-22.62 [[ 9.77393646e-01 2.00923731e-01 6.58127226e-02 1.99228532e+02] [-2.00689527e-01 9.79601596e-01 -1.02189808e-02 -1.27652529e+01] [-6.65234839e-02 -3.21995723e-03 9.97779664e-01 -2.26224078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.326296757 meters 0.07511579510326043 Centerline is valid? [True, True] Translation: X:199.29, Y:-12.77, Z:-22.63 [[ 9.76967623e-01 2.03751988e-01 6.33986650e-02 1.99288878e+02] [-2.03540350e-01 9.79017031e-01 -9.84775742e-03 -1.27660634e+01] [-6.40748729e-02 -3.28324628e-03 9.97939693e-01 -2.26293913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.386296757 meters 0.07538592956113861 Centerline is valid? [True, True] Translation: X:199.35, Y:-12.77, Z:-22.63 [[ 9.76252119e-01 2.06817714e-01 6.44843666e-02 1.99350551e+02] [-2.06606049e-01 9.78373039e-01 -1.00068056e-02 -1.27690440e+01] [-6.51593504e-02 -3.55369497e-03 9.97868544e-01 -2.26343318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.446296757 meters 0.0758583090674742 Centerline is valid? [True, True] Translation: X:199.41, Y:-12.77, Z:-22.64 [[ 9.75970675e-01 2.08154281e-01 6.44440583e-02 1.99411855e+02] [-2.07944551e-01 9.78089298e-01 -1.00193902e-02 -1.27735502e+01] [-6.51176227e-02 -3.62215980e-03 9.97871021e-01 -2.26411850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.506296757 meters 0.073748279622743 Centerline is valid? [True, True] Translation: X:199.47, Y:-12.78, Z:-22.64 [[ 9.75392766e-01 2.10025551e-01 6.70687674e-02 1.99474039e+02] [-2.09802573e-01 9.77688130e-01 -1.04307282e-02 -1.27830849e+01] [-6.77630573e-02 -3.89714313e-03 9.97693831e-01 -2.26410815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.566296757 meters 0.07659927471923134 Centerline is valid? [True, True] Translation: X:199.53, Y:-12.78, Z:-22.65 [[ 9.75365646e-01 2.10003349e-01 6.75311050e-02 1.99534931e+02] [-2.09775994e-01 9.77692869e-01 -1.05207708e-02 -1.27819319e+01] [-6.82340769e-02 -3.90480626e-03 9.97661698e-01 -2.26535192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.626296757 meters 0.07379960140806967 Centerline is valid? [True, True] Translation: X:199.60, Y:-12.80, Z:-22.66 [[ 9.75536124e-01 2.08596144e-01 6.94040246e-02 1.99595113e+02] [-2.08350761e-01 9.77994134e-01 -1.08367134e-02 -1.27967480e+01] [-7.01372255e-02 -3.88877591e-03 9.97529772e-01 -2.26566152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.686296757 meters 0.07386398001629252 Centerline is valid? [True, True] Translation: X:199.65, Y:-12.81, Z:-22.66 [[ 9.76401114e-01 2.04195848e-01 7.03201319e-02 1.99653813e+02] [-2.03932277e-01 9.78923378e-01 -1.09838725e-02 -1.28052663e+01] [-7.10808822e-02 -3.61587932e-03 9.97464001e-01 -2.26649756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.746296757 meters 0.07346947844251772 Centerline is valid? [True, True] Translation: X:199.71, Y:-12.82, Z:-22.67 [[ 9.77181060e-01 2.00226075e-01 7.08991885e-02 1.99712950e+02] [-1.99947706e-01 9.79743981e-01 -1.10746074e-02 -1.28158308e+01] [-7.16804783e-02 -3.35423345e-03 9.97422006e-01 -2.26717397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.806296757 meters 0.07262584281740161 Centerline is valid? [True, True] Translation: X:199.77, Y:-12.83, Z:-22.68 [[ 9.77945747e-01 1.94347597e-01 7.64926578e-02 1.99771672e+02] [-1.94005619e-01 9.80927651e-01 -1.19483602e-02 -1.28273590e+01] [-7.73558982e-02 -3.15515740e-03 9.96998551e-01 -2.26759229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86629675700001 meters 0.07184934511223824 Centerline is valid? [True, True] Translation: X:199.83, Y:-12.84, Z:-22.68 [[ 9.78316887e-01 1.91932986e-01 7.78318520e-02 1.99832002e+02] [-1.91571396e-01 9.81403395e-01 -1.21563682e-02 -1.28398557e+01] [-7.87176518e-02 -3.01757626e-03 9.96892384e-01 -2.26812580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92629675700002 meters 0.07091233106627269 Centerline is valid? [True, True] Translation: X:199.89, Y:-12.85, Z:-22.68 [[ 9.78080172e-01 1.92033542e-01 8.05127070e-02 1.99892718e+02] [-1.91647048e-01 9.81383365e-01 -1.25737431e-02 -1.28540488e+01] [-8.14284118e-02 -3.13189381e-03 9.96674272e-01 -2.26837206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.986296757 meters 0.07169718766229914 Centerline is valid? [True, True] Translation: X:199.95, Y:-12.86, Z:-22.69 [[ 9.77578074e-01 1.94174924e-01 8.14690601e-02 1.99953025e+02] [-1.93784778e-01 9.80961275e-01 -1.27450949e-02 -1.28591549e+01] [-8.23927709e-02 -3.32813836e-03 9.96594378e-01 -2.26935992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.046296757 meters 0.07201444320547834 Centerline is valid? [True, True] Translation: X:200.01, Y:-12.87, Z:-22.70 [[ 9.77019144e-01 1.96886889e-01 8.16648345e-02 2.00014183e+02] [-1.96502331e-01 9.80419812e-01 -1.27994705e-02 -1.28665343e+01] [-8.25858696e-02 -3.54200268e-03 9.96577658e-01 -2.27006097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.106296757 meters 0.07333108235387907 Centerline is valid? [True, True] Translation: X:200.07, Y:-12.87, Z:-22.71 [[ 9.76039613e-01 2.01173651e-01 8.29206653e-02 2.00074346e+02] [-2.00791992e-01 9.79547597e-01 -1.30031270e-02 -1.28696964e+01] [-8.38406249e-02 -3.95823855e-03 9.96471315e-01 -2.27086032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.166296757 meters 0.07159968804654125 Centerline is valid? [True, True] Translation: X:200.13, Y:-12.88, Z:-22.71 [[ 9.75496294e-01 2.04548221e-01 8.10370670e-02 2.00133987e+02] [-2.04195003e-01 9.78847702e-01 -1.27113151e-02 -1.28843033e+01] [-8.19230237e-02 -4.14752333e-03 9.96630030e-01 -2.27111512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.226296757 meters 0.0754133815401664 Centerline is valid? [True, True] Translation: X:200.19, Y:-12.88, Z:-22.73 [[ 9.75275296e-01 2.06501387e-01 7.87100645e-02 2.00193911e+02] [-2.06174338e-01 9.78437358e-01 -1.23482598e-02 -1.28789182e+01] [-7.95628003e-02 -4.18504278e-03 9.96821070e-01 -2.27263222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.286296757 meters 0.07273113903369159 Centerline is valid? [True, True] Translation: X:200.25, Y:-12.90, Z:-22.73 [[ 9.75105955e-01 2.06726071e-01 8.02041699e-02 2.00254120e+02] [-2.06387045e-01 9.78389494e-01 -1.25851266e-02 -1.28963635e+01] [-8.10725910e-02 -4.28126975e-03 9.96699005e-01 -2.27270552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.346296757 meters 0.07203093291876414 Centerline is valid? [True, True] Translation: X:200.31, Y:-12.91, Z:-22.73 [[ 9.75399073e-01 2.03964288e-01 8.36374175e-02 2.00314443e+02] [-2.03583060e-01 9.78969328e-01 -1.31526478e-02 -1.29071070e+01] [-8.45611369e-02 -4.19808087e-03 9.96409449e-01 -2.27314904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.406296757 meters 0.07127668258781106 Centerline is valid? [True, True] Translation: X:200.37, Y:-12.92, Z:-22.74 [[ 9.76239427e-01 1.99251897e-01 8.51778317e-02 2.00373623e+02] [-1.98838473e-01 9.79940710e-01 -1.33965400e-02 -1.29191641e+01] [-8.61385109e-02 -3.85839943e-03 9.96275700e-01 -2.27375658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.466296757 meters 0.07077543375044025 Centerline is valid? [True, True] Translation: X:200.43, Y:-12.93, Z:-22.74 [[ 9.77165282e-01 1.93644995e-01 8.74621533e-02 2.00432028e+02] [-1.93186331e-01 9.81065598e-01 -1.37598653e-02 -1.29306458e+01] [-8.84706388e-02 -3.45082977e-03 9.96072808e-01 -2.27440672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.526296757 meters 0.07064675516302474 Centerline is valid? [True, True] Translation: X:200.49, Y:-12.94, Z:-22.75 [[ 9.77886868e-01 1.90235392e-01 8.68778985e-02 2.00492258e+02] [-1.89769476e-01 9.81733544e-01 -1.36673005e-02 -1.29408668e+01] [-8.78909515e-02 -3.12169962e-03 9.96125211e-01 -2.27524800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.586296757 meters 0.07078615641314885 Centerline is valid? [True, True] Translation: X:200.55, Y:-12.95, Z:-22.76 [[ 9.77935232e-01 1.90725095e-01 8.52444713e-02 2.00553645e+02] [-1.90278404e-01 9.81638575e-01 -1.34103184e-02 -1.29492719e+01] [-8.62369456e-02 -3.10575914e-03 9.96269815e-01 -2.27606482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64629675700002 meters 0.07191289001087353 Centerline is valid? [True, True] Translation: X:200.61, Y:-12.95, Z:-22.77 [[ 9.77363206e-01 1.95113248e-01 8.18045422e-02 2.00613279e+02] [-1.94715060e-01 9.80775082e-01 -1.28950838e-02 -1.29514819e+01] [-8.27478583e-02 -3.32539589e-03 9.96564967e-01 -2.27718993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.706296757 meters 0.07259810144291945 Centerline is valid? [True, True] Translation: X:200.67, Y:-12.96, Z:-22.78 [[ 9.77077274e-01 1.97118912e-01 8.03998499e-02 2.00673301e+02] [-1.96741149e-01 9.80373566e-01 -1.26724768e-02 -1.29583569e+01] [-8.13198724e-02 -3.43596981e-03 9.96682132e-01 -2.27802560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.766296757 meters 0.07317222666007893 Centerline is valid? [True, True] Translation: X:200.73, Y:-12.97, Z:-22.79 [[ 9.76989484e-01 1.97458415e-01 8.06332616e-02 2.00734000e+02] [-1.97079730e-01 9.80305102e-01 -1.27077619e-02 -1.29674209e+01] [-8.15544522e-02 -3.47583172e-03 9.96662827e-01 -2.27883604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.826296757 meters 0.07128744355629554 Centerline is valid? [True, True] Translation: X:200.79, Y:-12.99, Z:-22.79 [[ 9.77221922e-01 1.96558585e-01 8.00127356e-02 2.00794603e+02] [-1.96180772e-01 9.80486356e-01 -1.26337390e-02 -1.29861813e+01] [-8.09346654e-02 -3.35099349e-03 9.96713776e-01 -2.27900358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.886296757 meters 0.0713718690528056 Centerline is valid? [True, True] Translation: X:200.85, Y:-13.00, Z:-22.80 [[ 9.77520392e-01 1.94841983e-01 8.05635495e-02 2.00853278e+02] [-1.94451940e-01 9.80829371e-01 -1.27353192e-02 -1.29994280e+01] [-8.15004704e-02 -3.21670429e-03 9.96668112e-01 -2.27972226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.946296757 meters 0.07091024676056878 Centerline is valid? [True, True] Translation: X:200.91, Y:-13.02, Z:-22.80 [[ 9.77625416e-01 1.94413389e-01 8.03242225e-02 2.00913166e+02] [-1.94024654e-01 9.80914544e-01 -1.26921610e-02 -1.30155927e+01] [-8.12587241e-02 -3.17670030e-03 9.96687979e-01 -2.28015167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.006296757 meters 0.0714097222568596 Centerline is valid? [True, True] Translation: X:200.97, Y:-13.02, Z:-22.81 [[ 9.77353843e-01 1.95473810e-01 8.10521780e-02 2.00973837e+02] [-1.95079902e-01 9.80703457e-01 -1.28281520e-02 -1.30238930e+01] [-8.19957189e-02 -3.27400729e-03 9.96627304e-01 -2.28100577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.066296757 meters 0.07174972356526188 Centerline is valid? [True, True] Translation: X:201.03, Y:-13.03, Z:-22.82 [[ 9.76767369e-01 1.99579533e-01 7.80609819e-02 2.01033708e+02] [-1.99225012e-01 9.79875534e-01 -1.23827696e-02 -1.30327267e+01] [-7.89613937e-02 -3.45661473e-03 9.96871682e-01 -2.28172790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.126296757 meters 0.07240932434925404 Centerline is valid? [True, True] Translation: X:201.09, Y:-13.04, Z:-22.83 [[ 9.76348000e-01 2.02452257e-01 7.58792967e-02 2.01093280e+02] [-2.02125793e-01 9.79285577e-01 -1.20383428e-02 -1.30399937e+01] [-7.67446906e-02 -3.58355118e-03 9.97044337e-01 -2.28257141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.186296757 meters 0.07385573028953882 Centerline is valid? [True, True] Translation: X:201.15, Y:-13.05, Z:-22.84 [[ 9.75771791e-01 2.06320914e-01 7.28085987e-02 2.01152226e+02] [-2.06030939e-01 9.78477278e-01 -1.15528541e-02 -1.30458516e+01] [-7.36251548e-02 -3.72787489e-03 9.97279018e-01 -2.28353271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.246296757 meters 0.0746704699170607 Centerline is valid? [True, True] Translation: X:201.21, Y:-13.06, Z:-22.84 [[ 9.75313485e-01 2.09669062e-01 6.93000017e-02 2.01212326e+02] [-2.09414796e-01 9.77765072e-01 -1.09958271e-02 -1.30556796e+01] [-7.00646059e-02 -3.78806725e-03 9.97535263e-01 -2.28432266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.306296757 meters 0.07455526800929943 Centerline is valid? [True, True] Translation: X:201.27, Y:-13.07, Z:-22.85 [[ 9.75345777e-01 2.08924432e-01 7.10717726e-02 2.01272261e+02] [-2.08654966e-01 9.77924289e-01 -1.12778359e-02 -1.30709833e+01] [-7.18590281e-02 -3.82968874e-03 9.97407446e-01 -2.28491398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36629675700001 meters 0.07493307424327125 Centerline is valid? [True, True] Translation: X:201.33, Y:-13.09, Z:-22.86 [[ 9.75458679e-01 2.08536544e-01 7.06602839e-02 2.01331529e+02] [-2.08269137e-01 9.78007277e-01 -1.12130975e-02 -1.30853545e+01] [-7.14446124e-02 -3.77844309e-03 9.97437412e-01 -2.28557195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42629675700002 meters 0.07547718856873206 Centerline is valid? [True, True] Translation: X:201.39, Y:-13.10, Z:-22.86 [[ 9.75309370e-01 2.08599015e-01 7.25126482e-02 2.01391351e+02] [-2.08317020e-01 9.77993575e-01 -1.15146030e-02 -1.30968323e+01] [-7.33188389e-02 -3.87531859e-03 9.97301023e-01 -2.28637344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.486296757 meters 0.07530005535534814 Centerline is valid? [True, True] Translation: X:201.45, Y:-13.11, Z:-22.87 [[ 9.75263553e-01 2.08942340e-01 7.21394498e-02 2.01452211e+02] [-2.08663031e-01 9.77920322e-01 -1.14710000e-02 -1.31082514e+01] [-7.29434115e-02 -3.86558804e-03 9.97328590e-01 -2.28698936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.546296757 meters 0.07484543848283443 Centerline is valid? [True, True] Translation: X:201.51, Y:-13.12, Z:-22.88 [[ 9.75242623e-01 2.09537749e-01 7.06806723e-02 2.01512340e+02] [-2.09269516e-01 9.77793144e-01 -1.12622324e-02 -1.31236214e+01] [-7.14709396e-02 -3.80790103e-03 9.97435414e-01 -2.28765275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.606296757 meters 0.07395000287181579 Centerline is valid? [True, True] Translation: X:201.57, Y:-13.14, Z:-22.88 [[ 9.75206858e-01 2.10611711e-01 6.79285779e-02 2.01571052e+02] [-2.10366174e-01 9.77562684e-01 -1.08292228e-02 -1.31398484e+01] [-6.86852041e-02 -3.72914268e-03 9.97631413e-01 -2.28807778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.666296757 meters 0.07431992591072858 Centerline is valid? [True, True] Translation: X:201.63, Y:-13.15, Z:-22.89 [[ 9.75650813e-01 2.09423390e-01 6.51715826e-02 2.01631449e+02] [-2.09195143e-01 9.77818784e-01 -1.03835586e-02 -1.31498899e+01] [-6.59005577e-02 -3.50285117e-03 9.97820047e-01 -2.28899284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.726296757 meters 0.07447547917655442 Centerline is valid? [True, True] Translation: X:201.69, Y:-13.16, Z:-22.90 [[ 9.76152390e-01 2.07912024e-01 6.24427854e-02 2.01691231e+02] [-2.07698405e-01 9.78142156e-01 -9.96465635e-03 -1.31596866e+01] [-6.31496926e-02 -3.24224381e-03 9.97998800e-01 -2.28977205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.786296757 meters 0.07334837627815757 Centerline is valid? [True, True] Translation: X:201.75, Y:-13.17, Z:-22.90 [[ 9.76756950e-01 2.05033400e-01 6.25073230e-02 2.01750974e+02] [-2.04811961e-01 9.78750268e-01 -9.99864691e-03 -1.31746711e+01] [-6.32291157e-02 -3.03599956e-03 9.97994420e-01 -2.29012770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.846296757 meters 0.07298017931461458 Centerline is valid? [True, True] Translation: X:201.81, Y:-13.19, Z:-22.91 [[ 9.77660317e-01 2.00375999e-01 6.34804131e-02 2.01809192e+02] [-2.00137564e-01 9.79715146e-01 -1.01582028e-02 -1.31879939e+01] [-6.42281822e-02 -2.77354346e-03 9.97931384e-01 -2.29089758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.906296757 meters 0.07219524305540313 Centerline is valid? [True, True] Translation: X:201.87, Y:-13.20, Z:-22.91 [[ 9.77834103e-01 1.99380414e-01 6.39368267e-02 2.01870161e+02] [-1.99136647e-01 9.79918359e-01 -1.02276515e-02 -1.32025121e+01] [-6.46920637e-02 -2.73121881e-03 9.97901537e-01 -2.29144489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.966296757 meters 0.07164973907702833 Centerline is valid? [True, True] Translation: X:201.93, Y:-13.22, Z:-22.92 [[ 9.77315770e-01 2.02114280e-01 6.32748164e-02 2.01930209e+02] [-2.01880726e-01 9.79357727e-01 -1.01298614e-02 -1.32159920e+01] [-6.40160700e-02 -2.87389256e-03 9.97944730e-01 -2.29181980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.026296757 meters 0.07394436604886842 Centerline is valid? [True, True] Translation: X:201.99, Y:-13.22, Z:-22.93 [[ 9.76385309e-01 2.07163249e-01 6.12790016e-02 2.01989196e+02] [-2.06953885e-01 9.78301477e-01 -9.81378666e-03 -1.32196624e+01] [-6.19823937e-02 -3.09989034e-03 9.98072429e-01 -2.29310365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.086296757 meters 0.07399126972811725 Centerline is valid? [True, True] Translation: X:202.05, Y:-13.23, Z:-22.94 [[ 9.75152221e-01 2.13757452e-01 5.81884598e-02 2.02048462e+02] [-2.13580349e-01 9.76881053e-01 -9.31892075e-03 -1.32318255e+01] [-5.88351926e-02 -3.34054527e-03 9.98262120e-01 -2.29363197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14629675700002 meters 0.07493710827280212 Centerline is valid? [True, True] Translation: X:202.11, Y:-13.24, Z:-22.94 [[ 9.73850955e-01 2.19494669e-01 5.86208844e-02 2.02108593e+02] [-2.19325209e-01 9.75606632e-01 -9.38897937e-03 -1.32395197e+01] [-5.92517545e-02 -3.71357120e-03 9.98236164e-01 -2.29423073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.206296757 meters 0.07531679180367963 Centerline is valid? [True, True] Translation: X:202.17, Y:-13.25, Z:-22.95 [[ 9.73347830e-01 2.21057617e-01 6.10535112e-02 2.02169651e+02] [-2.20877399e-01 9.75252646e-01 -9.76993101e-03 -1.32491301e+01] [-6.17023160e-02 -3.97579961e-03 9.98086678e-01 -2.29489336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.266296757 meters 0.07581787949715048 Centerline is valid? [True, True] Translation: X:202.23, Y:-13.26, Z:-22.96 [[ 9.73926987e-01 2.18124548e-01 6.23530741e-02 2.02227926e+02] [-2.17928858e-01 9.75913370e-01 -1.00053867e-02 -1.32598083e+01] [-6.30336191e-02 -3.84401812e-03 9.98004001e-01 -2.29571785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.326296757 meters 0.07470850273456985 Centerline is valid? [True, True] Translation: X:202.29, Y:-13.27, Z:-22.96 [[ 9.74994958e-01 2.12168881e-01 6.60999085e-02 2.02287254e+02] [-2.11935360e-01 9.77226132e-01 -1.06061873e-02 -1.32749640e+01] [-6.68448608e-02 -3.66792875e-03 9.97756639e-01 -2.29622547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.386296757 meters 0.07341243010453842 Centerline is valid? [True, True] Translation: X:202.35, Y:-13.29, Z:-22.97 [[ 9.76417566e-01 2.05814480e-01 6.51853998e-02 2.02346637e+02] [-2.05573204e-01 9.78585838e-01 -1.04601405e-02 -1.32904636e+01] [-6.59423575e-02 -3.18690656e-03 9.97818345e-01 -2.29686859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.446296757 meters 0.07351964612371585 Centerline is valid? [True, True] Translation: X:202.41, Y:-13.30, Z:-22.98 [[ 9.76588441e-01 2.05061818e-01 6.49974464e-02 2.02406427e+02] [-2.04820612e-01 9.78744012e-01 -1.04247819e-02 -1.32975716e+01] [-6.57535862e-02 -3.13209521e-03 9.97830976e-01 -2.29771075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.506296757 meters 0.07411197550221887 Centerline is valid? [True, True] Translation: X:202.47, Y:-13.30, Z:-22.98 [[ 9.76197013e-01 2.06705318e-01 6.56681291e-02 2.02467609e+02] [-2.06461874e-01 9.78397806e-01 -1.05464422e-02 -1.33033012e+01] [-6.64295591e-02 -3.26255958e-03 9.97785783e-01 -2.29841464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.566296757 meters 0.07364828932475573 Centerline is valid? [True, True] Translation: X:202.53, Y:-13.31, Z:-22.99 [[ 9.75627611e-01 2.09458814e-01 6.54046589e-02 2.02528365e+02] [-2.09221903e-01 9.77811515e-01 -1.05279138e-02 -1.33124245e+01] [-6.61585930e-02 -3.41276388e-03 9.97803284e-01 -2.29886028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.626296757 meters 0.07224275501061685 Centerline is valid? [True, True] Translation: X:202.59, Y:-13.32, Z:-22.99 [[ 9.74987813e-01 2.12814167e-01 6.41006542e-02 2.02588337e+02] [-2.12593696e-01 9.77086187e-01 -1.03200283e-02 -1.33244910e+01] [-6.48281121e-02 -3.56549320e-03 9.97890076e-01 -2.29895557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.686296757 meters 0.07194735540466896 Centerline is valid? [True, True] Translation: X:202.65, Y:-13.33, Z:-23.00 [[ 9.74392372e-01 2.15707335e-01 6.34811076e-02 2.02648567e+02] [-2.15497064e-01 9.76450979e-01 -1.02226054e-02 -1.33345958e+01] [-6.41912806e-02 -3.71916363e-03 9.97930683e-01 -2.29953347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.746296757 meters 0.07270900773267068 Centerline is valid? [True, True] Translation: X:202.71, Y:-13.34, Z:-23.00 [[ 9.73968415e-01 2.17077769e-01 6.52898805e-02 2.02708405e+02] [-2.16858817e-01 9.76146424e-01 -1.05077488e-02 -1.33420801e+01] [-6.60134820e-02 -3.92447083e-03 9.97811014e-01 -2.30025500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.806296757 meters 0.07263897458781594 Centerline is valid? [True, True] Translation: X:202.77, Y:-13.35, Z:-23.01 [[ 9.73897757e-01 2.17394223e-01 6.52909676e-02 2.02769976e+02] [-2.17175090e-01 9.76075962e-01 -1.05212513e-02 -1.33524145e+01] [-6.60162032e-02 -3.93294863e-03 9.97810800e-01 -2.30078919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86629675700001 meters 0.07253565493848016 Centerline is valid? [True, True] Translation: X:202.83, Y:-13.37, Z:-23.01 [[ 9.74295248e-01 2.14922915e-01 6.75048961e-02 2.02829108e+02] [-2.14680609e-01 9.76623376e-01 -1.09095261e-02 -1.33651887e+01] [-6.82715667e-02 -3.86289275e-03 9.97659296e-01 -2.30131519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92629675700002 meters 0.07279756131331928 Centerline is valid? [True, True] Translation: X:202.89, Y:-13.37, Z:-23.02 [[ 9.74357263e-01 2.13964915e-01 6.96199572e-02 2.02889446e+02] [-2.13704550e-01 9.76833511e-01 -1.12542281e-02 -1.33748345e+01] [-7.04151171e-02 -3.91246270e-03 9.97510102e-01 -2.30193349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.986296757 meters 0.07365392738437093 Centerline is valid? [True, True] Translation: X:202.95, Y:-13.38, Z:-23.03 [[ 9.74240250e-01 2.14850919e-01 6.85202069e-02 2.02950270e+02] [-2.14601268e-01 9.76638995e-01 -1.10710753e-02 -1.33817824e+01] [-6.92981367e-02 -3.91863612e-03 9.97588298e-01 -2.30273476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.046296757 meters 0.07549202399642113 Centerline is valid? [True, True] Translation: X:203.01, Y:-13.39, Z:-23.04 [[ 9.73878348e-01 2.16593211e-01 6.81787662e-02 2.03011017e+02] [-2.16349184e-01 9.76253721e-01 -1.10319170e-02 -1.33866210e+01] [-6.89492125e-02 -4.00667533e-03 9.97612125e-01 -2.30362764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.106296757 meters 0.07549086120716603 Centerline is valid? [True, True] Translation: X:203.07, Y:-13.40, Z:-23.04 [[ 9.74430453e-01 2.13948317e-01 6.86397053e-02 2.03070905e+02] [-2.13692807e-01 9.76837503e-01 -1.11300053e-02 -1.33966064e+01] [-6.94310842e-02 -3.82239520e-03 9.97579427e-01 -2.30435656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.166296757 meters 0.07602331228723179 Centerline is valid? [True, True] Translation: X:203.13, Y:-13.41, Z:-23.05 [[ 9.75073371e-01 2.11498655e-01 6.70838365e-02 2.03132000e+02] [-2.11248765e-01 9.77371790e-01 -1.08785385e-02 -1.34060404e+01] [-6.78666456e-02 -3.56400438e-03 9.97688036e-01 -2.30548865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.226296757 meters 0.07343598008903815 Centerline is valid? [True, True] Translation: X:203.19, Y:-13.42, Z:-23.06 [[ 9.75447293e-01 2.09885094e-01 6.67145027e-02 2.03192594e+02] [-2.09633825e-01 9.77720052e-01 -1.08240052e-02 -1.34242597e+01] [-6.74999044e-02 -3.42736978e-03 9.97713394e-01 -2.30569001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.286296757 meters 0.07403193787601635 Centerline is valid? [True, True] Translation: X:203.25, Y:-13.43, Z:-23.07 [[ 9.75109216e-01 2.10745109e-01 6.89094782e-02 2.03254094e+02] [-2.10478830e-01 9.77534428e-01 -1.11850031e-02 -1.34330928e+01] [-6.97185721e-02 -3.59738675e-03 9.97560213e-01 -2.30655208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.346296757 meters 0.07587004097215692 Centerline is valid? [True, True] Translation: X:203.31, Y:-13.44, Z:-23.08 [[ 9.74066346e-01 2.14301259e-01 7.25928609e-02 2.03314712e+02] [-2.14015025e-01 9.76759211e-01 -1.17903558e-02 -1.34386098e+01] [-7.34324336e-02 -4.05137412e-03 9.97291965e-01 -2.30762441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.406296757 meters 0.07441895250477415 Centerline is valid? [True, True] Translation: X:203.37, Y:-13.45, Z:-23.08 [[ 9.73616423e-01 2.15839163e-01 7.40575267e-02 2.03374881e+02] [-2.15544419e-01 9.76419745e-01 -1.20451445e-02 -1.34540495e+01] [-7.49110452e-02 -4.23533610e-03 9.97181226e-01 -2.30816481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.466296757 meters 0.07560558900606403 Centerline is valid? [True, True] Translation: X:203.44, Y:-13.46, Z:-23.09 [[ 9.73480455e-01 2.16290921e-01 7.45254431e-02 2.03435454e+02] [-2.15992091e-01 9.76319598e-01 -1.21433147e-02 -1.34624617e+01] [-7.53871393e-02 -4.27562678e-03 9.97145174e-01 -2.30897645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.526296757 meters 0.0751034467832414 Centerline is valid? [True, True] Translation: X:203.49, Y:-13.48, Z:-23.10 [[ 9.73913273e-01 2.14159984e-01 7.50229115e-02 2.03494528e+02] [-2.13849433e-01 9.76789910e-01 -1.22430579e-02 -1.34789195e+01] [-7.59035960e-02 -4.11993052e-03 9.97106649e-01 -2.30959785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.586296757 meters 0.07602731706763399 Centerline is valid? [True, True] Translation: X:203.55, Y:-13.49, Z:-23.10 [[ 9.74496383e-01 2.10870760e-01 7.67484382e-02 2.03553153e+02] [-2.10535304e-01 9.77505972e-01 -1.25283927e-02 -1.34879112e+01] [-7.76639284e-02 -3.94938237e-03 9.96971773e-01 -2.31049310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64629675700002 meters 0.07436977045288325 Centerline is valid? [True, True] Translation: X:203.61, Y:-13.50, Z:-23.11 [[ 9.74721345e-01 2.09563439e-01 7.74691187e-02 2.03612493e+02] [-2.09217545e-01 9.77787348e-01 -1.26459710e-02 -1.35045180e+01] [-7.83984573e-02 -3.88160095e-03 9.96914548e-01 -2.31090623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.706296757 meters 0.07412625180387977 Centerline is valid? [True, True] Translation: X:203.67, Y:-13.52, Z:-23.12 [[ 9.74837379e-01 2.08731746e-01 7.82505172e-02 2.03673696e+02] [-2.08376067e-01 9.77965346e-01 -1.27748091e-02 -1.35171575e+01] [-7.91928024e-02 -3.85217363e-03 9.96851875e-01 -2.31152141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.766296757 meters 0.07261301828539382 Centerline is valid? [True, True] Translation: X:203.73, Y:-13.53, Z:-23.12 [[ 9.75189838e-01 2.06617078e-01 7.94617100e-02 2.03733858e+02] [-2.06242636e-01 9.78414776e-01 -1.29808301e-02 -1.35311304e+01] [-8.04285723e-02 -3.72961897e-03 9.96753397e-01 -2.31215604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.826296757 meters 0.07195515872284808 Centerline is valid? [True, True] Translation: X:203.79, Y:-13.54, Z:-23.13 [[ 9.75946926e-01 2.03405690e-01 7.84456712e-02 2.03793403e+02] [-2.03030038e-01 9.79088586e-01 -1.28196813e-02 -1.35445789e+01] [-7.94128575e-02 -3.41549905e-03 9.96835961e-01 -2.31276638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.886296757 meters 0.07201144069995274 Centerline is valid? [True, True] Translation: X:203.85, Y:-13.56, Z:-23.13 [[ 9.76197399e-01 2.02618470e-01 7.73588635e-02 2.03854483e+02] [-2.02250996e-01 9.79252168e-01 -1.26382455e-02 -1.35556521e+01] [-7.83145768e-02 -3.30848477e-03 9.96923207e-01 -2.31341601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.946296757 meters 0.07143354107596961 Centerline is valid? [True, True] Translation: X:203.91, Y:-13.57, Z:-23.14 [[ 9.75892940e-01 2.04898311e-01 7.51641653e-02 2.03914058e+02] [-2.04556169e-01 9.78777477e-01 -1.23054652e-02 -1.35667595e+01] [-7.60903611e-02 -3.36647712e-03 9.97095243e-01 -2.31392015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.006296757 meters 0.07187575504450962 Centerline is valid? [True, True] Translation: X:203.97, Y:-13.57, Z:-23.14 [[ 9.75223648e-01 2.08676743e-01 7.34360559e-02 2.03974362e+02] [-2.08360727e-01 9.77978136e-01 -1.20238494e-02 -1.35748219e+01] [-7.43279548e-02 -3.57524768e-03 9.97227443e-01 -2.31444152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.066296757 meters 0.0742349357544903 Centerline is valid? [True, True] Translation: X:204.03, Y:-13.57, Z:-23.16 [[ 9.74070118e-01 2.14652402e-01 7.14965156e-02 2.04034591e+02] [-2.14368764e-01 9.76682631e-01 -1.17077866e-02 -1.35747749e+01] [-7.23425095e-02 -3.92241462e-03 9.97372135e-01 -2.31552830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.126296757 meters 0.07397022478649917 Centerline is valid? [True, True] Translation: X:204.09, Y:-13.59, Z:-23.16 [[ 9.73154011e-01 2.19209611e-01 7.01314225e-02 2.04094246e+02] [-2.18948386e-01 9.75668842e-01 -1.14853964e-02 -1.35856713e+01] [-7.09427531e-02 -4.17810226e-03 9.97471638e-01 -2.31583986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.186296757 meters 0.07494998462425916 Centerline is valid? [True, True] Translation: X:204.15, Y:-13.59, Z:-23.17 [[ 9.72810369e-01 2.20050098e-01 7.22353085e-02 2.04154299e+02] [-2.19775788e-01 9.75478765e-01 -1.18229150e-02 -1.35936988e+01] [-7.30656431e-02 -4.37411758e-03 9.97317542e-01 -2.31651732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.246296757 meters 0.07474753184383932 Centerline is valid? [True, True] Translation: X:204.21, Y:-13.60, Z:-23.17 [[ 9.73224000e-01 2.18141144e-01 7.24533497e-02 2.04214480e+02] [-2.17858157e-01 9.75908106e-01 -1.18824585e-02 -1.36040897e+01] [-7.32998644e-02 -4.22025942e-03 9.97301017e-01 -2.31712165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.306296757 meters 0.07426987016513607 Centerline is valid? [True, True] Translation: X:204.27, Y:-13.62, Z:-23.18 [[ 9.74015555e-01 2.14294569e-01 7.32907601e-02 2.04274408e+02] [-2.13993932e-01 9.76760999e-01 -1.20227888e-02 -1.36164359e+01] [-7.41639744e-02 -3.97339458e-03 9.97238145e-01 -2.31778031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36629675700001 meters 0.07205069148347694 Centerline is valid? [True, True] Translation: X:204.33, Y:-13.64, Z:-23.18 [[ 9.76134157e-01 2.03182712e-01 7.66739464e-02 2.04332518e+02] [-2.02819270e-01 9.79135376e-01 -1.25800794e-02 -1.36350963e+01] [-7.76302281e-02 -3.27110859e-03 9.96976854e-01 -2.31833293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42629675700002 meters 0.07135297283003356 Centerline is valid? [True, True] Translation: X:204.39, Y:-13.65, Z:-23.19 [[ 9.77215381e-01 1.97928903e-01 7.66436500e-02 2.04390478e+02] [-1.97549525e-01 9.80212232e-01 -1.25763618e-02 -1.36486287e+01] [-7.76162688e-02 -2.85110244e-03 9.96979230e-01 -2.31905514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.486296757 meters 0.07086343779570119 Centerline is valid? [True, True] Translation: X:204.45, Y:-13.66, Z:-23.20 [[ 9.78477948e-01 1.92266187e-01 7.49307562e-02 2.04449945e+02] [-1.91887055e-01 9.81340002e-01 -1.22946551e-02 -1.36642401e+01] [-7.58963949e-02 -2.34819321e-03 9.97112944e-01 -2.31995696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.546296757 meters 0.07080102272725246 Centerline is valid? [True, True] Translation: X:204.51, Y:-13.68, Z:-23.21 [[ 9.78913429e-01 1.90031911e-01 7.49424498e-02 2.04510361e+02] [-1.89646295e-01 9.81775500e-01 -1.22943668e-02 -1.36776642e+01] [-7.59129831e-02 -2.17743716e-03 9.97112069e-01 -2.32063292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.606296757 meters 0.06933289949420336 Centerline is valid? [True, True] Translation: X:204.57, Y:-13.70, Z:-23.20 [[ 9.78826155e-01 1.90909691e-01 7.38434024e-02 2.04571019e+02] [-1.90536655e-01 9.81605145e-01 -1.21293675e-02 -1.36952742e+01] [-7.48006776e-02 -2.19733271e-03 9.97196084e-01 -2.32042007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.666296757 meters 0.06988522432050981 Centerline is valid? [True, True] Translation: X:204.63, Y:-13.70, Z:-23.21 [[ 9.78283761e-01 1.94447613e-01 7.17705248e-02 2.04630912e+02] [-1.94102816e-01 9.80910036e-01 -1.18151922e-02 -1.37037172e+01] [-7.26978640e-02 -2.37225026e-03 9.97351188e-01 -2.32133171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.726296757 meters 0.07117705278486897 Centerline is valid? [True, True] Translation: X:204.69, Y:-13.71, Z:-23.22 [[ 9.77375090e-01 1.99213524e-01 7.10767568e-02 2.04689800e+02] [-1.98887782e-01 9.79952393e-01 -1.17029191e-02 -1.37120071e+01] [-7.19832177e-02 -2.69815699e-03 9.97402194e-01 -2.32223720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.786296757 meters 0.07205242965176287 Centerline is valid? [True, True] Translation: X:204.75, Y:-13.72, Z:-23.23 [[ 9.76585112e-01 2.02930703e-01 7.14188298e-02 2.04749951e+02] [-2.02611814e-01 9.79188543e-01 -1.17579443e-02 -1.37211801e+01] [-7.23185479e-02 -2.98766527e-03 9.97377111e-01 -2.32300172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.846296757 meters 0.07177430284087549 Centerline is valid? [True, True] Translation: X:204.81, Y:-13.73, Z:-23.23 [[ 9.75576547e-01 2.07254741e-01 7.27727501e-02 2.04810002e+02] [-2.06935429e-01 9.78281210e-01 -1.19834448e-02 -1.37342305e+01] [-7.36758398e-02 -3.36849257e-03 9.97276553e-01 -2.32341056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.906296757 meters 0.07324950171929409 Centerline is valid? [True, True] Translation: X:204.87, Y:-13.74, Z:-23.24 [[ 9.75278013e-01 2.08176093e-01 7.41317153e-02 2.04870560e+02] [-2.07847684e-01 9.78085078e-01 -1.22033267e-02 -1.37407423e+01] [-7.50475654e-02 -3.50646914e-03 9.97173790e-01 -2.32439931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.966296757 meters 0.07218286388322989 Centerline is valid? [True, True] Translation: X:204.93, Y:-13.76, Z:-23.25 [[ 9.75507414e-01 2.05516727e-01 7.84102044e-02 2.04929754e+02] [-2.05138673e-01 9.78647458e-01 -1.29336046e-02 -1.37573375e+01] [-7.93940193e-02 -3.46813805e-03 9.96837279e-01 -2.32478441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.026296757 meters 0.07009336843130208 Centerline is valid? [True, True] Translation: X:204.99, Y:-13.78, Z:-23.25 [[ 9.75936703e-01 2.01905260e-01 8.23517918e-02 2.04989156e+02] [-2.01475222e-01 9.79399386e-01 -1.35859023e-02 -1.37760094e+01] [-8.33983595e-02 -3.33286488e-03 9.96510715e-01 -2.32511369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.086296757 meters 0.07133245204086869 Centerline is valid? [True, True] Translation: X:205.05, Y:-13.78, Z:-23.26 [[ 9.76509664e-01 1.98716972e-01 8.33093069e-02 2.05048511e+02] [-1.98265109e-01 9.80052035e-01 -1.37460966e-02 -1.37831941e+01] [-8.43790385e-02 -3.09413260e-03 9.96428926e-01 -2.32613830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14629675700002 meters 0.06953205384528144 Centerline is valid? [True, True] Translation: X:205.11, Y:-13.80, Z:-23.26 [[ 9.76671609e-01 1.98166986e-01 8.27188882e-02 2.05108220e+02] [-1.97719758e-01 9.80163599e-01 -1.36461285e-02 -1.38012975e+01] [-8.37822553e-02 -3.02737222e-03 9.96479487e-01 -2.32637507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.206296757 meters 0.06959545472664604 Centerline is valid? [True, True] Translation: X:205.17, Y:-13.81, Z:-23.27 [[ 9.76851394e-01 1.98044303e-01 8.08690781e-02 2.05168590e+02] [-1.97614825e-01 9.80188692e-01 -1.33607159e-02 -1.38141672e+01] [-8.19129696e-02 -2.92949480e-03 9.96635181e-01 -2.32714680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.266296757 meters 0.06964535553695021 Centerline is valid? [True, True] Translation: X:205.23, Y:-13.83, Z:-23.28 [[ 9.76863381e-01 1.97994858e-01 8.08453544e-02 2.05229563e+02] [-1.97563761e-01 9.80198756e-01 -1.33775205e-02 -1.38259847e+01] [-8.18931962e-02 -2.90410239e-03 9.96636880e-01 -2.32783953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.326296757 meters 0.06981745147561064 Centerline is valid? [True, True] Translation: X:205.29, Y:-13.84, Z:-23.29 [[ 9.76679481e-01 1.98857814e-01 8.09491229e-02 2.05290541e+02] [-1.98426862e-01 9.80023882e-01 -1.34153564e-02 -1.38360723e+01] [-8.19998221e-02 -2.95997711e-03 9.96627948e-01 -2.32861467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.386296757 meters 0.06995759687929137 Centerline is valid? [True, True] Translation: X:205.35, Y:-13.84, Z:-23.29 [[ 9.76339464e-01 2.00686620e-01 8.05365245e-02 2.05351564e+02] [-2.00264182e-01 9.79650672e-01 -1.33722860e-02 -1.38445722e+01] [-8.15812993e-02 -3.07269069e-03 9.96661954e-01 -2.32942650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.446296757 meters 0.07022783813453917 Centerline is valid? [True, True] Translation: X:205.41, Y:-13.86, Z:-23.30 [[ 9.75648300e-01 2.04035941e-01 8.04967719e-02 2.05411398e+02] [-2.03624714e-01 9.78957686e-01 -1.33725440e-02 -1.38555652e+01] [-8.15314132e-02 -3.34423237e-03 9.96665162e-01 -2.33005347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.506296757 meters 0.07063925090053978 Centerline is valid? [True, True] Translation: X:205.47, Y:-13.86, Z:-23.31 [[ 9.74722537e-01 2.06884798e-01 8.43484196e-02 2.05473210e+02] [-2.06444106e-01 9.78358094e-01 -1.40096741e-02 -1.38639722e+01] [-8.54213477e-02 -3.75768905e-03 9.96337831e-01 -2.33072197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.566296757 meters 0.07226033109726027 Centerline is valid? [True, True] Translation: X:205.53, Y:-13.87, Z:-23.32 [[ 9.74097659e-01 2.10117969e-01 8.35714674e-02 2.05533225e+02] [-2.09694865e-01 9.77667953e-01 -1.39081882e-02 -1.38684604e+01] [-8.46275057e-02 -3.97657403e-03 9.96404723e-01 -2.33160042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.626296757 meters 0.07211363351898663 Centerline is valid? [True, True] Translation: X:205.59, Y:-13.88, Z:-23.32 [[ 9.73519321e-01 2.12452265e-01 8.44047746e-02 2.05594240e+02] [-2.12028226e-01 9.77162386e-01 -1.40606655e-02 -1.38771833e+01] [-8.54643912e-02 -4.20786516e-03 9.96332340e-01 -2.33221368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.686296757 meters 0.07216132392841314 Centerline is valid? [True, True] Translation: X:205.66, Y:-13.89, Z:-23.33 [[ 9.73870392e-01 2.11283753e-01 8.32804625e-02 2.05655557e+02] [-2.10866559e-01 9.77416382e-01 -1.38748378e-02 -1.38864478e+01] [-8.43312161e-02 -4.04877084e-03 9.96429553e-01 -2.33287274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.746296757 meters 0.07093562956214168 Centerline is valid? [True, True] Translation: X:205.72, Y:-13.90, Z:-23.33 [[ 9.74506279e-01 2.08235202e-01 8.35201301e-02 2.05715201e+02] [-2.07802253e-01 9.78071513e-01 -1.39405699e-02 -1.39001684e+01] [-8.45915774e-02 -3.77049835e-03 9.96408575e-01 -2.33337610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.806296757 meters 0.06983906785844117 Centerline is valid? [True, True] Translation: X:205.77, Y:-13.91, Z:-23.34 [[ 9.75731635e-01 2.02218695e-01 8.39962885e-02 2.05774694e+02] [-2.01758277e-01 9.79334951e-01 -1.40232593e-02 -1.39139907e+01] [-8.50962662e-02 -3.26400877e-03 9.96367388e-01 -2.33390074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86629675700001 meters 0.06895556709346456 Centerline is valid? [True, True] Translation: X:205.83, Y:-13.93, Z:-23.35 [[ 9.77328165e-01 1.94795927e-01 8.29711099e-02 2.05834377e+02] [-1.94319778e-01 9.80840393e-01 -1.38544848e-02 -1.39280311e+01] [-8.40802133e-02 -2.58254943e-03 9.96455643e-01 -2.33458173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92629675700002 meters 0.068294555346126 Centerline is valid? [True, True] Translation: X:205.89, Y:-13.94, Z:-23.35 [[ 9.78774136e-01 1.88568691e-01 8.02685483e-02 2.05893428e+02] [-1.88101994e-01 9.82058011e-01 -1.34053389e-02 -1.39424057e+01] [-8.13561981e-02 -1.97787493e-03 9.96683128e-01 -2.33533891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.986296757 meters 0.06831891049764742 Centerline is valid? [True, True] Translation: X:205.95, Y:-13.95, Z:-23.36 [[ 9.79472545e-01 1.85026963e-01 7.99909836e-02 2.05953847e+02] [-1.84551941e-01 9.82732007e-01 -1.33559967e-02 -1.39517039e+01] [-8.10809193e-02 -1.68065922e-03 9.96706105e-01 -2.33618482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.046296757 meters 0.06763784022047875 Centerline is valid? [True, True] Translation: X:206.02, Y:-13.96, Z:-23.37 [[ 9.80097589e-01 1.82594052e-01 7.78981949e-02 2.06015383e+02] [-1.82134587e-01 9.83187360e-01 -1.30233402e-02 -1.39645419e+01] [-7.89665051e-02 -1.42381121e-03 9.96876253e-01 -2.33657640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.106296757 meters 0.06782843113670262 Centerline is valid? [True, True] Translation: X:206.08, Y:-13.97, Z:-23.37 [[ 9.80386194e-01 1.81508388e-01 7.67959354e-02 2.06077604e+02] [-1.81056826e-01 9.83388543e-01 -1.28607819e-02 -1.39739960e+01] [-7.78545828e-02 -1.29589537e-03 9.96963883e-01 -2.33732061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.166296757 meters 0.06798548828885921 Centerline is valid? [True, True] Translation: X:206.14, Y:-13.98, Z:-23.38 [[ 9.80142316e-01 1.83280750e-01 7.56915234e-02 2.06138777e+02] [-1.82845656e-01 9.83059624e-01 -1.26981279e-02 -1.39806887e+01] [-7.67366029e-02 -1.39389373e-03 9.97050425e-01 -2.33811191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.226296757 meters 0.06774121232458669 Centerline is valid? [True, True] Translation: X:206.20, Y:-13.99, Z:-23.39 [[ 9.79817986e-01 1.85265854e-01 7.50551607e-02 2.06199942e+02] [-1.84842493e-01 9.82687263e-01 -1.26093449e-02 -1.39896755e+01] [-7.60918315e-02 -1.51852007e-03 9.97099658e-01 -2.33869430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.286296757 meters 0.06760993383792836 Centerline is valid? [True, True] Translation: X:206.26, Y:-14.00, Z:-23.40 [[ 9.79774540e-01 1.85204686e-01 7.57698864e-02 2.06260317e+02] [-1.84771514e-01 9.82698808e-01 -1.27491146e-02 -1.39997675e+01] [-7.68201728e-02 -1.50885876e-03 9.97043823e-01 -2.33951779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.346296757 meters 0.06734451158648862 Centerline is valid? [True, True] Translation: X:206.32, Y:-14.01, Z:-23.40 [[ 9.79192189e-01 1.86953429e-01 7.89371440e-02 2.06320196e+02] [-1.86487125e-01 9.82367318e-01 -1.33042952e-02 -1.40069293e+01] [-8.00325540e-02 -1.69329904e-03 9.96790812e-01 -2.34034649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.406296757 meters 0.06723659442426033 Centerline is valid? [True, True] Translation: X:206.38, Y:-14.01, Z:-23.41 [[ 9.78500094e-01 1.89567598e-01 8.12508012e-02 2.06381614e+02] [-1.89080890e-01 9.81865748e-01 -1.37138689e-02 -1.40133577e+01] [-8.23770839e-02 -1.94395183e-03 9.96599336e-01 -2.34085773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.466296757 meters 0.06743510802459257 Centerline is valid? [True, True] Translation: X:206.44, Y:-14.02, Z:-23.42 [[ 9.78008803e-01 1.91595010e-01 8.24022694e-02 2.06443181e+02] [-1.91099798e-01 9.81471773e-01 -1.39293463e-02 -1.40196622e+01] [-8.35442947e-02 -2.12403371e-03 9.96501801e-01 -2.34151583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.526296757 meters 0.06756053775057454 Centerline is valid? [True, True] Translation: X:206.50, Y:-14.03, Z:-23.42 [[ 9.77757737e-01 1.92452891e-01 8.33768089e-02 2.06504311e+02] [-1.91947226e-01 9.81303741e-01 -1.41149126e-02 -1.40283270e+01] [-8.45344302e-02 -2.20298217e-03 9.96418124e-01 -2.34198699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.586296757 meters 0.06727177860630426 Centerline is valid? [True, True] Translation: X:206.56, Y:-14.04, Z:-23.43 [[ 9.77712554e-01 1.92845022e-01 8.29997547e-02 2.06564710e+02] [-1.92343604e-01 9.81226747e-01 -1.40715687e-02 -1.40399517e+01] [-8.41552113e-02 -2.20652262e-03 9.96450215e-01 -2.34265769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64629675700002 meters 0.06748109364393746 Centerline is valid? [True, True] Translation: X:206.63, Y:-14.05, Z:-23.44 [[ 9.77238178e-01 1.94685058e-01 8.42809084e-02 2.06626502e+02] [-1.94173022e-01 9.80862916e-01 -1.43100416e-02 -1.40476036e+01] [-8.54539689e-02 -2.38075971e-03 9.96339275e-01 -2.34352698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.706296757 meters 0.06804490012394836 Centerline is valid? [True, True] Translation: X:206.69, Y:-14.05, Z:-23.44 [[ 9.76868029e-01 1.97453279e-01 8.21039322e-02 2.06686377e+02] [-1.96974839e-01 9.80309040e-01 -1.39678092e-02 -1.40541471e+01] [-8.32452166e-02 -2.52770252e-03 9.96525888e-01 -2.34437896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.766296757 meters 0.06847369921305166 Centerline is valid? [True, True] Translation: X:206.75, Y:-14.06, Z:-23.45 [[ 9.76682159e-01 1.98999988e-01 8.05665310e-02 2.06746067e+02] [-1.98543438e-01 9.79996054e-01 -1.37199618e-02 -1.40628990e+01] [-8.16851547e-02 -2.59591409e-03 9.96654803e-01 -2.34513214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.826296757 meters 0.06919722847167165 Centerline is valid? [True, True] Translation: X:206.81, Y:-14.07, Z:-23.46 [[ 9.76276831e-01 2.01236136e-01 7.99222523e-02 2.06805692e+02] [-2.00794207e-01 9.79538874e-01 -1.36118035e-02 -1.40704201e+01] [-8.10261398e-02 -2.75903693e-03 9.96708158e-01 -2.34593401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.886296757 meters 0.06918993055488984 Centerline is valid? [True, True] Translation: X:206.87, Y:-14.08, Z:-23.46 [[ 9.75407904e-01 2.05316850e-01 8.01524285e-02 2.06865360e+02] [-2.04885129e-01 9.78690661e-01 -1.36628359e-02 -1.40807614e+01] [-8.12496437e-02 -3.09520259e-03 9.96688976e-01 -2.34643644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.946296757 meters 0.06931548874930167 Centerline is valid? [True, True] Translation: X:206.93, Y:-14.09, Z:-23.47 [[ 9.74875851e-01 2.07673810e-01 8.05522476e-02 2.06926100e+02] [-2.07245472e-01 9.78192553e-01 -1.37347863e-02 -1.40915126e+01] [-8.16479641e-02 -3.30437707e-03 9.96655754e-01 -2.34694899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.006296757 meters 0.07163255668714642 Centerline is valid? [True, True] Translation: X:206.99, Y:-14.09, Z:-23.48 [[ 9.74721221e-01 2.08799221e-01 7.95074032e-02 2.06986347e+02] [-2.08385106e-01 9.77952800e-01 -1.35634954e-02 -1.40939487e+01] [-8.05865349e-02 -3.34753180e-03 9.96741995e-01 -2.34819461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.066296757 meters 0.07167826987157994 Centerline is valid? [True, True] Translation: X:207.05, Y:-14.11, Z:-23.49 [[ 9.74897198e-01 2.08219235e-01 7.88682660e-02 2.07046546e+02] [-2.07810098e-01 9.78076694e-01 -1.34515288e-02 -1.41066068e+01] [-7.99400800e-02 -3.27576431e-03 9.96794288e-01 -2.34899657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.126296757 meters 0.06974380339249203 Centerline is valid? [True, True] Translation: X:207.11, Y:-14.13, Z:-23.49 [[ 9.74825502e-01 2.07995789e-01 8.03305153e-02 2.07106486e+02] [-2.07569043e-01 9.78124155e-01 -1.37196693e-02 -1.41270283e+01] [-8.14268509e-02 -3.29984471e-03 9.96673858e-01 -2.34897012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.186296757 meters 0.07059880371694482 Centerline is valid? [True, True] Translation: X:207.17, Y:-14.13, Z:-23.50 [[ 9.74728747e-01 2.08475254e-01 8.02616891e-02 2.07166942e+02] [-2.08049109e-01 9.78022021e-01 -1.37293614e-02 -1.41339731e+01] [-8.13599315e-02 -3.31596974e-03 9.96679269e-01 -2.34984740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.246296757 meters 0.07003781921746595 Centerline is valid? [True, True] Translation: X:207.23, Y:-14.15, Z:-23.50 [[ 9.74575008e-01 2.09210827e-01 8.02146104e-02 2.07227155e+02] [-2.08786168e-01 9.77864795e-01 -1.37396609e-02 -1.41473107e+01] [-8.13135294e-02 -3.35737098e-03 9.96682917e-01 -2.35033669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.306296757 meters 0.07090621421200648 Centerline is valid? [True, True] Translation: X:207.29, Y:-14.16, Z:-23.51 [[ 9.74314615e-01 2.11400331e-01 7.75946617e-02 2.07285650e+02] [-2.11007755e-01 9.77393656e-01 -1.33179588e-02 -1.41571989e+01] [-7.86559510e-02 -3.39719348e-03 9.96896033e-01 -2.35128241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36629675700001 meters 0.07076673317277618 Centerline is valid? [True, True] Translation: X:207.35, Y:-14.17, Z:-23.52 [[ 9.74289852e-01 2.11731603e-01 7.70000793e-02 2.07346217e+02] [-2.11346638e-01 9.77321920e-01 -1.32084646e-02 -1.41682984e+01] [-7.80505147e-02 -3.40483479e-03 9.96943591e-01 -2.35206015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42629675700002 meters 0.0706405453254644 Centerline is valid? [True, True] Translation: X:207.41, Y:-14.18, Z:-23.53 [[ 9.74087839e-01 2.12742642e-01 7.67688133e-02 2.07406853e+02] [-2.12361609e-01 9.77102155e-01 -1.31880885e-02 -1.41806523e+01] [-7.78166417e-02 -3.45639205e-03 9.96961696e-01 -2.35270398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.486296757 meters 0.07074566636905115 Centerline is valid? [True, True] Translation: X:207.47, Y:-14.19, Z:-23.53 [[ 9.73842567e-01 2.13787236e-01 7.69783872e-02 2.07467081e+02] [-2.13405812e-01 9.76873869e-01 -1.32439758e-02 -1.41930359e+01] [-7.80295679e-02 -3.53008790e-03 9.96944795e-01 -2.35342602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.546296757 meters 0.0705267105473282 Centerline is valid? [True, True] Translation: X:207.53, Y:-14.21, Z:-23.54 [[ 9.73703599e-01 2.14628959e-01 7.63918262e-02 2.07527489e+02] [-2.14254411e-01 9.76689203e-01 -1.31623523e-02 -1.42066909e+01] [-7.74360939e-02 -3.55105587e-03 9.96990994e-01 -2.35397479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.606296757 meters 0.0707582720709073 Centerline is valid? [True, True] Translation: X:207.59, Y:-14.22, Z:-23.55 [[ 9.73832356e-01 2.14594355e-01 7.48318419e-02 2.07587715e+02] [-2.14233425e-01 9.76697144e-01 -1.29123182e-02 -1.42201190e+01] [-7.58589569e-02 -3.45704857e-03 9.97112565e-01 -2.35450720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.666296757 meters 0.07091540047721395 Centerline is valid? [True, True] Translation: X:207.65, Y:-14.23, Z:-23.55 [[ 9.74006694e-01 2.13928031e-01 7.44698471e-02 2.07647759e+02] [-2.13567199e-01 9.76843612e-01 -1.28689604e-02 -1.42330024e+01] [-7.54984258e-02 -3.36986306e-03 9.97140227e-01 -2.35507035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.726296757 meters 0.07074939371063624 Centerline is valid? [True, True] Translation: X:207.71, Y:-14.25, Z:-23.56 [[ 9.74217009e-01 2.13683357e-01 7.23922742e-02 2.07707991e+02] [-2.13340426e-01 9.76897603e-01 -1.25274169e-02 -1.42474518e+01] [-7.33967397e-02 -3.23977597e-03 9.97297560e-01 -2.35567204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.786296757 meters 0.07075845721454448 Centerline is valid? [True, True] Translation: X:207.77, Y:-14.26, Z:-23.56 [[ 9.74503770e-01 2.13087937e-01 7.02561981e-02 2.07768094e+02] [-2.12762143e-01 9.77028161e-01 -1.21754960e-02 -1.42592495e+01] [-7.12367354e-02 -3.08279254e-03 9.97454673e-01 -2.35640947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.846296757 meters 0.0705157282826161 Centerline is valid? [True, True] Translation: X:207.83, Y:-14.27, Z:-23.57 [[ 9.74762432e-01 2.11933536e-01 7.01596547e-02 2.07828415e+02] [-2.11604538e-01 9.77279542e-01 -1.21744436e-02 -1.42708211e+01] [-7.11457681e-02 -2.97891104e-03 9.97461481e-01 -2.35718738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.906296757 meters 0.06901502033166323 Centerline is valid? [True, True] Translation: X:207.89, Y:-14.29, Z:-23.57 [[ 9.75693010e-01 2.06675064e-01 7.28599189e-02 2.07887553e+02] [-2.06303617e-01 9.78405996e-01 -1.26698544e-02 -1.42893531e+01] [-7.39051244e-02 -2.66937638e-03 9.97261704e-01 -2.35728516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.966296757 meters 0.06869995418646938 Centerline is valid? [True, True] Translation: X:207.95, Y:-14.30, Z:-23.58 [[ 9.75993488e-01 2.05279492e-01 7.27807777e-02 2.07948205e+02] [-2.04905416e-01 9.78700027e-01 -1.26502187e-02 -1.43019277e+01] [-7.38273796e-02 -2.56664450e-03 9.97267733e-01 -2.35796850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.026296757 meters 0.06931517160682582 Centerline is valid? [True, True] Translation: X:208.01, Y:-14.31, Z:-23.59 [[ 9.76027468e-01 2.05211298e-01 7.25169258e-02 2.08008704e+02] [-2.04838425e-01 9.78714411e-01 -1.26222340e-02 -1.43102189e+01] [-7.35635854e-02 -2.53460577e-03 9.97287308e-01 -2.35890419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.086296757 meters 0.06933596546543909 Centerline is valid? [True, True] Translation: X:208.07, Y:-14.32, Z:-23.59 [[ 9.75529120e-01 2.08290945e-01 7.04117815e-02 2.08068776e+02] [-2.07945536e-01 9.78063293e-01 -1.22820588e-02 -1.43204813e+01] [-7.14254205e-02 -2.66030967e-03 9.97442395e-01 -2.35944313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14629675700002 meters 0.070205579621443 Centerline is valid? [True, True] Translation: X:208.13, Y:-14.33, Z:-23.60 [[ 9.74928851e-01 2.11323344e-01 6.96862993e-02 2.08128038e+02] [-2.10992702e-01 9.77412047e-01 -1.21560457e-02 -1.43277893e+01] [-7.06810847e-02 -2.85202090e-03 9.97494887e-01 -2.36047970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.206296757 meters 0.07086914193203908 Centerline is valid? [True, True] Translation: X:208.19, Y:-14.34, Z:-23.61 [[ 9.74221756e-01 2.14761846e-01 6.90602659e-02 2.08187952e+02] [-2.14444915e-01 9.76661647e-01 -1.20584018e-02 -1.43362135e+01] [-7.00381977e-02 -3.06206549e-03 9.97539611e-01 -2.36125312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.266296757 meters 0.07174956798723786 Centerline is valid? [True, True] Translation: X:208.25, Y:-14.34, Z:-23.62 [[ 9.73509776e-01 2.17745055e-01 6.97553421e-02 2.08249260e+02] [-2.17429149e-01 9.76000079e-01 -1.21824282e-02 -1.43427465e+01] [-7.07338829e-02 -3.30713172e-03 9.97489740e-01 -2.36199357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.326296757 meters 0.07181159040012894 Centerline is valid? [True, True] Translation: X:208.31, Y:-14.35, Z:-23.62 [[ 9.72554591e-01 2.21962980e-01 6.97854125e-02 2.08310068e+02] [-2.21657138e-01 9.75048415e-01 -1.21943037e-02 -1.43497833e+01] [-7.07508398e-02 -3.60880878e-03 9.97487491e-01 -2.36240814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.386296757 meters 0.07155025937555518 Centerline is valid? [True, True] Translation: X:208.37, Y:-14.36, Z:-23.63 [[ 9.72005935e-01 2.24319358e-01 6.98948312e-02 2.08371285e+02] [-2.24018592e-01 9.74508334e-01 -1.22138279e-02 -1.43582415e+01] [-7.08528936e-02 -3.78582849e-03 9.97479591e-01 -2.36278719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.446296757 meters 0.07385895347166879 Centerline is valid? [True, True] Translation: X:208.43, Y:-14.36, Z:-23.64 [[ 9.71164449e-01 2.28151383e-01 6.91849682e-02 2.08432132e+02] [-2.27866115e-01 9.73617370e-01 -1.20933830e-02 -1.43572816e+01] [-7.01188089e-02 -4.02024628e-03 9.97530546e-01 -2.36362365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.506296757 meters 0.07337615895537786 Centerline is valid? [True, True] Translation: X:208.49, Y:-14.37, Z:-23.64 [[ 9.70928493e-01 2.29175557e-01 6.91116969e-02 2.08492778e+02] [-2.28893558e-01 9.73376509e-01 -1.20793776e-02 -1.43664815e+01] [-7.00400004e-02 -4.09101030e-03 9.97535795e-01 -2.36423873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.566296757 meters 0.07413251613851728 Centerline is valid? [True, True] Translation: X:208.55, Y:-14.37, Z:-23.65 [[ 9.71127492e-01 2.28937138e-01 6.70759379e-02 2.08553383e+02] [-2.28669932e-01 9.73433240e-01 -1.17383726e-02 -1.43704445e+01] [-6.79812969e-02 -3.93879381e-03 9.97678821e-01 -2.36521822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.626296757 meters 0.0737115105145979 Centerline is valid? [True, True] Translation: X:208.61, Y:-14.38, Z:-23.66 [[ 9.71493182e-01 2.27659012e-01 6.61239117e-02 2.08614064e+02] [-2.27395442e-01 9.73733578e-01 -1.15858780e-02 -1.43805049e+01] [-6.70247026e-02 -3.78067463e-03 9.97744153e-01 -2.36595278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.686296757 meters 0.0713501097682154 Centerline is valid? [True, True] Translation: X:208.67, Y:-14.40, Z:-23.66 [[ 9.71760475e-01 2.27040633e-01 6.42972062e-02 2.08674065e+02] [-2.26789158e-01 9.73878556e-01 -1.12798666e-02 -1.43974752e+01] [-6.51786584e-02 -3.62058073e-03 9.97867042e-01 -2.36618410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.746296757 meters 0.0747658118039568 Centerline is valid? [True, True] Translation: X:208.73, Y:-14.40, Z:-23.68 [[ 9.71518887e-01 2.27777331e-01 6.53340679e-02 2.08734688e+02] [-2.27518142e-01 9.73706172e-01 -1.14797863e-02 -1.43975343e+01] [-6.62310203e-02 -3.71185653e-03 9.97797411e-01 -2.36752766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.806296757 meters 0.07294890605014667 Centerline is valid? [True, True] Translation: X:208.79, Y:-14.41, Z:-23.68 [[ 9.71169675e-01 2.29511021e-01 6.44527239e-02 2.08794133e+02] [-2.29261258e-01 9.73298806e-01 -1.13450726e-02 -1.44130230e+01] [-6.53355783e-02 -3.75852213e-03 9.97856270e-01 -2.36774557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86629675700001 meters 0.07431013624962449 Centerline is valid? [True, True] Translation: X:208.85, Y:-14.42, Z:-23.69 [[ 9.71020715e-01 2.30945733e-01 6.15047932e-02 2.08854096e+02] [-2.30720519e-01 9.72959719e-01 -1.08364258e-02 -1.44226436e+01] [-6.23443126e-02 -3.66802382e-03 9.98047961e-01 -2.36876324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92629675700002 meters 0.07536524192417533 Centerline is valid? [True, True] Translation: X:208.92, Y:-14.43, Z:-23.70 [[ 9.70963590e-01 2.31191485e-01 6.14833688e-02 2.08915276e+02] [-2.30967500e-01 9.72901264e-01 -1.08233458e-02 -1.44311295e+01] [-6.23195126e-02 -3.69158531e-03 9.98049423e-01 -2.36972802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.986296757 meters 0.07556800731450893 Centerline is valid? [True, True] Translation: X:208.98, Y:-14.44, Z:-23.70 [[ 9.70651070e-01 2.31461963e-01 6.52829272e-02 2.08975711e+02] [-2.31208197e-01 9.72836089e-01 -1.15201206e-02 -1.44429334e+01] [-6.61760573e-02 -3.91193049e-03 9.97800294e-01 -2.37028912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.046296757 meters 0.07684710324075136 Centerline is valid? [True, True] Translation: X:209.03, Y:-14.45, Z:-23.71 [[ 9.70706377e-01 2.29810514e-01 7.01160212e-02 2.09034430e+02] [-2.29513182e-01 9.73226849e-01 -1.23773894e-02 -1.44519052e+01] [-7.10832486e-02 -4.07774028e-03 9.97462051e-01 -2.37097987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.106296757 meters 0.07345657710271926 Centerline is valid? [True, True] Translation: X:209.09, Y:-14.47, Z:-23.71 [[ 9.70814321e-01 2.29186813e-01 7.06608780e-02 2.09094602e+02] [-2.28883384e-01 9.73373963e-01 -1.24709611e-02 -1.44726857e+01] [-7.16376387e-02 -4.06611328e-03 9.97422436e-01 -2.37101578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.166296757 meters 0.07328228510345297 Centerline is valid? [True, True] Translation: X:209.15, Y:-14.48, Z:-23.72 [[ 9.70996500e-01 2.27203710e-01 7.44598624e-02 2.09154237e+02] [-2.26860267e-01 9.73838528e-01 -1.31507243e-02 -1.44836615e+01] [-7.54997761e-02 -4.12267700e-03 9.97137296e-01 -2.37159363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.226296757 meters 0.07328512777003668 Centerline is valid? [True, True] Translation: X:209.21, Y:-14.50, Z:-23.72 [[ 9.71242018e-01 2.25524216e-01 7.63398380e-02 2.09213971e+02] [-2.25157929e-01 9.74228968e-01 -1.34842074e-02 -1.44983780e+01] [-7.74134969e-02 -4.09209106e-03 9.96990675e-01 -2.37234534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.286296757 meters 0.07315949624763479 Centerline is valid? [True, True] Translation: X:209.27, Y:-14.51, Z:-23.73 [[ 9.71972632e-01 2.22352350e-01 7.63454948e-02 2.09273230e+02] [-2.21975913e-01 9.74958831e-01 -1.34896676e-02 -1.45133248e+01] [-7.74331737e-02 -3.83527315e-03 9.96990168e-01 -2.37307833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.346296757 meters 0.0725891562517737 Centerline is valid? [True, True] Translation: X:209.33, Y:-14.53, Z:-23.74 [[ 9.72375159e-01 2.20131068e-01 7.76457503e-02 2.09332344e+02] [-2.19734362e-01 9.75463219e-01 -1.37229000e-02 -1.45289130e+01] [-7.87614102e-02 -3.71763227e-03 9.96886563e-01 -2.37368264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.406296757 meters 0.07365628440909613 Centerline is valid? [True, True] Translation: X:209.39, Y:-14.54, Z:-23.75 [[ 9.72117610e-01 2.20644728e-01 7.93930469e-02 2.09391953e+02] [-2.20231874e-01 9.75346659e-01 -1.40291223e-02 -1.45389340e+01] [-8.05311949e-02 -3.84692269e-03 9.96744665e-01 -2.37462750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.466296757 meters 0.07397100385629304 Centerline is valid? [True, True] Translation: X:209.45, Y:-14.55, Z:-23.75 [[ 9.71590330e-01 2.23582074e-01 7.76098397e-02 2.09451009e+02] [-2.23195021e-01 9.74677002e-01 -1.37377139e-02 -1.45506734e+01] [-7.87160324e-02 -3.97469979e-03 9.96889155e-01 -2.37540390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.526296757 meters 0.07414245675191648 Centerline is valid? [True, True] Translation: X:209.51, Y:-14.56, Z:-23.76 [[ 9.70332966e-01 2.29164828e-01 7.70546298e-02 2.09510745e+02] [-2.28800671e-01 9.73377715e-01 -1.36410119e-02 -1.45618876e+01] [-7.81292996e-02 -4.39382744e-03 9.96933552e-01 -2.37604936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.586296757 meters 0.07766120832211316 Centerline is valid? [True, True] Translation: X:209.57, Y:-14.56, Z:-23.77 [[ 9.68606205e-01 2.35553732e-01 7.94761504e-02 2.09571873e+02] [-2.35187417e-01 9.71848152e-01 -1.40729956e-02 -1.45596027e+01] [-8.05536965e-02 -5.06059964e-03 9.96737424e-01 -2.37715000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64629675700002 meters 0.0815349461747691 Centerline is valid? [True, True] Translation: X:209.63, Y:-14.56, Z:-23.78 [[ 9.66444701e-01 2.42889963e-01 8.36008762e-02 2.09632140e+02] [-2.42511913e-01 9.70035488e-01 -1.48028413e-02 -1.45601061e+01] [-8.46912783e-02 -5.96808093e-03 9.96389366e-01 -2.37780361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.706296757 meters 0.0821983583910402 Centerline is valid? [True, True] Translation: X:209.69, Y:-14.57, Z:-23.78 [[ 9.65801190e-01 2.45385610e-01 8.37494081e-02 2.09692467e+02] [-2.45014949e-01 9.69405782e-01 -1.48359261e-02 -1.45690263e+01] [-8.48276832e-02 -6.19130191e-03 9.96376401e-01 -2.37843616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.766296757 meters 0.08097954362419253 Centerline is valid? [True, True] Translation: X:209.75, Y:-14.58, Z:-23.79 [[ 9.65603145e-01 2.46206151e-01 8.36247392e-02 2.09752567e+02] [-2.45839096e-01 9.69197347e-01 -1.48203011e-02 -1.45826030e+01] [-8.46977247e-02 -6.24770094e-03 9.96387104e-01 -2.37887890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.826296757 meters 0.07861453246526987 Centerline is valid? [True, True] Translation: X:209.81, Y:-14.60, Z:-23.79 [[ 9.66269787e-01 2.43394010e-01 8.41549380e-02 2.09811889e+02] [-2.43009610e-01 9.69908845e-01 -1.49386329e-02 -1.46002039e+01] [-8.52585925e-02 -6.01570895e-03 9.96340697e-01 -2.37944388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.886296757 meters 0.07673661664746058 Centerline is valid? [True, True] Translation: X:209.87, Y:-14.62, Z:-23.80 [[ 9.67932537e-01 2.36822588e-01 8.37953743e-02 2.09870635e+02] [-2.36416714e-01 9.71537850e-01 -1.48776523e-02 -1.46198431e+01] [-8.49337419e-02 -5.41006325e-03 9.96371914e-01 -2.38004700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.946296757 meters 0.0768768299225904 Centerline is valid? [True, True] Translation: X:209.93, Y:-14.63, Z:-23.81 [[ 9.69604735e-01 2.29346761e-01 8.52450641e-02 2.09928357e+02] [-2.28897571e-01 9.73332781e-01 -1.51393179e-02 -1.46338143e+01] [-8.64439689e-02 -4.83323380e-03 9.96244990e-01 -2.38098397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.006296757 meters 0.07561924524730736 Centerline is valid? [True, True] Translation: X:209.99, Y:-14.66, Z:-23.82 [[ 9.71194104e-01 2.23158390e-01 8.35604256e-02 2.09986499e+02] [-2.22703892e-01 9.74773167e-01 -1.48408061e-02 -1.46558962e+01] [-8.47643111e-02 -4.19592864e-03 9.96392195e-01 -2.38166516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.066296757 meters 0.07462570250150011 Centerline is valid? [True, True] Translation: X:210.04, Y:-14.68, Z:-23.82 [[ 9.72533479e-01 2.17553047e-01 8.27605188e-02 2.10043927e+02] [-2.17086598e-01 9.76041611e-01 -1.47031712e-02 -1.46794849e+01] [-8.39764298e-02 -3.66687332e-03 9.96460994e-01 -2.38213460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.126296757 meters 0.07398692838987381 Centerline is valid? [True, True] Translation: X:210.10, Y:-14.70, Z:-23.83 [[ 9.73069790e-01 2.15086722e-01 8.29028679e-02 2.10102085e+02] [-2.14609518e-01 9.76588833e-01 -1.47311105e-02 -1.47004781e+01] [-8.41304812e-02 -3.45734598e-03 9.96448749e-01 -2.38263823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.186296757 meters 0.07496002430116251 Centerline is valid? [True, True] Translation: X:210.16, Y:-14.71, Z:-23.84 [[ 9.72695245e-01 2.16962109e-01 8.24099723e-02 2.10161036e+02] [-2.16497439e-01 9.76173389e-01 -1.46415248e-02 -1.47127930e+01] [-8.36230780e-02 -3.59980642e-03 9.96490954e-01 -2.38350253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.246296757 meters 0.07585752954541199 Centerline is valid? [True, True] Translation: X:210.22, Y:-14.73, Z:-23.84 [[ 9.71961038e-01 2.20564104e-01 8.15059262e-02 2.10220231e+02] [-2.20120212e-01 9.75364909e-01 -1.45046852e-02 -1.47271750e+01] [-8.26972332e-02 -3.84311279e-03 9.96567307e-01 -2.38441937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.306296757 meters 0.07779527895443238 Centerline is valid? [True, True] Translation: X:210.28, Y:-14.74, Z:-23.85 [[ 9.70200077e-01 2.28365196e-01 8.10009175e-02 2.10280348e+02] [-2.27953554e-01 9.73565253e-01 -1.44179168e-02 -1.47363126e+01] [-8.21522291e-02 -4.47618305e-03 9.96609741e-01 -2.38519397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36629675700001 meters 0.0796473628019508 Centerline is valid? [True, True] Translation: X:210.34, Y:-14.74, Z:-23.86 [[ 9.68656968e-01 2.34805125e-01 8.10569611e-02 2.10340792e+02] [-2.34415149e-01 9.72029484e-01 -1.44298168e-02 -1.47438591e+01] [-8.21779510e-02 -5.02343698e-03 9.96605012e-01 -2.38578862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42629675700002 meters 0.08111667350761172 Centerline is valid? [True, True] Translation: X:210.40, Y:-14.75, Z:-23.86 [[ 9.65908930e-01 2.46020493e-01 8.05844690e-02 2.10401303e+02] [-2.45673377e-01 9.69246446e-01 -1.43499074e-02 -1.47542926e+01] [-8.16365814e-02 -5.93675495e-03 9.96644482e-01 -2.38622573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.486296757 meters 0.08690816542489636 Centerline is valid? [True, True] Translation: X:210.46, Y:-14.76, Z:-23.87 [[ 9.63364362e-01 2.56953930e-01 7.68360839e-02 2.10461077e+02] [-2.56671774e-01 9.66401601e-01 -1.36947308e-02 -1.47552512e+01] [-7.77734294e-02 -6.52863833e-03 9.96949683e-01 -2.38724235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.546296757 meters 0.08804118991153376 Centerline is valid? [True, True] Translation: X:210.52, Y:-14.77, Z:-23.88 [[ 9.62357741e-01 2.61937339e-01 7.25010978e-02 2.10520486e+02] [-2.61699517e-01 9.65062788e-01 -1.29297718e-02 -1.47697267e+01] [-7.33549016e-02 -6.53043625e-03 9.97284519e-01 -2.38798607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.606296757 meters 0.08894343913641571 Centerline is valid? [True, True] Translation: X:210.58, Y:-14.79, Z:-23.89 [[ 9.62927248e-01 2.60124402e-01 7.14591549e-02 2.10579692e+02] [-2.59888267e-01 9.65554571e-01 -1.27459103e-02 -1.47862711e+01] [-7.23132359e-02 -6.29801164e-03 9.97362086e-01 -2.38882245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.666296757 meters 0.08969866256487645 Centerline is valid? [True, True] Translation: X:210.64, Y:-14.80, Z:-23.89 [[ 9.63610216e-01 2.56790471e-01 7.42563521e-02 2.10637769e+02] [-2.56525261e-01 9.66446694e-01 -1.32505682e-02 -1.48010075e+01] [-7.51674257e-02 -6.28024726e-03 9.97151150e-01 -2.38930443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.726296757 meters 0.08874736594608598 Centerline is valid? [True, True] Translation: X:210.70, Y:-14.82, Z:-23.90 [[ 9.64321960e-01 2.52953722e-01 7.80869530e-02 2.10697118e+02] [-2.52648001e-01 9.67457922e-01 -1.39340488e-02 -1.48186493e+01] [-7.90705108e-02 -6.29160328e-03 9.96849171e-01 -2.38979129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.786296757 meters 0.08710615996814397 Centerline is valid? [True, True] Translation: X:210.76, Y:-14.84, Z:-23.90 [[ 9.65333673e-01 2.49486533e-01 7.67291999e-02 2.10756280e+02] [-2.49180643e-01 9.68360267e-01 -1.36894547e-02 -1.48365869e+01] [-7.77168431e-02 -5.90453981e-03 9.96957987e-01 -2.39038438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.846296757 meters 0.08285134380411016 Centerline is valid? [True, True] Translation: X:210.81, Y:-14.86, Z:-23.91 [[ 9.66233840e-01 2.46881991e-01 7.37661749e-02 2.10814092e+02] [-2.46590287e-01 9.69030197e-01 -1.31798154e-02 -1.48607889e+01] [-7.47355100e-02 -5.45523855e-03 9.97188470e-01 -2.39088457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.906296757 meters 0.08362923718705556 Centerline is valid? [True, True] Translation: X:210.87, Y:-14.87, Z:-23.92 [[ 9.66694521e-01 2.45756170e-01 7.14535412e-02 2.10873819e+02] [-2.45479502e-01 9.69317730e-01 -1.27652708e-02 -1.48725063e+01] [-7.23983285e-02 -5.20026236e-03 9.97362241e-01 -2.39178065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.966296757 meters 0.08328028048269512 Centerline is valid? [True, True] Translation: X:210.93, Y:-14.89, Z:-23.93 [[ 9.66978366e-01 2.45510214e-01 6.83927907e-02 2.10933866e+02] [-2.45254656e-01 9.69381425e-01 -1.22395144e-02 -1.48872249e+01] [-6.93036267e-02 -4.93830471e-03 9.97583390e-01 -2.39253718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.026296757 meters 0.08365058900256865 Centerline is valid? [True, True] Translation: X:210.99, Y:-14.90, Z:-23.93 [[ 9.68006458e-01 2.41795331e-01 6.70709692e-02 2.10992405e+02] [-2.41540314e-01 9.70316483e-01 -1.20083416e-02 -1.49014058e+01] [-6.79836279e-02 -4.57619073e-03 9.97675942e-01 -2.39342658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.086296757 meters 0.08333687689960019 Centerline is valid? [True, True] Translation: X:211.05, Y:-14.91, Z:-23.94 [[ 9.68356986e-01 2.40008471e-01 6.84155096e-02 2.11052347e+02] [-2.39738395e-01 9.70760195e-01 -1.22533744e-02 -1.49144544e+01] [-6.93559671e-02 -4.53618379e-03 9.97581662e-01 -2.39408590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14629675700002 meters 0.08314778741547388 Centerline is valid? [True, True] Translation: X:211.11, Y:-14.93, Z:-23.95 [[ 9.68787951e-01 2.37962480e-01 6.94533265e-02 2.11111527e+02] [-2.37678722e-01 9.71264136e-01 -1.24420294e-02 -1.49296376e+01] [-7.04182613e-02 -4.45388970e-03 9.97507610e-01 -2.39473362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.206296757 meters 0.08214224285479288 Centerline is valid? [True, True] Translation: X:211.17, Y:-14.95, Z:-23.95 [[ 9.68710718e-01 2.38314337e-01 6.93240358e-02 2.11171719e+02] [-2.38032898e-01 9.71177760e-01 -1.24136610e-02 -1.49465303e+01] [-7.02843152e-02 -4.47615465e-03 9.97516957e-01 -2.39528151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.266296757 meters 0.08509815967687204 Centerline is valid? [True, True] Translation: X:211.23, Y:-14.96, Z:-23.96 [[ 9.68546937e-01 2.38899134e-01 6.95990969e-02 2.11231121e+02] [-2.38615458e-01 9.71033887e-01 -1.24841228e-02 -1.49557093e+01] [-7.05655277e-02 -4.51596148e-03 9.97496924e-01 -2.39628743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.326296757 meters 0.08157315922922068 Centerline is valid? [True, True] Translation: X:211.29, Y:-14.98, Z:-23.97 [[ 9.68264336e-01 2.39765423e-01 7.05458607e-02 2.11290667e+02] [-2.39475999e-01 9.70819772e-01 -1.26576397e-02 -1.49785956e+01] [-7.15221808e-02 -4.63809943e-03 9.97428226e-01 -2.39652994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.386296757 meters 0.08051086174046243 Centerline is valid? [True, True] Translation: X:211.35, Y:-15.00, Z:-23.97 [[ 9.68093800e-01 2.39912461e-01 7.23630153e-02 2.11350655e+02] [-2.39606702e-01 9.70782917e-01 -1.30060421e-02 -1.49967282e+01] [-7.33690906e-02 -4.74759473e-03 9.97293556e-01 -2.39687016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.446296757 meters 0.0812445679176116 Centerline is valid? [True, True] Translation: X:211.41, Y:-15.01, Z:-23.98 [[ 9.67824862e-01 2.40758862e-01 7.31451082e-02 2.11411145e+02] [-2.40447466e-01 9.70572866e-01 -1.31653828e-02 -1.50083247e+01] [-7.41623400e-02 -4.84577109e-03 9.97234409e-01 -2.39755872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.506296757 meters 0.08346228076069012 Centerline is valid? [True, True] Translation: X:211.47, Y:-15.02, Z:-23.98 [[ 9.67168240e-01 2.43385315e-01 7.31381186e-02 2.11470602e+02] [-2.43079473e-01 9.69916687e-01 -1.31905632e-02 -1.50155060e+01] [-7.41482711e-02 -5.02088147e-03 9.97234589e-01 -2.39836494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.566296757 meters 0.08270929314613105 Centerline is valid? [True, True] Translation: X:211.53, Y:-15.03, Z:-23.99 [[ 9.66287132e-01 2.45908806e-01 7.62760559e-02 2.11531742e+02] [-2.45584470e-01 9.69277671e-01 -1.37500747e-02 -1.50276393e+01] [-7.73139423e-02 -5.44569454e-03 9.96991925e-01 -2.39858892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.626296757 meters 0.08345617442680302 Centerline is valid? [True, True] Translation: X:211.59, Y:-15.04, Z:-23.99 [[ 9.66070733e-01 2.46595031e-01 7.67999352e-02 2.11592820e+02] [-2.46266827e-01 9.69102899e-01 -1.38644054e-02 -1.50373951e+01] [-7.78459333e-02 -5.51928004e-03 9.96950123e-01 -2.39937184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.686296757 meters 0.08488156680403228 Centerline is valid? [True, True] Translation: X:211.65, Y:-15.05, Z:-24.00 [[ 9.66763152e-01 2.44415372e-01 7.50342117e-02 2.11652123e+02] [-2.44093727e-01 9.69656702e-01 -1.35695842e-02 -1.50455900e+01] [-7.60740412e-02 -5.19680635e-03 9.97088629e-01 -2.40042048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.746296757 meters 0.08111912169764433 Centerline is valid? [True, True] Translation: X:211.71, Y:-15.07, Z:-24.01 [[ 9.67433578e-01 2.42132741e-01 7.37835178e-02 2.11711365e+02] [-2.41814597e-01 9.70230626e-01 -1.33503976e-02 -1.50652652e+01] [-7.48195971e-02 -4.92630874e-03 9.97184917e-01 -2.40082321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.806296757 meters 0.0801230711331535 Centerline is valid? [True, True] Translation: X:211.77, Y:-15.08, Z:-24.01 [[ 9.67946318e-01 2.40222474e-01 7.33013537e-02 2.11771109e+02] [-2.39902500e-01 9.70706285e-01 -1.32702094e-02 -1.50791581e+01] [-7.43418873e-02 -4.74032772e-03 9.97221547e-01 -2.40139825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86629675700001 meters 0.0823412835693122 Centerline is valid? [True, True] Translation: X:211.83, Y:-15.09, Z:-24.02 [[ 9.68294733e-01 2.38959947e-01 7.28248152e-02 2.11831982e+02] [-2.38640884e-01 9.71018447e-01 -1.31796463e-02 -1.50851577e+01] [-7.38636466e-02 -4.61719624e-03 9.97257661e-01 -2.40237392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92629675700002 meters 0.0796396020879658 Centerline is valid? [True, True] Translation: X:211.89, Y:-15.10, Z:-24.03 [[ 9.68053728e-01 2.39707145e-01 7.35694506e-02 2.11892837e+02] [-2.39382371e-01 9.70833840e-01 -1.33317797e-02 -1.51021644e+01] [-7.46194350e-02 -4.70535048e-03 9.97200983e-01 -2.40265750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.986296757 meters 0.08049867902022001 Centerline is valid? [True, True] Translation: X:211.95, Y:-15.11, Z:-24.03 [[ 9.67375866e-01 2.41957818e-01 7.51022518e-02 2.11953638e+02] [-2.41623966e-01 9.70274123e-01 -1.36376236e-02 -1.51102701e+01] [-7.61695012e-02 -4.95379603e-03 9.97082578e-01 -2.40321367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.046296757 meters 0.08432915767551942 Centerline is valid? [True, True] Translation: X:212.01, Y:-15.11, Z:-24.04 [[ 9.66209669e-01 2.45589673e-01 7.82597494e-02 2.12014489e+02] [-2.45238111e-01 9.69358552e-01 -1.42220799e-02 -1.51089542e+01] [-7.93545533e-02 -5.45076199e-03 9.96831553e-01 -2.40396356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.106296757 meters 0.08369195571492094 Centerline is valid? [True, True] Translation: X:212.07, Y:-15.12, Z:-24.04 [[ 9.65132708e-01 2.49115604e-01 8.03758117e-02 2.12074870e+02] [-2.48756500e-01 9.68455834e-01 -1.46116835e-02 -1.51170870e+01] [-8.14804221e-02 -5.89179193e-03 9.96657528e-01 -2.40428458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.166296757 meters 0.08562277822151754 Centerline is valid? [True, True] Translation: X:212.14, Y:-15.12, Z:-24.05 [[ 9.64943856e-01 2.50359585e-01 7.87618790e-02 2.12136055e+02] [-2.50017192e-01 9.68135214e-01 -1.43391313e-02 -1.51210584e+01] [-7.98420875e-02 -5.85536722e-03 9.96790327e-01 -2.40528094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.226296757 meters 0.08568829971757826 Centerline is valid? [True, True] Translation: X:212.20, Y:-15.13, Z:-24.06 [[ 9.65160989e-01 2.49359646e-01 7.92718847e-02 2.12196381e+02] [-2.49009383e-01 9.68393524e-01 -1.44329096e-02 -1.51292431e+01] [-8.03653651e-02 -5.80936179e-03 9.96748544e-01 -2.40600707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.286296757 meters 0.08599726902982414 Centerline is valid? [True, True] Translation: X:212.26, Y:-15.14, Z:-24.06 [[ 9.65273563e-01 2.48594953e-01 8.02963120e-02 2.12257500e+02] [-2.48231839e-01 9.68590123e-01 -1.46330995e-02 -1.51381120e+01] [-8.14119294e-02 -5.80715707e-03 9.96663622e-01 -2.40649581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.346296757 meters 0.08218224422722215 Centerline is valid? [True, True] Translation: X:212.32, Y:-15.16, Z:-24.07 [[ 9.65996673e-01 2.45482663e-01 8.11707492e-02 2.12316258e+02] [-2.45100232e-01 9.69384804e-01 -1.47978853e-02 -1.51550620e+01] [-8.23183152e-02 -5.60026147e-03 9.96590353e-01 -2.40683936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.406296757 meters 0.08142382159281093 Centerline is valid? [True, True] Translation: X:212.38, Y:-15.17, Z:-24.08 [[ 9.66782186e-01 2.41563462e-01 8.35421915e-02 2.12375702e+02] [-2.41143342e-01 9.70369909e-01 -1.52357461e-02 -1.51654919e+01] [-8.47472284e-02 -5.41599527e-03 9.96387763e-01 -2.40751846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.466296757 meters 0.08060303085087693 Centerline is valid? [True, True] Translation: X:212.43, Y:-15.18, Z:-24.08 [[ 9.67854758e-01 2.37672930e-01 8.22723920e-02 2.12433919e+02] [-2.37250012e-01 9.71332475e-01 -1.50218340e-02 -1.51772497e+01] [-8.34841294e-02 -4.98017249e-03 9.96496662e-01 -2.40837387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.526296757 meters 0.08057822201920073 Centerline is valid? [True, True] Translation: X:212.49, Y:-15.19, Z:-24.09 [[ 9.68450025e-01 2.36060919e-01 7.98735986e-02 2.12494146e+02] [-2.35656981e-01 9.71726889e-01 -1.45822093e-02 -1.51894973e+01] [-8.10576132e-02 -4.70063011e-03 9.96698333e-01 -2.40924154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.586296757 meters 0.07959317949546538 Centerline is valid? [True, True] Translation: X:212.55, Y:-15.20, Z:-24.10 [[ 9.68204855e-01 2.36871130e-01 8.04451779e-02 2.12554803e+02] [-2.36462606e-01 9.71529299e-01 -1.47056658e-02 -1.52031115e+01] [-8.16381950e-02 -4.78417931e-03 9.96650549e-01 -2.40971638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64629675700002 meters 0.08244633700733703 Centerline is valid? [True, True] Translation: X:212.61, Y:-15.21, Z:-24.10 [[ 9.67474060e-01 2.40293444e-01 7.90759309e-02 2.12614469e+02] [-2.39908090e-01 9.70687612e-01 -1.44799519e-02 -1.52082157e+01] [-8.02374640e-02 -4.96197771e-03 9.96763426e-01 -2.41034991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.706296757 meters 0.07963394932367057 Centerline is valid? [True, True] Translation: X:212.68, Y:-15.23, Z:-24.11 [[ 9.67009331e-01 2.41718703e-01 8.04053587e-02 2.12675041e+02] [-2.41325415e-01 9.70332598e-01 -1.47205291e-02 -1.52252879e+01] [-8.15781678e-02 -5.16896755e-03 9.96653543e-01 -2.41054606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.766296757 meters 0.08195969753149164 Centerline is valid? [True, True] Translation: X:212.74, Y:-15.23, Z:-24.11 [[ 9.65863234e-01 2.45951001e-01 8.13407591e-02 2.12735189e+02] [-2.45561262e-01 9.69266284e-01 -1.49177120e-02 -1.52299993e+01] [-8.25098815e-02 -5.56566994e-03 9.96574705e-01 -2.41120032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.826296757 meters 0.08403214986497227 Centerline is valid? [True, True] Translation: X:212.80, Y:-15.23, Z:-24.12 [[ 9.64355005e-01 2.51747829e-01 8.15012563e-02 2.12796308e+02] [-2.51376938e-01 9.67773820e-01 -1.49488388e-02 -1.52347419e+01] [-8.26381199e-02 -6.07154878e-03 9.96561126e-01 -2.41183384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.886296757 meters 0.08853008198089145 Centerline is valid? [True, True] Translation: X:212.86, Y:-15.24, Z:-24.13 [[ 9.62996676e-01 2.56201074e-01 8.36565119e-02 2.12856541e+02] [-2.55825587e-01 9.66600913e-01 -1.53604587e-02 -1.52361458e+01] [-8.47978269e-02 -6.60940556e-03 9.96376256e-01 -2.41256717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.946296757 meters 0.0894773108937563 Centerline is valid? [True, True] Translation: X:212.92, Y:-15.25, Z:-24.13 [[ 9.62749012e-01 2.57393549e-01 8.28426328e-02 2.12916903e+02] [-2.57029498e-01 9.66283803e-01 -1.52134440e-02 -1.52461931e+01] [-8.39653366e-02 -6.64627214e-03 9.96446511e-01 -2.41333078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.006296757 meters 0.09163708442761134 Centerline is valid? [True, True] Translation: X:212.98, Y:-15.26, Z:-24.14 [[ 9.62105743e-01 2.60509594e-01 8.05437243e-02 2.12976806e+02] [-2.60175404e-01 9.65447909e-01 -1.48018024e-02 -1.52578408e+01] [-8.16167818e-02 -6.71459690e-03 9.96641167e-01 -2.41421190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.066296757 meters 0.09364993791811545 Centerline is valid? [True, True] Translation: X:213.04, Y:-15.27, Z:-24.15 [[ 9.61942801e-01 2.60607451e-01 8.21571948e-02 2.13037450e+02] [-2.60260267e-01 9.65420474e-01 -1.50964071e-02 -1.52704585e+01] [-8.32504741e-02 -6.86037337e-03 9.96505040e-01 -2.41489189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.126296757 meters 0.0936682192077469 Centerline is valid? [True, True] Translation: X:213.10, Y:-15.29, Z:-24.16 [[ 9.62773477e-01 2.57196726e-01 8.31689592e-02 2.13095470e+02] [-2.56826277e-01 9.66336368e-01 -1.53064631e-02 -1.52876425e+01] [-8.43059622e-02 -6.62331747e-03 9.96417902e-01 -2.41560187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.186296757 meters 0.09200335073578059 Centerline is valid? [True, True] Translation: X:213.15, Y:-15.31, Z:-24.16 [[ 9.63841196e-01 2.53348871e-01 8.26105283e-02 2.13152956e+02] [-2.52968972e-01 9.67354855e-01 -1.52080365e-02 -1.53095474e+01] [-8.37666345e-02 -6.23976834e-03 9.96465863e-01 -2.41633255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.246296757 meters 0.08495427943219165 Centerline is valid? [True, True] Translation: X:213.21, Y:-15.34, Z:-24.17 [[ 9.64267731e-01 2.51730398e-01 8.25805673e-02 2.13209230e+02] [-2.51344565e-01 9.67778218e-01 -1.52062735e-02 -1.53410741e+01] [-8.37475555e-02 -6.09325793e-03 9.96468373e-01 -2.41669318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.306296757 meters 0.09037448547990816 Centerline is valid? [True, True] Translation: X:213.27, Y:-15.35, Z:-24.18 [[ 9.63883500e-01 2.52570686e-01 8.44786749e-02 2.13270546e+02] [-2.52169969e-01 9.67557888e-01 -1.55576266e-02 -1.53490661e+01] [-8.56674087e-02 -6.30724526e-03 9.96303826e-01 -2.41761864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36629675700001 meters 0.08727490976943877 Centerline is valid? [True, True] Translation: X:213.33, Y:-15.37, Z:-24.18 [[ 9.64091070e-01 2.52325986e-01 8.28251542e-02 2.13329183e+02] [-2.51938163e-01 9.67622797e-01 -1.52736638e-02 -1.53744413e+01] [-8.39974496e-02 -6.14161427e-03 9.96447043e-01 -2.41814926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42629675700002 meters 0.08797102598238977 Centerline is valid? [True, True] Translation: X:213.39, Y:-15.39, Z:-24.19 [[ 9.64502502e-01 2.51150117e-01 8.15998892e-02 2.13388141e+02] [-2.50767584e-01 9.67930003e-01 -1.50707523e-02 -1.53936353e+01] [-8.27680022e-02 -5.92682873e-03 9.96551218e-01 -2.41904884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.486296757 meters 0.08686954374655224 Centerline is valid? [True, True] Translation: X:213.45, Y:-15.42, Z:-24.20 [[ 9.64729678e-01 2.51126012e-01 7.89453891e-02 2.13446568e+02] [-2.50766424e-01 9.67937542e-01 -1.45984857e-02 -1.54168253e+01] [-8.00802653e-02 -5.71326046e-03 9.96772045e-01 -2.41980965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.546296757 meters 0.08917894510049783 Centerline is valid? [True, True] Translation: X:213.51, Y:-15.43, Z:-24.21 [[ 9.64274547e-01 2.52685590e-01 7.95273001e-02 2.13506667e+02] [-2.52323951e-01 9.67530686e-01 -1.47307698e-02 -1.54316575e+01] [-8.06673564e-02 -5.86213626e-03 9.96723840e-01 -2.42066258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.606296757 meters 0.09132586165189646 Centerline is valid? [True, True] Translation: X:213.57, Y:-15.45, Z:-24.21 [[ 9.63732602e-01 2.54263406e-01 8.10530256e-02 2.13565386e+02] [-2.53892941e-01 9.67115733e-01 -1.50177719e-02 -1.54463848e+01] [-8.22061261e-02 -6.10567461e-03 9.96596645e-01 -2.42129361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.666296757 meters 0.09406487620089446 Centerline is valid? [True, True] Translation: X:213.62, Y:-15.46, Z:-24.22 [[ 9.63388259e-01 2.55735105e-01 8.05147118e-02 2.13624055e+02] [-2.55373824e-01 9.66727141e-01 -1.49279950e-02 -1.54582582e+01] [-8.16533695e-02 -6.17989474e-03 9.96641629e-01 -2.42211522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.726296757 meters 0.09704335243850949 Centerline is valid? [True, True] Translation: X:213.68, Y:-15.47, Z:-24.23 [[ 9.62501101e-01 2.58637038e-01 8.18444375e-02 2.13683739e+02] [-2.58273261e-01 9.65952555e-01 -1.51850249e-02 -1.54727816e+01] [-8.29852534e-02 -6.52262654e-03 9.96529429e-01 -2.42287661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.786296757 meters 0.0982767186664786 Centerline is valid? [True, True] Translation: X:213.74, Y:-15.49, Z:-24.24 [[ 9.62566113e-01 2.58776438e-01 8.06302268e-02 2.13742680e+02] [-2.58423905e-01 9.65915789e-01 -1.49590699e-02 -1.54904267e+01] [-8.17530640e-02 -6.43768428e-03 9.96631824e-01 -2.42387699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.846296757 meters 0.09596294134442436 Centerline is valid? [True, True] Translation: X:213.80, Y:-15.51, Z:-24.24 [[ 9.63524084e-01 2.54787407e-01 8.18823357e-02 2.13799969e+02] [-2.54407802e-01 9.66977382e-01 -1.52122627e-02 -1.55148200e+01] [-8.30542596e-02 -6.17412355e-03 9.96525900e-01 -2.42439443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.906296757 meters 0.08597684051546531 Centerline is valid? [True, True] Translation: X:213.86, Y:-15.55, Z:-24.25 [[ 9.65715878e-01 2.46005665e-01 8.29099262e-02 2.13855129e+02] [-2.45582676e-01 9.69252967e-01 -1.54219242e-02 -1.55535266e+01] [-8.41545726e-02 -5.46804451e-03 9.96437709e-01 -2.42457459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.966296757 meters 0.08385167528022719 Centerline is valid? [True, True] Translation: X:213.91, Y:-15.57, Z:-24.25 [[ 9.67222473e-01 2.40154832e-01 8.25005650e-02 2.13913489e+02] [-2.39714301e-01 9.70722088e-01 -1.53519086e-02 -1.55749069e+01] [-8.37719558e-02 -4.92785427e-03 9.96472767e-01 -2.42548789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.026296757 meters 0.08347550276642716 Centerline is valid? [True, True] Translation: X:213.97, Y:-15.59, Z:-24.26 [[ 9.67877270e-01 2.37107683e-01 8.36273728e-02 2.13971908e+02] [-2.36643591e-01 9.71471875e-01 -1.55629967e-02 -1.55891921e+01] [-8.49317468e-02 -4.72681103e-03 9.96375560e-01 -2.42620973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.086296757 meters 0.08224972175821921 Centerline is valid? [True, True] Translation: X:214.03, Y:-15.61, Z:-24.27 [[ 9.68275812e-01 2.34937789e-01 8.51245401e-02 2.14031533e+02] [-2.34446973e-01 9.71999523e-01 -1.58601280e-02 -1.56052182e+01] [-8.64671558e-02 -4.60021248e-03 9.96244081e-01 -2.42673575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14629675700002 meters 0.08057957025234588 Centerline is valid? [True, True] Translation: X:214.09, Y:-15.62, Z:-24.27 [[ 9.68576723e-01 2.33598813e-01 8.53857476e-02 2.14090639e+02] [-2.33099507e-01 9.72322695e-01 -1.59121534e-02 -1.56222192e+01] [-8.67395604e-02 -4.49123423e-03 9.96220898e-01 -2.42726532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.206296757 meters 0.07969761679156233 Centerline is valid? [True, True] Translation: X:214.15, Y:-15.64, Z:-24.28 [[ 9.69113516e-01 2.31892747e-01 8.39329896e-02 2.14150564e+02] [-2.31402511e-01 9.72732084e-01 -1.56578953e-02 -1.56364702e+01] [-8.52752643e-02 -4.24802660e-03 9.96348375e-01 -2.42811556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.266296757 meters 0.07729122976205692 Centerline is valid? [True, True] Translation: X:214.21, Y:-15.65, Z:-24.29 [[ 9.70758380e-01 2.25265437e-01 8.29677690e-02 2.14209554e+02] [-2.24760151e-01 9.74290786e-01 -1.55028817e-02 -1.56549396e+01] [-8.43269962e-02 -3.59829599e-03 9.96431638e-01 -2.42893516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.326296757 meters 0.07884596452899742 Centerline is valid? [True, True] Translation: X:214.27, Y:-15.66, Z:-24.30 [[ 9.71209963e-01 2.23509351e-01 8.24304447e-02 2.14269779e+02] [-2.23004287e-01 9.74695774e-01 -1.54024937e-02 -1.56624562e+01] [-8.37872074e-02 -3.42328722e-03 9.96477790e-01 -2.43003408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.386296757 meters 0.07816247654496775 Centerline is valid? [True, True] Translation: X:214.33, Y:-15.67, Z:-24.31 [[ 9.70796141e-01 2.25027392e-01 8.31716565e-02 2.14330457e+02] [-2.24517026e-01 9.74345910e-01 -1.55612782e-02 -1.56744304e+01] [-8.45396772e-02 -3.56662412e-03 9.96413730e-01 -2.43060264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.446296757 meters 0.07808107074925523 Centerline is valid? [True, True] Translation: X:214.39, Y:-15.68, Z:-24.31 [[ 9.70411431e-01 2.25468122e-01 8.64047534e-02 2.14391881e+02] [-2.24917122e-01 9.74243424e-01 -1.61876394e-02 -1.56822866e+01] [-8.78290594e-02 -3.72523817e-03 9.96128596e-01 -2.43091731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.506296757 meters 0.07914776892868358 Centerline is valid? [True, True] Translation: X:214.45, Y:-15.69, Z:-24.31 [[ 9.70037066e-01 2.26277380e-01 8.84682889e-02 2.14453025e+02] [-2.25701087e-01 9.74055226e-01 -1.65962784e-02 -1.56863502e+01] [-8.99283615e-02 -3.86838373e-03 9.95940724e-01 -2.43144234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.566296757 meters 0.07952766280485093 Centerline is valid? [True, True] Translation: X:214.51, Y:-15.69, Z:-24.32 [[ 9.69757546e-01 2.27152702e-01 8.92857851e-02 2.14514502e+02] [-2.26567615e-01 9.73851072e-01 -1.67691654e-02 -1.56930520e+01] [-9.07602188e-02 -3.96724268e-03 9.95864872e-01 -2.43217401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.626296757 meters 0.08077417173634428 Centerline is valid? [True, True] Translation: X:214.58, Y:-15.70, Z:-24.33 [[ 9.69565310e-01 2.28388744e-01 8.82138904e-02 2.14575019e+02] [-2.27820877e-01 9.73561746e-01 -1.65883763e-02 -1.56971204e+01] [-8.96702676e-02 -4.01345160e-03 9.95963421e-01 -2.43299265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.686296757 meters 0.0771285997966385 Centerline is valid? [True, True] Translation: X:214.63, Y:-15.71, Z:-24.34 [[ 9.70235225e-01 2.25779899e-01 8.75616669e-02 2.14634665e+02] [-2.25207910e-01 9.74171225e-01 -1.64870464e-02 -1.57123824e+01] [-8.90225000e-02 -3.72326678e-03 9.96022656e-01 -2.43361489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.746296757 meters 0.07440322104306366 Centerline is valid? [True, True] Translation: X:214.69, Y:-15.73, Z:-24.34 [[ 9.71262716e-01 2.20796388e-01 8.88689626e-02 2.14694445e+02] [-2.20186013e-01 9.75314302e-01 -1.67371127e-02 -1.57283290e+01] [-9.03706643e-02 -3.31156899e-03 9.95902694e-01 -2.43412736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.806296757 meters 0.07270654496572664 Centerline is valid? [True, True] Translation: X:214.75, Y:-15.74, Z:-24.35 [[ 9.72566541e-01 2.14865421e-01 8.91469194e-02 2.14752900e+02] [-2.14224449e-01 9.76639799e-01 -1.68103475e-02 -1.57437756e+01] [-9.06763918e-02 -2.74826815e-03 9.95876618e-01 -2.43492516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86629675700001 meters 0.07087273407336077 Centerline is valid? [True, True] Translation: X:214.81, Y:-15.76, Z:-24.36 [[ 9.73877866e-01 2.08985883e-01 8.88076769e-02 2.14811559e+02] [-2.08323709e-01 9.77916241e-01 -1.67647639e-02 -1.57620684e+01] [-9.03500686e-02 -2.17391215e-03 9.95907696e-01 -2.43560677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92629675700002 meters 0.06858679671036627 Centerline is valid? [True, True] Translation: X:214.87, Y:-15.79, Z:-24.36 [[ 9.75537928e-01 2.00221154e-01 9.07592497e-02 2.14869052e+02] [-1.99491399e-01 9.79749743e-01 -1.71354232e-02 -1.57865961e+01] [-9.23522258e-02 -1.38943444e-03 9.95725432e-01 -2.43596429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.986296757 meters 0.06774333664363555 Centerline is valid? [True, True] Translation: X:214.93, Y:-15.80, Z:-24.37 [[ 9.76538100e-01 1.94593731e-01 9.22313315e-02 2.14927822e+02] [-1.93813276e-01 9.80883557e-01 -1.74316387e-02 -1.58044127e+01] [-9.38602841e-02 -8.52997084e-04 9.95585014e-01 -2.43654644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.046296757 meters 0.06727370538229473 Centerline is valid? [True, True] Translation: X:214.99, Y:-15.82, Z:-24.37 [[ 9.77341448e-01 1.89622204e-01 9.40590971e-02 2.14986629e+02] [-1.88785459e-01 9.81857061e-01 -1.77978146e-02 -1.58228445e+01] [-9.57274495e-02 -3.62447860e-04 9.95407517e-01 -2.43720394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.106296757 meters 0.06718727301091662 Centerline is valid? [True, True] Translation: X:215.05, Y:-15.84, Z:-24.38 [[ 9.77555186e-01 1.88496078e-01 9.41014663e-02 2.15047476e+02] [-1.87651119e-01 9.82073916e-01 -1.78292271e-02 -1.58384757e+01] [-9.57753348e-02 -2.29192033e-04 9.95402950e-01 -2.43790312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.166296757 meters 0.06726651804536367 Centerline is valid? [True, True] Translation: X:215.11, Y:-15.85, Z:-24.39 [[ 9.78188706e-01 1.86227453e-01 9.20119043e-02 2.15107047e+02] [-1.85407173e-01 9.82506659e-01 -1.74598051e-02 -1.58549193e+01] [-9.36538037e-02 1.93170827e-05 9.95604824e-01 -2.43884109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.226296757 meters 0.06721645808581322 Centerline is valid? [True, True] Translation: X:215.17, Y:-15.87, Z:-24.40 [[ 9.78929505e-01 1.83247539e-01 9.00964175e-02 2.15166723e+02] [-1.82446494e-01 9.83066751e-01 -1.71183991e-02 -1.58727045e+01] [-9.17076969e-02 3.19930478e-04 9.95785919e-01 -2.43964192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.286296757 meters 0.06720065801660279 Centerline is valid? [True, True] Translation: X:215.23, Y:-15.89, Z:-24.40 [[ 9.79641617e-01 1.79439464e-01 9.00210011e-02 2.15226181e+02] [-1.78621632e-01 9.83768769e-01 -1.71266313e-02 -1.58905323e+01] [-9.16330430e-02 6.98262686e-04 9.95792598e-01 -2.44024498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.346296757 meters 0.06722133021907754 Centerline is valid? [True, True] Translation: X:215.29, Y:-15.91, Z:-24.41 [[ 9.80272359e-01 1.74679350e-01 9.24836534e-02 2.15286129e+02] [-1.73792701e-01 9.84624644e-01 -1.76183811e-02 -1.59087339e+01] [-9.41392517e-02 1.19782816e-03 9.95558319e-01 -2.44064750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.406296757 meters 0.06745919280044604 Centerline is valid? [True, True] Translation: X:215.34, Y:-15.92, Z:-24.41 [[ 9.80542276e-01 1.73180161e-01 9.24417505e-02 2.15344719e+02] [-1.72285110e-01 9.84889212e-01 -1.76374727e-02 -1.59237202e+01] [-9.40993432e-02 1.36795052e-03 9.95561873e-01 -2.44131650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.466296757 meters 0.06805566553841898 Centerline is valid? [True, True] Translation: X:215.40, Y:-15.94, Z:-24.42 [[ 9.80991921e-01 1.71066754e-01 9.16024899e-02 2.15404573e+02] [-1.70176783e-01 9.85258179e-01 -1.74980946e-02 -1.59357770e+01] [-9.32454447e-02 1.57687235e-03 9.95641904e-01 -2.44204171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.526296757 meters 0.06795604392164543 Centerline is valid? [True, True] Translation: X:215.47, Y:-15.95, Z:-24.43 [[ 9.81247541e-01 1.69494425e-01 9.17872736e-02 2.15465855e+02] [-1.68592123e-01 9.85529593e-01 -1.75532539e-02 -1.59460654e+01] [-9.34342531e-02 1.74947586e-03 9.95623915e-01 -2.44262706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.586296757 meters 0.06808639930368057 Centerline is valid? [True, True] Translation: X:215.53, Y:-15.96, Z:-24.43 [[ 9.81431388e-01 1.68326125e-01 9.19714395e-02 2.15525006e+02] [-1.67412917e-01 9.85729554e-01 -1.76113878e-02 -1.59585054e+01] [-9.36234228e-02 1.88716182e-03 9.95605893e-01 -2.44335838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64629675700002 meters 0.06789304900534021 Centerline is valid? [True, True] Translation: X:215.59, Y:-15.97, Z:-24.44 [[ 9.81080357e-01 1.70297448e-01 9.20875231e-02 2.15586892e+02] [-1.69388699e-01 9.85391200e-01 -1.76536584e-02 -1.59654965e+01] [-9.37486078e-02 1.72107173e-03 9.95594414e-01 -2.44387152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.706296757 meters 0.06768056034594498 Centerline is valid? [True, True] Translation: X:215.65, Y:-15.97, Z:-24.45 [[ 9.80579687e-01 1.73390059e-01 9.16480466e-02 2.15648552e+02] [-1.72501370e-01 9.84852178e-01 -1.75916154e-02 -1.59718389e+01] [-9.33099895e-02 1.44056705e-03 9.95636063e-01 -2.44464467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.766296757 meters 0.0673381532673295 Centerline is valid? [True, True] Translation: X:215.71, Y:-15.98, Z:-24.45 [[ 9.80074778e-01 1.77622453e-01 8.89027202e-02 2.15711194e+02] [-1.76801844e-01 9.84098171e-01 -1.70849965e-02 -1.59780666e+01] [-9.05236834e-02 1.02640928e-03 9.95893774e-01 -2.44535806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.826296757 meters 0.06724768876318592 Centerline is valid? [True, True] Translation: X:215.77, Y:-15.99, Z:-24.46 [[ 9.79548256e-01 1.80517820e-01 8.88736823e-02 2.15771844e+02] [-1.79707307e-01 9.83571402e-01 -1.71050129e-02 -1.59863195e+01] [-9.05013719e-02 7.83935432e-04 9.95896022e-01 -2.44614494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.886296757 meters 0.06742465262109747 Centerline is valid? [True, True] Translation: X:215.83, Y:-15.99, Z:-24.47 [[ 9.78326604e-01 1.87158020e-01 8.85941934e-02 2.15834214e+02] [-1.86377868e-01 9.82329802e-01 -1.70719252e-02 -1.59874649e+01] [-9.02238641e-02 1.89921676e-04 9.95921492e-01 -2.44683223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.946296757 meters 0.06748422606495817 Centerline is valid? [True, True] Translation: X:215.90, Y:-15.99, Z:-24.47 [[ 9.77532146e-01 1.91595463e-01 8.78753809e-02 2.15896031e+02] [-1.90844046e-01 9.81473963e-01 -1.69532032e-02 -1.59937275e+01] [-8.94955551e-02 -1.98192128e-04 9.95987202e-01 -2.44725256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.006296757 meters 0.06783434972278662 Centerline is valid? [True, True] Translation: X:215.96, Y:-16.00, Z:-24.48 [[ 9.76271893e-01 1.97889462e-01 8.79371992e-02 2.15956740e+02] [-1.97160411e-01 9.80224053e-01 -1.69876070e-02 -1.59978964e+01] [-8.95598262e-02 -7.53211128e-04 9.95981160e-01 -2.44802026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.066296757 meters 0.06806348362197819 Centerline is valid? [True, True] Translation: X:216.02, Y:-16.00, Z:-24.49 [[ 9.75131496e-01 2.02988830e-01 8.89612309e-02 2.16018546e+02] [-2.02261944e-01 9.79180299e-01 -1.72060515e-02 -1.60044700e+01] [-9.06017210e-02 -1.21530873e-03 9.95886465e-01 -2.44863429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.126296757 meters 0.06869194430321221 Centerline is valid? [True, True] Translation: X:216.08, Y:-16.01, Z:-24.49 [[ 9.74047325e-01 2.07728858e-01 8.98917668e-02 2.16080307e+02] [-2.07004699e-01 9.78185052e-01 -1.74086027e-02 -1.60116967e+01] [-9.15470517e-02 -1.65121525e-03 9.95799383e-01 -2.44935855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.186296757 meters 0.06962005652519156 Centerline is valid? [True, True] Translation: X:216.14, Y:-16.02, Z:-24.50 [[ 9.72906285e-01 2.12445738e-01 9.12149578e-02 2.16141864e+02] [-2.11718300e-01 9.77170608e-01 -1.76908058e-02 -1.60179580e+01] [-9.28909121e-02 -2.10037971e-03 9.95674077e-01 -2.45003160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.246296757 meters 0.0704967716970555 Centerline is valid? [True, True] Translation: X:216.20, Y:-16.03, Z:-24.51 [[ 9.71713040e-01 2.17353795e-01 9.23639346e-02 2.16203511e+02] [-2.16629354e-01 9.76089438e-01 -1.79201419e-02 -1.60254707e+01] [-9.40504719e-02 -2.59550398e-03 9.95564047e-01 -2.45062915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.306296757 meters 0.07219374857491535 Centerline is valid? [True, True] Translation: X:216.26, Y:-16.03, Z:-24.51 [[ 9.70393927e-01 2.22402514e-01 9.41952677e-02 2.16264314e+02] [-2.21672222e-01 9.74949873e-01 -1.82803663e-02 -1.60304294e+01] [-9.59012637e-02 -3.14131795e-03 9.95385895e-01 -2.45143318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36629675700001 meters 0.07278389506429486 Centerline is valid? [True, True] Translation: X:216.32, Y:-16.04, Z:-24.52 [[ 9.69706660e-01 2.25916086e-01 9.29027201e-02 2.16324546e+02] [-2.25219833e-01 9.74140762e-01 -1.80500182e-02 -1.60405979e+01] [-9.45781159e-02 -3.42031223e-03 9.95511568e-01 -2.45211404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42629675700002 meters 0.07442820732162166 Centerline is valid? [True, True] Translation: X:216.38, Y:-16.05, Z:-24.53 [[ 9.68456132e-01 2.30874730e-01 9.37527530e-02 2.16384478e+02] [-2.30186753e-01 9.72975589e-01 -1.82363064e-02 -1.60487084e+01] [-9.54294424e-02 -3.91957907e-03 9.95428480e-01 -2.45301363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.486296757 meters 0.07772123446680765 Centerline is valid? [True, True] Translation: X:216.44, Y:-16.05, Z:-24.54 [[ 9.66798103e-01 2.37677938e-01 9.38649308e-02 2.16444889e+02] [-2.37018012e-01 9.71333247e-01 -1.82807233e-02 -1.60522667e+01] [-9.55190526e-02 -4.57391062e-03 9.95417093e-01 -2.45400620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.546296757 meters 0.08007938859025035 Centerline is valid? [True, True] Translation: X:216.51, Y:-16.06, Z:-24.55 [[ 9.65254221e-01 2.43200846e-01 9.55909876e-02 2.16505459e+02] [-2.42542609e-01 9.69961971e-01 -1.86240878e-02 -1.60607192e+01] [-9.72490167e-02 -5.20790817e-03 9.95246455e-01 -2.45474835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.606296757 meters 0.08131251556623557 Centerline is valid? [True, True] Translation: X:216.57, Y:-16.07, Z:-24.56 [[ 9.64129775e-01 2.47546492e-01 9.57836737e-02 2.16565346e+02] [-2.46904794e-01 9.68859620e-01 -1.86831127e-02 -1.60717823e+01] [-9.74258728e-02 -5.63650295e-03 9.95226823e-01 -2.45550775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.666296757 meters 0.08312538010522351 Centerline is valid? [True, True] Translation: X:216.63, Y:-16.08, Z:-24.56 [[ 9.63321042e-01 2.50980834e-01 9.49799471e-02 2.16625832e+02] [-2.50364348e-01 9.67974002e-01 -1.85478910e-02 -1.60811148e+01] [-9.65932847e-02 -5.91201883e-03 9.95306378e-01 -2.45633285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.726296757 meters 0.08215301743586309 Centerline is valid? [True, True] Translation: X:216.69, Y:-16.10, Z:-24.57 [[ 9.63449750e-01 2.51012935e-01 9.35792995e-02 2.16685666e+02] [-2.50412726e-01 9.67966310e-01 -1.82945024e-02 -1.60978394e+01] [-9.51737660e-02 -5.80761367e-03 9.95443733e-01 -2.45715071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.786296757 meters 0.08172912306977265 Centerline is valid? [True, True] Translation: X:216.74, Y:-16.12, Z:-24.58 [[ 9.64384496e-01 2.47298382e-01 9.38405831e-02 2.16742960e+02] [-2.46674487e-01 9.68924173e-01 -1.83750894e-02 -1.61166681e+01] [-9.54685393e-02 -5.42742640e-03 9.95417652e-01 -2.45819653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.846296757 meters 0.08020464456216038 Centerline is valid? [True, True] Translation: X:216.80, Y:-16.14, Z:-24.59 [[ 9.65662718e-01 2.41651865e-01 9.53933490e-02 2.16801105e+02] [-2.40977583e-01 9.70350494e-01 -1.87008696e-02 -1.61397300e+01] [-9.70840834e-02 -4.92892610e-03 9.95263978e-01 -2.45883205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.906296757 meters 0.07821737189418926 Centerline is valid? [True, True] Translation: X:216.86, Y:-16.16, Z:-24.59 [[ 9.66497594e-01 2.37401897e-01 9.75845228e-02 2.16859599e+02] [-2.36674240e-01 9.71400618e-01 -1.91348602e-02 -1.61614410e+01] [-9.93363179e-02 -4.60194643e-03 9.95043274e-01 -2.45934529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.966296757 meters 0.07639116060668205 Centerline is valid? [True, True] Translation: X:216.92, Y:-16.18, Z:-24.60 [[ 9.67430348e-01 2.33600000e-01 9.75169857e-02 2.16917202e+02] [-2.32851799e-01 9.72323773e-01 -1.91447391e-02 -1.61838411e+01] [-9.92902945e-02 -4.18580386e-03 9.95049706e-01 -2.45999498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.026296757 meters 0.07672417520515899 Centerline is valid? [True, True] Translation: X:216.98, Y:-16.19, Z:-24.61 [[ 9.66532909e-01 2.36649742e-01 9.90506682e-02 2.16977512e+02] [-2.35891776e-01 9.71584367e-01 -1.94650368e-02 -1.61940065e+01] [-1.00842477e-01 -4.55163941e-03 9.94891993e-01 -2.46062460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.086296757 meters 0.07544298174687135 Centerline is valid? [True, True] Translation: X:217.04, Y:-16.21, Z:-24.61 [[ 9.67189779e-01 2.33892478e-01 9.91879068e-02 2.17036640e+02] [-2.33115517e-01 9.72253196e-01 -1.95161305e-02 -1.62082962e+01] [-1.01000436e-01 -4.24643820e-03 9.94877319e-01 -2.46118189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14629675700002 meters 0.07559889697471871 Centerline is valid? [True, True] Translation: X:217.10, Y:-16.22, Z:-24.62 [[ 9.67612255e-01 2.31928253e-01 9.96785253e-02 2.17096031e+02] [-2.31130891e-01 9.72724508e-01 -1.96352519e-02 -1.62184783e+01] [-1.01513714e-01 -4.03947609e-03 9.94825939e-01 -2.46195537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.206296757 meters 0.07437020732421755 Centerline is valid? [True, True] Translation: X:217.16, Y:-16.23, Z:-24.63 [[ 9.67857286e-01 2.31132125e-01 9.91474451e-02 2.17155753e+02] [-2.30336906e-01 9.72914500e-01 -1.95521233e-02 -1.62337043e+01] [-1.00981111e-01 -3.91365070e-03 9.94880645e-01 -2.46250117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.266296757 meters 0.0741970708251966 Centerline is valid? [True, True] Translation: X:217.22, Y:-16.24, Z:-24.63 [[ 9.68457745e-01 2.29387915e-01 9.73179380e-02 2.17215753e+02] [-2.28610536e-01 9.73328286e-01 -1.92164170e-02 -1.62440937e+01] [-9.91303156e-02 -3.63761813e-03 9.95067811e-01 -2.46333243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.326296757 meters 0.0732239382755717 Centerline is valid? [True, True] Translation: X:217.28, Y:-16.26, Z:-24.64 [[ 9.68701499e-01 2.27715309e-01 9.88086277e-02 2.17276024e+02] [-2.26902588e-01 9.73721483e-01 -1.95368650e-02 -1.62586409e+01] [-1.00660927e-01 -3.49454299e-03 9.94914653e-01 -2.46393429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.386296757 meters 0.07153418430668093 Centerline is valid? [True, True] Translation: X:217.34, Y:-16.28, Z:-24.64 [[ 9.69478725e-01 2.23854187e-01 1.00001528e-01 2.17335344e+02] [-2.22998370e-01 9.74617704e-01 -1.98004774e-02 -1.62753279e+01] [-1.01895680e-01 -3.10403630e-03 9.94790247e-01 -2.46436783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.446296757 meters 0.07098783186116793 Centerline is valid? [True, True] Translation: X:217.39, Y:-16.29, Z:-24.65 [[ 9.69917565e-01 2.21548681e-01 1.00876654e-01 2.17394819e+02] [-2.20664895e-01 9.75145052e-01 -1.99782849e-02 -1.62887149e+01] [-1.02795533e-01 -2.88264693e-03 9.94698331e-01 -2.46508137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.506296757 meters 0.07025558056235806 Centerline is valid? [True, True] Translation: X:217.45, Y:-16.30, Z:-24.66 [[ 9.71355152e-01 2.15966118e-01 9.91352808e-02 2.17453939e+02] [-2.15080929e-01 9.76398322e-01 -1.96598718e-02 -1.63038817e+01] [-1.01041388e-01 -2.22539053e-03 9.94879734e-01 -2.46579785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.566296757 meters 0.06925135594765496 Centerline is valid? [True, True] Translation: X:217.51, Y:-16.32, Z:-24.67 [[ 9.73039442e-01 2.08627782e-01 9.83295102e-02 2.17512447e+02] [-2.07717457e-01 9.77994071e-01 -1.95206406e-02 -1.63231797e+01] [-1.00238226e-01 -1.43040253e-03 9.94962437e-01 -2.46661621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.626296757 meters 0.06886277887831282 Centerline is valid? [True, True] Translation: X:217.57, Y:-16.34, Z:-24.67 [[ 9.73989244e-01 2.04304814e-01 9.80025239e-02 2.17571538e+02] [-2.03378343e-01 9.78906832e-01 -1.94592939e-02 -1.63395499e+01] [-9.99109676e-02 -9.78447863e-04 9.94995900e-01 -2.46729390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.686296757 meters 0.06826419703113319 Centerline is valid? [True, True] Translation: X:217.63, Y:-16.36, Z:-24.68 [[ 9.75417028e-01 1.97141841e-01 9.84719035e-02 2.17630808e+02] [-1.96167453e-01 9.80374952e-01 -1.95776567e-02 -1.63593654e+01] [-1.00398963e-01 -2.20602741e-04 9.94947235e-01 -2.46797304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.746296757 meters 0.06818809926673765 Centerline is valid? [True, True] Translation: X:217.69, Y:-16.38, Z:-24.69 [[ 9.76380947e-01 1.91885022e-01 9.92994712e-02 2.17690551e+02] [-1.90864435e-01 9.81417351e-01 -1.97673953e-02 -1.63769809e+01] [-1.01247291e-01 3.47770641e-04 9.94861229e-01 -2.46870211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.806296757 meters 0.06819102036057646 Centerline is valid? [True, True] Translation: X:217.75, Y:-16.39, Z:-24.69 [[ 9.77335785e-01 1.87210137e-01 9.88287782e-02 2.17749952e+02] [-1.86172501e-01 9.82319516e-01 -1.97019867e-02 -1.63947564e+01] [-1.00769849e-01 8.56255801e-04 9.94909395e-01 -2.46936955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86629675700001 meters 0.068677262637841 Centerline is valid? [True, True] Translation: X:217.81, Y:-16.41, Z:-24.70 [[ 9.78310027e-01 1.82470968e-01 9.80501793e-02 2.17808489e+02] [-1.81423477e-01 9.83210304e-01 -1.95708848e-02 -1.64148471e+01] [-9.99750649e-02 1.35778837e-03 9.94989016e-01 -2.47001613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92629675700002 meters 0.06845770867219247 Centerline is valid? [True, True] Translation: X:217.87, Y:-16.43, Z:-24.71 [[ 9.78623592e-01 1.82325072e-01 9.51495294e-02 2.17867443e+02] [-1.81335896e-01 9.83237374e-01 -1.90146924e-02 -1.64293263e+01] [-9.70214287e-02 1.35420140e-03 9.95281372e-01 -2.47093046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.986296757 meters 0.06775867151128774 Centerline is valid? [True, True] Translation: X:217.93, Y:-16.44, Z:-24.72 [[ 9.78187197e-01 1.83923893e-01 9.65495116e-02 2.17928036e+02] [-1.82910919e-01 9.82939711e-01 -1.93162966e-02 -1.64392107e+01] [-9.84550776e-02 1.23499411e-03 9.95140730e-01 -2.47159660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.046296757 meters 0.06730720402341524 Centerline is valid? [True, True] Translation: X:217.99, Y:-16.45, Z:-24.72 [[ 9.78579213e-01 1.82656072e-01 9.49709612e-02 2.17989003e+02] [-1.81667942e-01 9.83175928e-01 -1.90224612e-02 -1.64493582e+01] [-9.68477309e-02 1.36180609e-03 9.95298278e-01 -2.47222787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.106296757 meters 0.06715657848385492 Centerline is valid? [True, True] Translation: X:218.05, Y:-16.46, Z:-24.73 [[ 9.78882237e-01 1.81275684e-01 9.44917536e-02 2.18048225e+02] [-1.80288644e-01 9.83431151e-01 -1.89519522e-02 -1.64617270e+01] [-9.63616620e-02 1.51593924e-03 9.95345233e-01 -2.47297950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.166296757 meters 0.06697359043637292 Centerline is valid? [True, True] Translation: X:218.11, Y:-16.47, Z:-24.74 [[ 9.79212978e-01 1.80433088e-01 9.26598356e-02 2.18107598e+02] [-1.79479244e-01 9.83585995e-01 -1.85954703e-02 -1.64748051e+01] [-9.44941547e-02 1.57840859e-03 9.95524165e-01 -2.47378400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.226296757 meters 0.06694475670228868 Centerline is valid? [True, True] Translation: X:218.17, Y:-16.49, Z:-24.74 [[ 9.79372098e-01 1.79487342e-01 9.28148018e-02 2.18167858e+02] [-1.78523922e-01 9.83758823e-01 -1.86490581e-02 -1.64860679e+01] [-9.46546501e-02 1.69470477e-03 9.95508727e-01 -2.47436800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.286296757 meters 0.06628850080134861 Centerline is valid? [True, True] Translation: X:218.23, Y:-16.50, Z:-24.75 [[ 9.79182152e-01 1.81230779e-01 9.14205575e-02 2.18229448e+02] [-1.80302828e-01 9.83439432e-01 -1.83786214e-02 -1.64964346e+01] [-9.32373530e-02 1.51263301e-03 9.95642761e-01 -2.47508976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.346296757 meters 0.06603615277948525 Centerline is valid? [True, True] Translation: X:218.29, Y:-16.51, Z:-24.76 [[ 9.78937796e-01 1.83104789e-01 9.02963370e-02 2.18291349e+02] [-1.82205255e-01 9.83092486e-01 -1.81771679e-02 -1.65056343e+01] [-9.20979769e-02 1.34184964e-03 9.95749046e-01 -2.47587375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.406296757 meters 0.06595761699747889 Centerline is valid? [True, True] Translation: X:218.35, Y:-16.52, Z:-24.77 [[ 9.78842644e-01 1.83914314e-01 8.96805623e-02 2.18352767e+02] [-1.83028211e-01 9.82941445e-01 -1.80773168e-02 -1.65174559e+01] [-9.14754188e-02 1.28077571e-03 9.95806511e-01 -2.47666861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.466296757 meters 0.06593654395183078 Centerline is valid? [True, True] Translation: X:218.41, Y:-16.53, Z:-24.77 [[ 9.78962065e-01 1.83713188e-01 8.87848006e-02 2.18412522e+02] [-1.82841735e-01 9.82979017e-01 -1.79207017e-02 -1.65326410e+01] [-9.05658652e-02 1.31012008e-03 9.95889606e-01 -2.47739387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.526296757 meters 0.06627757756210317 Centerline is valid? [True, True] Translation: X:218.47, Y:-16.55, Z:-24.78 [[ 9.79041328e-01 1.83192512e-01 8.89864170e-02 2.18471569e+02] [-1.82313113e-01 9.83076089e-01 -1.79814659e-02 -1.65492544e+01] [-9.07744887e-02 1.38120753e-03 9.95870516e-01 -2.47816005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.586296757 meters 0.0650199810191768 Centerline is valid? [True, True] Translation: X:218.53, Y:-16.56, Z:-24.79 [[ 9.77683295e-01 1.89401752e-01 9.08974696e-02 2.18532809e+02] [-1.88508471e-01 9.81899312e-01 -1.83928851e-02 -1.65550090e+01] [-9.27358075e-02 8.47473453e-04 9.95690390e-01 -2.47870482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64629675700002 meters 0.06467426885119554 Centerline is valid? [True, True] Translation: X:218.60, Y:-16.56, Z:-24.79 [[ 9.76248119e-01 1.95866197e-01 9.26069321e-02 2.18596008e+02] [-1.94967387e-01 9.80630600e-01 -1.87441899e-02 -1.65579157e+01] [-9.44845446e-02 2.43648521e-04 9.95526299e-01 -2.47903659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.706296757 meters 0.06490670273676567 Centerline is valid? [True, True] Translation: X:218.66, Y:-16.57, Z:-24.80 [[ 9.75750698e-01 1.98338940e-01 9.25863897e-02 2.18657707e+02] [-1.97451165e-01 9.80133493e-01 -1.87449384e-02 -1.65672009e+01] [-9.44648728e-02 9.09617920e-06 9.95528195e-01 -2.47960810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.766296757 meters 0.0649730492206229 Centerline is valid? [True, True] Translation: X:218.72, Y:-16.58, Z:-24.80 [[ 9.75515085e-01 1.99452512e-01 9.26769311e-02 2.18719445e+02] [-1.98565520e-01 9.79907491e-01 -1.87894752e-02 -1.65785928e+01] [-9.45624270e-02 -7.30264432e-05 9.95518931e-01 -2.48031055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.826296757 meters 0.06533880488022101 Centerline is valid? [True, True] Translation: X:218.78, Y:-16.59, Z:-24.81 [[ 9.75752098e-01 1.98436402e-01 9.23625365e-02 2.18780560e+02] [-1.97548440e-01 9.80113765e-01 -1.87515864e-02 -1.65921982e+01] [-9.42467908e-02 5.08248228e-05 9.95548864e-01 -2.48083936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.886296757 meters 0.06574863754428686 Centerline is valid? [True, True] Translation: X:218.84, Y:-16.60, Z:-24.82 [[ 9.75738807e-01 1.98730711e-01 9.18688455e-02 2.18840994e+02] [-1.97851129e-01 9.80054132e-01 -1.86769482e-02 -1.66033374e+01] [-9.37481248e-02 4.74683153e-05 9.95595946e-01 -2.48173365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.946296757 meters 0.06609051170997782 Centerline is valid? [True, True] Translation: X:218.90, Y:-16.61, Z:-24.82 [[ 9.75616933e-01 1.99742833e-01 9.09637314e-02 2.18901253e+02] [-1.98882786e-01 9.79848356e-01 -1.85158725e-02 -1.66142869e+01] [-9.28290754e-02 -2.67216130e-05 9.95682059e-01 -2.48239816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.006296757 meters 0.06638839793970074 Centerline is valid? [True, True] Translation: X:218.96, Y:-16.62, Z:-24.83 [[ 9.75381141e-01 2.00572011e-01 9.16651451e-02 2.18962130e+02] [-1.99700258e-01 9.79678958e-01 -1.86800863e-02 -1.66246746e+01] [-9.35491164e-02 -8.53492490e-05 9.95614662e-01 -2.48316052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.066296757 meters 0.0671046880941312 Centerline is valid? [True, True] Translation: X:219.02, Y:-16.63, Z:-24.84 [[ 9.74611939e-01 2.03697784e-01 9.29450389e-02 2.19023376e+02] [-2.02813566e-01 9.79033746e-01 -1.89626213e-02 -1.66320769e+01] [-9.48589736e-02 -3.69317701e-04 9.95490652e-01 -2.48368356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.126296757 meters 0.06758195814218834 Centerline is valid? [True, True] Translation: X:219.08, Y:-16.64, Z:-24.84 [[ 9.73894938e-01 2.06140445e-01 9.50513954e-02 2.19084759e+02] [-2.05225040e-01 9.78522232e-01 -1.94145504e-02 -1.66403701e+01] [-9.70120276e-02 -5.99194107e-04 9.95283029e-01 -2.48413884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.186296757 meters 0.06813715032553691 Centerline is valid? [True, True] Translation: X:219.15, Y:-16.65, Z:-24.85 [[ 9.73239046e-01 2.09081469e-01 9.53451544e-02 2.19145688e+02] [-2.08172206e-01 9.77897836e-01 -1.94975466e-02 -1.66492905e+01] [-9.73143958e-02 -8.72437440e-04 9.95253308e-01 -2.48492540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.246296757 meters 0.06911589730813504 Centerline is valid? [True, True] Translation: X:219.20, Y:-16.66, Z:-24.86 [[ 9.72723930e-01 2.11699430e-01 9.48235573e-02 2.19204943e+02] [-2.10810250e-01 9.77334196e-01 -1.94141318e-02 -1.66583117e+01] [-9.67842657e-02 -1.10518726e-03 9.95304770e-01 -2.48589723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.306296757 meters 0.07013609371195384 Centerline is valid? [True, True] Translation: X:219.26, Y:-16.67, Z:-24.87 [[ 9.72225229e-01 2.14417490e-01 9.38256045e-02 2.19264146e+02] [-2.13557822e-01 9.76741182e-01 -1.92281176e-02 -1.66681685e+01] [-9.57661766e-02 -1.34313078e-03 9.95402951e-01 -2.48677118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36629675700001 meters 0.07104333303118578 Centerline is valid? [True, True] Translation: X:219.32, Y:-16.68, Z:-24.88 [[ 9.71432837e-01 2.18708254e-01 9.21137480e-02 2.19324293e+02] [-2.17897970e-01 9.75788773e-01 -1.88876899e-02 -1.66799473e+01] [-9.40144548e-02 -1.72327654e-03 9.95569341e-01 -2.48754584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42629675700002 meters 0.07355982234338149 Centerline is valid? [True, True] Translation: X:219.38, Y:-16.68, Z:-24.89 [[ 9.70016576e-01 2.25032252e-01 9.18059298e-02 2.19384560e+02] [-2.24255044e-01 9.74348548e-01 -1.88303579e-02 -1.66822714e+01] [-9.36884122e-02 -2.32218345e-03 9.95598859e-01 -2.48872156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.486296757 meters 0.07462219542108477 Centerline is valid? [True, True] Translation: X:219.45, Y:-16.69, Z:-24.89 [[ 9.68559270e-01 2.30977119e-01 9.24257038e-02 2.19445013e+02] [-2.30215444e-01 9.72954838e-01 -1.89666224e-02 -1.66927987e+01] [-9.43068914e-02 -2.90752649e-03 9.95538928e-01 -2.48947195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.546296757 meters 0.0777433739557647 Centerline is valid? [True, True] Translation: X:219.50, Y:-16.70, Z:-24.91 [[ 9.68035951e-01 2.33275003e-01 9.21366943e-02 2.19504729e+02] [-2.32526443e-01 9.72405861e-01 -1.89286491e-02 -1.66989039e+01] [-9.40098423e-02 -3.10060493e-03 9.95566440e-01 -2.49059960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.606296757 meters 0.07930572967300836 Centerline is valid? [True, True] Translation: X:219.56, Y:-16.71, Z:-24.92 [[ 9.67614493e-01 2.35379830e-01 9.12059669e-02 2.19564142e+02] [-2.34654404e-01 9.71897998e-01 -1.87507914e-02 -1.67118934e+01] [-9.30564547e-02 -3.25834427e-03 9.95655502e-01 -2.49150349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.666296757 meters 0.07781116369528894 Centerline is valid? [True, True] Translation: X:219.62, Y:-16.73, Z:-24.92 [[ 9.67295747e-01 2.36939680e-01 9.05457120e-02 2.19623137e+02] [-2.36229888e-01 9.71518532e-01 -1.86328415e-02 -1.67316020e+01] [-9.23816966e-02 -3.36613504e-03 9.95717978e-01 -2.49208051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.726296757 meters 0.07955050571708301 Centerline is valid? [True, True] Translation: X:219.68, Y:-16.74, Z:-24.93 [[ 9.66866654e-01 2.38988428e-01 8.97407617e-02 2.19682273e+02] [-2.38297907e-01 9.71016080e-01 -1.84900043e-02 -1.67413203e+01] [-9.15586197e-02 -3.50766709e-03 9.95793510e-01 -2.49301039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.786296757 meters 0.08100580817310113 Centerline is valid? [True, True] Translation: X:219.74, Y:-16.75, Z:-24.94 [[ 9.66267758e-01 2.41135753e-01 9.04442873e-02 2.19743090e+02] [-2.40442306e-01 9.70484244e-01 -1.86501666e-02 -1.67497568e+01] [-9.22719778e-02 -3.72557838e-03 9.95726871e-01 -2.49396871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.846296757 meters 0.08084135548646659 Centerline is valid? [True, True] Translation: X:219.80, Y:-16.76, Z:-24.95 [[ 9.66289793e-01 2.40223011e-01 9.26117756e-02 2.19801832e+02] [-2.39490430e-01 9.70710625e-01 -1.91106493e-02 -1.67636668e+01] [-9.44900523e-02 -3.71320860e-03 9.95518881e-01 -2.49456296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.906296757 meters 0.07932166385552063 Centerline is valid? [True, True] Translation: X:219.86, Y:-16.78, Z:-24.95 [[ 9.67240823e-01 2.35788900e-01 9.40679757e-02 2.19859020e+02] [-2.35010274e-01 9.71798652e-01 -1.94306718e-02 -1.67839846e+01] [-9.59966687e-02 -3.31280179e-03 9.95376142e-01 -2.49519922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.966296757 meters 0.07644404312592877 Centerline is valid? [True, True] Translation: X:219.92, Y:-16.81, Z:-24.96 [[ 9.67729362e-01 2.34259572e-01 9.28565243e-02 2.19917732e+02] [-2.33492428e-01 9.72169127e-01 -1.91956944e-02 -1.68060377e+01] [-9.47690213e-02 -3.10505821e-03 9.95494446e-01 -2.49558624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.026296757 meters 0.07704030379045598 Centerline is valid? [True, True] Translation: X:219.98, Y:-16.82, Z:-24.96 [[ 9.67502975e-01 2.35649029e-01 9.16925738e-02 2.19977515e+02] [-2.34905080e-01 9.71833029e-01 -1.89780552e-02 -1.68160462e+01] [-9.35820321e-02 -3.17772647e-03 9.95606501e-01 -2.49640160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.086296757 meters 0.07583394715251872 Centerline is valid? [True, True] Translation: X:220.04, Y:-16.83, Z:-24.97 [[ 9.67775363e-01 2.34404062e-01 9.20086010e-02 2.20037053e+02] [-2.33647396e-01 9.72134480e-01 -1.90642794e-02 -1.68323983e+01] [-9.39134781e-02 -3.04763010e-03 9.95575698e-01 -2.49695719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14629675700002 meters 0.07533527065787866 Centerline is valid? [True, True] Translation: X:220.10, Y:-16.85, Z:-24.97 [[ 9.68211713e-01 2.32916491e-01 9.11920341e-02 2.20096904e+02] [-2.32164491e-01 9.72492549e-01 -1.89180136e-02 -1.68455927e+01] [-9.30898911e-02 -2.85490984e-03 9.95653615e-01 -2.49747685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.206296757 meters 0.07449364579996783 Centerline is valid? [True, True] Translation: X:220.16, Y:-16.86, Z:-24.98 [[ 9.68685902e-01 2.30923200e-01 9.12255364e-02 2.20156485e+02] [-2.30159693e-01 9.72968394e-01 -1.89478251e-02 -1.68606976e+01] [-9.31350561e-02 -2.64195038e-03 9.95649979e-01 -2.49819311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.266296757 meters 0.0731183466167193 Centerline is valid? [True, True] Translation: X:220.21, Y:-16.88, Z:-24.99 [[ 9.69888636e-01 2.26101752e-01 9.05208881e-02 2.20214607e+02] [-2.25326934e-01 9.74101340e-01 -1.88242468e-02 -1.68816904e+01] [-9.24327136e-02 -2.13937109e-03 9.95716635e-01 -2.49873551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.326296757 meters 0.0721632973723982 Centerline is valid? [True, True] Translation: X:220.27, Y:-16.90, Z:-24.99 [[ 9.71188942e-01 2.20688924e-01 8.99357450e-02 2.20273560e+02] [-2.19898858e-01 9.75342948e-01 -1.87249978e-02 -1.69015600e+01] [-9.18505943e-02 -1.59125675e-03 9.95771528e-01 -2.49932644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.386296757 meters 0.07178995895944636 Centerline is valid? [True, True] Translation: X:220.33, Y:-16.92, Z:-25.00 [[ 9.71752652e-01 2.18311895e-01 8.96476417e-02 2.20332994e+02] [-2.17516628e-01 9.75878100e-01 -1.86668354e-02 -1.69169116e+01] [-9.15603625e-02 -1.36030587e-03 9.95798599e-01 -2.50004229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.446296757 meters 0.07161758174641868 Centerline is valid? [True, True] Translation: X:220.39, Y:-16.93, Z:-25.01 [[ 9.72074656e-01 2.16577850e-01 9.03598280e-02 2.20391855e+02] [-2.15760201e-01 9.76264634e-01 -1.88388176e-02 -1.69300993e+01] [-9.22951749e-02 -1.18331748e-03 9.95730988e-01 -2.50072541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.506296757 meters 0.07111424270206158 Centerline is valid? [True, True] Translation: X:220.45, Y:-16.94, Z:-25.01 [[ 9.72537853e-01 2.13951961e-01 9.16224982e-02 2.20452167e+02] [-2.13097595e-01 9.76843744e-01 -1.91236498e-02 -1.69441369e+01] [-9.35924066e-02 -9.26060728e-04 9.95610167e-01 -2.50135985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.566296757 meters 0.07099247716823064 Centerline is valid? [True, True] Translation: X:220.51, Y:-16.96, Z:-25.02 [[ 9.72574191e-01 2.13553732e-01 9.21642394e-02 2.20512322e+02] [-2.12685257e-01 9.76930932e-01 -1.92596878e-02 -1.69576671e+01] [-9.41510745e-02 -8.70499633e-04 9.95557541e-01 -2.50198877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.626296757 meters 0.07068771291755069 Centerline is valid? [True, True] Translation: X:220.57, Y:-16.97, Z:-25.03 [[ 9.73201326e-01 2.10831083e-01 9.18119496e-02 2.20571877e+02] [-2.09955046e-01 9.77522335e-01 -1.92084340e-02 -1.69730205e+01] [-9.37979663e-02 -5.82708617e-04 9.95591082e-01 -2.50267202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.686296757 meters 0.07035885672985503 Centerline is valid? [True, True] Translation: X:220.63, Y:-16.99, Z:-25.04 [[ 9.73741508e-01 2.08638686e-01 9.10899218e-02 2.20631020e+02] [-2.07764786e-01 9.77992729e-01 -1.90791945e-02 -1.69877027e+01] [-9.30659393e-02 -3.47074434e-04 9.95659887e-01 -2.50357651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.746296757 meters 0.07010520422513157 Centerline is valid? [True, True] Translation: X:220.69, Y:-17.01, Z:-25.04 [[ 9.74489425e-01 2.04357300e-01 9.27817619e-02 2.20690750e+02] [-2.03428829e-01 9.78896361e-01 -1.94582957e-02 -1.70056045e+01] [-9.48001739e-02 8.74181604e-05 9.95496318e-01 -2.50398866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.806296757 meters 0.07007897982602697 Centerline is valid? [True, True] Translation: X:220.75, Y:-17.02, Z:-25.04 [[ 9.75412582e-01 1.99420870e-01 9.38169087e-02 2.20750839e+02] [-1.98446525e-01 9.79913752e-01 -1.96981095e-02 -1.70245061e+01] [-9.58606931e-02 5.96144366e-04 9.95394581e-01 -2.50441479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86629675700001 meters 0.0703920385426514 Centerline is valid? [True, True] Translation: X:220.81, Y:-17.04, Z:-25.05 [[ 9.76108931e-01 1.96239992e-01 9.32803371e-02 2.20810098e+02] [-1.95259784e-01 9.80555456e-01 -1.96115976e-02 -1.70392898e+01] [-9.53151233e-02 9.29157166e-04 9.95446716e-01 -2.50509271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92629675700002 meters 0.07073079128429773 Centerline is valid? [True, True] Translation: X:220.87, Y:-17.05, Z:-25.06 [[ 9.76652927e-01 1.93993472e-01 9.22799715e-02 2.20870393e+02] [-1.93022335e-01 9.81002139e-01 -1.94211350e-02 -1.70533843e+01] [-9.42944229e-02 1.15561270e-03 9.95543684e-01 -2.50589355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.986296757 meters 0.07064276166691655 Centerline is valid? [True, True] Translation: X:220.93, Y:-17.07, Z:-25.06 [[ 9.77024350e-01 1.91373840e-01 9.38055015e-02 2.20931336e+02] [-1.90356086e-01 9.81516144e-01 -1.97641088e-02 -1.70658788e+01] [-9.58539475e-02 1.45356744e-03 9.95394348e-01 -2.50637337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.046296757 meters 0.07049855797791996 Centerline is valid? [True, True] Translation: X:220.99, Y:-17.08, Z:-25.07 [[ 9.76985794e-01 1.91181712e-01 9.45955110e-02 2.20991232e+02] [-1.90143541e-01 9.81553503e-01 -1.99538132e-02 -1.70786036e+01] [-9.66653594e-02 1.50786667e-03 9.95315796e-01 -2.50703205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.106296757 meters 0.06985829530112599 Centerline is valid? [True, True] Translation: X:221.05, Y:-17.09, Z:-25.08 [[ 9.76389443e-01 1.94936350e-01 9.30777891e-02 2.21053079e+02] [-1.93945815e-01 9.80815228e-01 -1.96598373e-02 -1.70865283e+01] [-9.51245299e-02 1.14360992e-03 9.95464724e-01 -2.50777584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.166296757 meters 0.0697771681386542 Centerline is valid? [True, True] Translation: X:221.11, Y:-17.10, Z:-25.08 [[ 9.76319841e-01 1.96399072e-01 9.07026627e-02 2.21113221e+02] [-1.95464412e-01 9.80523556e-01 -1.91629742e-02 -1.70982558e+01] [-9.26996877e-02 9.80049208e-04 9.95693631e-01 -2.50849269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.226296757 meters 0.0699902474003892 Centerline is valid? [True, True] Translation: X:221.17, Y:-17.12, Z:-25.09 [[ 9.77080790e-01 1.92975197e-01 8.98537935e-02 2.21171498e+02] [-1.92041512e-01 9.81202755e-01 -1.90055663e-02 -1.71186582e+01] [-9.18323926e-02 1.31431535e-03 9.95773611e-01 -2.50923265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.286296757 meters 0.06944274582834441 Centerline is valid? [True, True] Translation: X:221.23, Y:-17.13, Z:-25.10 [[ 9.76238337e-01 1.97415727e-01 8.93629699e-02 2.21231869e+02] [-1.96508805e-01 9.80319436e-01 -1.89233325e-02 -1.71302054e+01] [-9.13400197e-02 9.13072285e-04 9.95819345e-01 -2.50975016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.346296757 meters 0.06875151763975648 Centerline is valid? [True, True] Translation: X:221.29, Y:-17.14, Z:-25.11 [[ 9.74588055e-01 2.05587133e-01 8.89497307e-02 2.21292174e+02] [-2.04720528e-01 9.78638801e-01 -1.88574397e-02 -1.71358699e+01] [-9.09265048e-02 1.68399601e-04 9.95857591e-01 -2.51071531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.406296757 meters 0.0688462109159982 Centerline is valid? [True, True] Translation: X:221.36, Y:-17.14, Z:-25.11 [[ 9.73395222e-01 2.10994733e-01 8.93474351e-02 2.21355073e+02] [-2.10141339e-01 9.77487146e-01 -1.89604118e-02 -1.71419613e+01] [-9.13365164e-02 -3.19615354e-04 9.95820033e-01 -2.51149446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.466296757 meters 0.06874210407932728 Centerline is valid? [True, True] Translation: X:221.42, Y:-17.16, Z:-25.12 [[ 9.73476336e-01 2.10519035e-01 8.95854837e-02 2.21415934e+02] [-2.09656823e-01 9.77589726e-01 -1.90353298e-02 -1.71557928e+01] [-9.15851477e-02 -2.51764829e-04 9.95797217e-01 -2.51218417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.526296757 meters 0.06866784473351986 Centerline is valid? [True, True] Translation: X:221.48, Y:-17.17, Z:-25.12 [[ 9.73550354e-01 2.09381652e-01 9.14277472e-02 2.21476500e+02] [-2.08476130e-01 9.77833988e-01 -1.94523557e-02 -1.71699746e+01] [-9.34741251e-02 -1.22655133e-04 9.95621702e-01 -2.51241111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.586296757 meters 0.06877593542168191 Centerline is valid? [True, True] Translation: X:221.54, Y:-17.18, Z:-25.13 [[ 9.73882248e-01 2.07590426e-01 9.19759815e-02 2.21536819e+02] [-2.06663838e-01 9.78215830e-01 -1.95920418e-02 -1.71847703e+01] [-9.40394814e-02 7.22323326e-05 9.95568466e-01 -2.51302382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64629675700002 meters 0.06897323548310542 Centerline is valid? [True, True] Translation: X:221.60, Y:-17.20, Z:-25.14 [[ 9.74520808e-01 2.04371629e-01 9.24198651e-02 2.21596611e+02] [-2.03419346e-01 9.78893289e-01 -1.97103820e-02 -1.72003127e+01] [-9.44974285e-02 4.08188845e-04 9.95525022e-01 -2.51369365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.706296757 meters 0.06943618453848921 Centerline is valid? [True, True] Translation: X:221.66, Y:-17.21, Z:-25.14 [[ 9.75131613e-01 2.01762766e-01 9.17067248e-02 2.21656832e+02] [-2.00812276e-01 9.79434192e-01 -1.95727482e-02 -1.72145096e+01] [-9.37697537e-02 6.70169346e-04 9.95593684e-01 -2.51426069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.766296757 meters 0.06992004692139743 Centerline is valid? [True, True] Translation: X:221.72, Y:-17.23, Z:-25.15 [[ 9.75292094e-01 2.00769847e-01 9.21780889e-02 2.21717571e+02] [-1.99803009e-01 9.79638118e-01 -1.96955660e-02 -1.72266959e+01] [-9.42554453e-02 7.91470273e-04 9.95547731e-01 -2.51498251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.826296757 meters 0.07038007106210331 Centerline is valid? [True, True] Translation: X:221.78, Y:-17.24, Z:-25.16 [[ 9.75306881e-01 2.00876685e-01 9.17880406e-02 2.21777596e+02] [-1.99916103e-01 9.79616207e-01 -1.96376900e-02 -1.72389896e+01] [-9.38618062e-02 8.02866751e-04 9.95584912e-01 -2.51571271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.886296757 meters 0.07086363301212982 Centerline is valid? [True, True] Translation: X:221.84, Y:-17.25, Z:-25.16 [[ 9.75473480e-01 1.99725844e-01 9.25260839e-02 2.21838596e+02] [-1.98742334e-01 9.79851364e-01 -1.98188941e-02 -1.72514570e+01] [-9.46201549e-02 9.43955732e-04 9.95513001e-01 -2.51642320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.946296757 meters 0.0713342927703651 Centerline is valid? [True, True] Translation: X:221.90, Y:-17.26, Z:-25.17 [[ 9.75373208e-01 1.99649431e-01 9.37401200e-02 2.21899224e+02] [-1.98637029e-01 9.79866892e-01 -2.01048464e-02 -1.72639531e+01] [-9.58667611e-02 9.89469617e-04 9.95393683e-01 -2.51698548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.006296757 meters 0.07172680875406318 Centerline is valid? [True, True] Translation: X:221.96, Y:-17.27, Z:-25.18 [[ 9.75006987e-01 2.01815755e-01 9.29073503e-02 2.21960619e+02] [-2.00829118e-01 9.79423186e-01 -1.99471530e-02 -1.72738023e+01] [-9.50212627e-02 7.90112352e-04 9.95474930e-01 -2.51765582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.066296757 meters 0.071992730143525 Centerline is valid? [True, True] Translation: X:222.02, Y:-17.28, Z:-25.18 [[ 9.73902833e-01 2.06641780e-01 9.38746326e-02 2.22022014e+02] [-2.05654323e-01 9.78416605e-01 -2.01803327e-02 -1.72807767e+01] [-9.60185992e-02 3.47959236e-04 9.95379479e-01 -2.51835867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.126296757 meters 0.07219762422525476 Centerline is valid? [True, True] Translation: X:222.08, Y:-17.29, Z:-25.19 [[ 9.72834857e-01 2.12147439e-01 9.26596238e-02 2.22082147e+02] [-2.11208192e-01 9.77237655e-01 -1.99415342e-02 -1.72888173e+01] [-9.47810189e-02 -1.70652083e-04 9.95498131e-01 -2.51925664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.186296757 meters 0.07263483623093493 Centerline is valid? [True, True] Translation: X:222.14, Y:-17.30, Z:-25.20 [[ 9.71628907e-01 2.18201075e-01 9.12444994e-02 2.22143641e+02] [-2.17315131e-01 9.75903560e-01 -1.96564515e-02 -1.72971226e+01] [-9.33348906e-02 -7.30033840e-04 9.95634504e-01 -2.51996513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.246296757 meters 0.07312957466600452 Centerline is valid? [True, True] Translation: X:222.20, Y:-17.30, Z:-25.21 [[ 9.70369829e-01 2.24080057e-01 9.03909420e-02 2.22204945e+02] [-2.23233708e-01 9.74569928e-01 -1.94978641e-02 -1.73048853e+01] [-9.24613764e-02 -1.25816615e-03 9.95715477e-01 -2.52101424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.306296757 meters 0.0739022962199254 Centerline is valid? [True, True] Translation: X:222.27, Y:-17.31, Z:-25.22 [[ 9.69360740e-01 2.28734728e-01 8.95554595e-02 2.22265005e+02] [-2.27923453e-01 9.73487336e-01 -1.93211489e-02 -1.73129780e+01] [-9.16005235e-02 -1.68262638e-03 9.95794413e-01 -2.52177299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36629675700001 meters 0.07390765760679682 Centerline is valid? [True, True] Translation: X:222.32, Y:-17.33, Z:-25.22 [[ 9.69835001e-01 2.27184334e-01 8.83592048e-02 2.22323882e+02] [-2.26386470e-01 9.73850624e-01 -1.90821471e-02 -1.73306899e+01] [-9.03838316e-02 -1.49679429e-03 9.95905880e-01 -2.52239489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42629675700002 meters 0.07327885376124417 Centerline is valid? [True, True] Translation: X:222.38, Y:-17.35, Z:-25.23 [[ 9.70803770e-01 2.22481514e-01 8.96772866e-02 2.22381899e+02] [-2.21637322e-01 9.74936343e-01 -1.93913735e-02 -1.73518547e+01] [-9.17438679e-02 -1.05061514e-03 9.95782084e-01 -2.52315671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.486296757 meters 0.07304087256381739 Centerline is valid? [True, True] Translation: X:222.44, Y:-17.37, Z:-25.24 [[ 9.70880917e-01 2.21717224e-01 9.07288142e-02 2.22441376e+02] [-2.20849399e-01 9.75110506e-01 -1.96225207e-02 -1.73691855e+01] [-9.28212708e-02 -9.86273182e-04 9.95682298e-01 -2.52362055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.546296757 meters 0.0729851221786668 Centerline is valid? [True, True] Translation: X:222.50, Y:-17.38, Z:-25.24 [[ 9.71058783e-01 2.20955692e-01 9.06830884e-02 2.22499867e+02] [-2.20083292e-01 9.75283440e-01 -1.96355672e-02 -1.73843363e+01] [-9.27803048e-02 -8.90542658e-04 9.95686207e-01 -2.52435467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.606296757 meters 0.07276891446693168 Centerline is valid? [True, True] Translation: X:222.56, Y:-17.40, Z:-25.25 [[ 9.71470886e-01 2.18161727e-01 9.30041835e-02 2.22559877e+02] [-2.17229142e-01 9.75912434e-01 -2.01598977e-02 -1.74000711e+01] [-9.51620572e-02 -6.18465319e-04 9.95461602e-01 -2.52502154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.666296757 meters 0.07255340804810202 Centerline is valid? [True, True] Translation: X:222.62, Y:-17.41, Z:-25.26 [[ 9.71753627e-01 2.16153322e-01 9.47239660e-02 2.22618843e+02] [-2.15174024e-01 9.76359348e-01 -2.05563456e-02 -1.74134878e+01] [-9.69279520e-02 -4.06433474e-04 9.95291318e-01 -2.52579997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.726296757 meters 0.07257613152089605 Centerline is valid? [True, True] Translation: X:222.68, Y:-17.43, Z:-25.26 [[ 9.72533089e-01 2.12063407e-01 9.59609412e-02 2.22678966e+02] [-2.11036327e-01 9.77255909e-01 -2.08460539e-02 -1.74287352e+01] [-9.81990821e-02 2.22326966e-05 9.95166790e-01 -2.52627948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.786296757 meters 0.07256849906784489 Centerline is valid? [True, True] Translation: X:222.74, Y:-17.44, Z:-25.27 [[ 9.73228858e-01 2.09288716e-01 9.49938053e-02 2.22737045e+02] [-2.08266727e-01 9.77853838e-01 -2.06601378e-02 -1.74437888e+01] [-9.72139909e-02 3.22993418e-04 9.95263450e-01 -2.52716218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.846296757 meters 0.072496190039295 Centerline is valid? [True, True] Translation: X:222.80, Y:-17.46, Z:-25.28 [[ 9.74519041e-01 2.04123490e-01 9.29851626e-02 2.22796593e+02] [-2.03119266e-01 9.78944789e-01 -2.02401590e-02 -1.74582703e+01] [-9.51588323e-02 8.37342380e-04 9.95461750e-01 -2.52800282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.906296757 meters 0.0727182399264373 Centerline is valid? [True, True] Translation: X:222.86, Y:-17.48, Z:-25.29 [[ 9.75346835e-01 2.00218582e-01 9.27958600e-02 2.22856068e+02] [-1.99198651e-01 9.79750471e-01 -2.02215529e-02 -1.74751629e+01] [-9.49655182e-02 1.23821745e-03 9.95479792e-01 -2.52876191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.966296757 meters 0.07386481108084167 Centerline is valid? [True, True] Translation: X:222.91, Y:-17.50, Z:-25.29 [[ 9.77821685e-01 1.87533495e-01 9.32520310e-02 2.22913224e+02] [-1.86443631e-01 9.82255011e-01 -2.03436844e-02 -1.74995665e+01] [-9.54123970e-02 2.50624851e-03 9.95434676e-01 -2.52931357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.026296757 meters 0.07536388503494662 Centerline is valid? [True, True] Translation: X:222.97, Y:-17.53, Z:-25.30 [[ 9.79902201e-01 1.76564866e-01 9.28252394e-02 2.22969249e+02] [-1.75433709e-01 9.84282493e-01 -2.02728204e-02 -1.75269461e+01] [-9.49457259e-02 3.58070529e-03 9.95476011e-01 -2.52972351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.086296757 meters 0.07558662326855072 Centerline is valid? [True, True] Translation: X:223.03, Y:-17.54, Z:-25.30 [[ 9.80135333e-01 1.74776157e-01 9.37444594e-02 2.23028462e+02] [-1.73613515e-01 9.84600864e-01 -2.04813644e-02 -1.75429391e+01] [-9.58805299e-02 3.79920382e-03 9.95385599e-01 -2.53035184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14629675700002 meters 0.07532413357338177 Centerline is valid? [True, True] Translation: X:223.09, Y:-17.56, Z:-25.31 [[ 9.79803775e-01 1.77051296e-01 9.29376233e-02 2.23087562e+02] [-1.75917801e-01 9.84195200e-01 -2.03158884e-02 -1.75555919e+01] [-9.50657171e-02 3.55620185e-03 9.95464647e-01 -2.53121028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.206296757 meters 0.07407140795032337 Centerline is valid? [True, True] Translation: X:223.15, Y:-17.56, Z:-25.32 [[ 9.78841313e-01 1.82436979e-01 9.26630060e-02 2.23148906e+02] [-1.81332932e-01 9.83212857e-01 -2.02693405e-02 -1.75617050e+01] [-9.48053361e-02 3.03761328e-03 9.95491196e-01 -2.53200695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.266296757 meters 0.07388776896229907 Centerline is valid? [True, True] Translation: X:223.21, Y:-17.57, Z:-25.33 [[ 9.78168789e-01 1.86507805e-01 9.16551032e-02 2.23208257e+02] [-1.85445318e-01 9.82449996e-01 -2.00509351e-02 -1.75721114e+01] [-9.37862117e-02 2.61618917e-03 9.95588922e-01 -2.53283925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.326296757 meters 0.07275690869187501 Centerline is valid? [True, True] Translation: X:223.27, Y:-17.58, Z:-25.34 [[ 9.77233892e-01 1.91770527e-01 9.07633536e-02 2.23269978e+02] [-1.90749650e-01 9.81437529e-01 -1.98733115e-02 -1.75777099e+01] [-9.28896768e-02 2.10779553e-03 9.95674176e-01 -2.53363103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.386296757 meters 0.0728542685503771 Centerline is valid? [True, True] Translation: X:223.33, Y:-17.59, Z:-25.34 [[ 9.77763711e-01 1.88883874e-01 9.11098628e-02 2.23329311e+02] [-1.87842267e-01 9.81996509e-01 -1.99534125e-02 -1.75942643e+01] [-9.32384451e-02 2.39543950e-03 9.95640926e-01 -2.53437461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.446296757 meters 0.07283080018220264 Centerline is valid? [True, True] Translation: X:223.39, Y:-17.61, Z:-25.35 [[ 9.79037677e-01 1.81669918e-01 9.20937973e-02 2.23388229e+02] [-1.80573412e-01 9.83354619e-01 -2.01726812e-02 -1.76126752e+01] [-9.42256303e-02 3.12012376e-03 9.95545979e-01 -2.53462336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.506296757 meters 0.07419443939786118 Centerline is valid? [True, True] Translation: X:223.45, Y:-17.64, Z:-25.35 [[ 9.80287244e-01 1.74925679e-01 9.18581840e-02 2.23445099e+02] [-1.73803190e-01 9.84574382e-01 -2.01429174e-02 -1.76350995e+01] [-9.39647283e-02 3.78059958e-03 9.95568349e-01 -2.53518495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.566296757 meters 0.07448659837089007 Centerline is valid? [True, True] Translation: X:223.50, Y:-17.65, Z:-25.36 [[ 9.80613978e-01 1.73378522e-01 9.13023199e-02 2.23504675e+02] [-1.72262348e-01 9.84847497e-01 -2.00272800e-02 -1.76495602e+01] [-9.33911614e-02 3.91107871e-03 9.95621813e-01 -2.53587313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.626296757 meters 0.07329185303264685 Centerline is valid? [True, True] Translation: X:223.57, Y:-17.65, Z:-25.36 [[ 9.80237267e-01 1.74648058e-01 9.29137055e-02 2.23566570e+02] [-1.73495501e-01 9.84623277e-01 -2.04037411e-02 -1.76544786e+01] [-9.50484710e-02 3.88039757e-03 9.95465083e-01 -2.53648705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.686296757 meters 0.07394805374981311 Centerline is valid? [True, True] Translation: X:223.63, Y:-17.67, Z:-25.37 [[ 9.79972105e-01 1.76076958e-01 9.30138564e-02 2.23626076e+02] [-1.74928027e-01 9.84369265e-01 -2.04287765e-02 -1.76671383e+01] [-9.51570183e-02 3.74890074e-03 9.95455216e-01 -2.53728052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.746296757 meters 0.07219128392883307 Centerline is valid? [True, True] Translation: X:223.69, Y:-17.67, Z:-25.38 [[ 9.79272604e-01 1.79870254e-01 9.31228167e-02 2.23687576e+02] [-1.78733587e-01 9.83684446e-01 -2.04747420e-02 -1.76708739e+01] [-9.52862634e-02 3.40617878e-03 9.95444085e-01 -2.53784536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.806296757 meters 0.07222661209804745 Centerline is valid? [True, True] Translation: X:223.75, Y:-17.68, Z:-25.38 [[ 9.79140935e-01 1.80760140e-01 9.27836303e-02 2.23747818e+02] [-1.79635091e-01 9.83521626e-01 -2.04070094e-02 -1.76834246e+01] [-9.49434808e-02 3.31414240e-03 9.95477148e-01 -2.53848087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86629675700001 meters 0.07218753221256742 Centerline is valid? [True, True] Translation: X:223.81, Y:-17.69, Z:-25.39 [[ 9.78988760e-01 1.82728685e-01 9.05054489e-02 2.23807946e+02] [-1.81664823e-01 9.83158597e-01 -1.99265094e-02 -1.76940382e+01] [-9.26223550e-02 3.06617233e-03 9.95696589e-01 -2.53921639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92629675700002 meters 0.0717661284685371 Centerline is valid? [True, True] Translation: X:223.87, Y:-17.70, Z:-25.40 [[ 9.78646039e-01 1.85701781e-01 8.81293280e-02 2.23868191e+02] [-1.84703588e-01 9.82602363e-01 -1.94211624e-02 -1.77048623e+01] [-9.02026304e-02 2.72864051e-03 9.95919696e-01 -2.54002048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.986296757 meters 0.07190906400725777 Centerline is valid? [True, True] Translation: X:223.93, Y:-17.72, Z:-25.41 [[ 9.79016157e-01 1.84742800e-01 8.60085039e-02 2.23928039e+02] [-1.83786561e-01 9.82782999e-01 -1.89756953e-02 -1.77200013e+01] [-8.80333185e-02 2.77030522e-03 9.96113678e-01 -2.54088718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.046296757 meters 0.07019473997828327 Centerline is valid? [True, True] Translation: X:223.99, Y:-17.73, Z:-25.41 [[ 9.78367437e-01 1.88287256e-01 8.57033733e-02 2.23989515e+02] [-1.87350857e-01 9.82110948e-01 -1.89140531e-02 -1.77291472e+01] [-8.77314964e-02 2.44829323e-03 9.96141150e-01 -2.54110819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.106296757 meters 0.0697606427045065 Centerline is valid? [True, True] Translation: X:224.05, Y:-17.74, Z:-25.42 [[ 9.77679378e-01 1.91681206e-01 8.60310951e-02 2.24050121e+02] [-1.90750334e-01 9.81454872e-01 -1.89906487e-02 -1.77394698e+01] [-8.80757879e-02 2.15630554e-03 9.96111443e-01 -2.54168794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.166296757 meters 0.06999780273033221 Centerline is valid? [True, True] Translation: X:224.11, Y:-17.75, Z:-25.42 [[ 9.77528342e-01 1.92381882e-01 8.61832454e-02 2.24109945e+02] [-1.91450382e-01 9.81317896e-01 -1.90246842e-02 -1.77532341e+01] [-8.82331655e-02 2.09735277e-03 9.96097641e-01 -2.54219340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.226296757 meters 0.07010789606048266 Centerline is valid? [True, True] Translation: X:224.17, Y:-17.77, Z:-25.43 [[ 9.77586441e-01 1.92714718e-01 8.47690227e-02 2.24168220e+02] [-1.91812935e-01 9.81252676e-01 -1.87345442e-02 -1.77696442e+01] [-8.67902529e-02 2.05484136e-03 9.96224488e-01 -2.54287820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.286296757 meters 0.06991721377695809 Centerline is valid? [True, True] Translation: X:224.23, Y:-17.78, Z:-25.44 [[ 9.77017474e-01 1.96000048e-01 8.37904338e-02 2.24228920e+02] [-1.95130366e-01 9.80602324e-01 -1.85262760e-02 -1.77813575e+01] [-8.57962451e-02 1.75043736e-03 9.96311166e-01 -2.54364640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.346296757 meters 0.06998792929220514 Centerline is valid? [True, True] Translation: X:224.29, Y:-17.79, Z:-25.44 [[ 9.76143139e-01 2.01560167e-01 8.07345731e-02 2.24289285e+02] [-2.00770375e-01 9.79475359e-01 -1.78683382e-02 -1.77921670e+01] [-8.26790702e-02 1.23294522e-03 9.96575462e-01 -2.54446012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.406296757 meters 0.07019691791997375 Centerline is valid? [True, True] Translation: X:224.35, Y:-17.80, Z:-25.46 [[ 9.75726293e-01 2.04700489e-01 7.78197352e-02 2.24349135e+02] [-2.03975170e-01 9.78824195e-01 -1.72431186e-02 -1.78027668e+01] [-7.97015145e-02 9.51270465e-04 9.96818320e-01 -2.54560081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.466296757 meters 0.07032055022898062 Centerline is valid? [True, True] Translation: X:224.41, Y:-17.81, Z:-25.47 [[ 9.74733895e-01 2.09535770e-01 7.73860106e-02 2.24410361e+02] [-2.08833253e-01 9.77800823e-01 -1.71529542e-02 -1.78114291e+01] [-7.92622623e-02 5.58793536e-04 9.96853641e-01 -2.54650967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.526296757 meters 0.07040198945273038 Centerline is valid? [True, True] Translation: X:224.47, Y:-17.82, Z:-25.47 [[ 9.73401302e-01 2.15366148e-01 7.81493880e-02 2.24471856e+02] [-2.14666989e-01 9.76533364e-01 -1.73398992e-02 -1.78198847e+01] [-8.00499121e-02 1.02586678e-04 9.96790851e-01 -2.54713153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.586296757 meters 0.0705650535508463 Centerline is valid? [True, True] Translation: X:224.53, Y:-17.83, Z:-25.47 [[ 9.71926534e-01 2.20813869e-01 8.12406800e-02 2.24532930e+02] [-2.20075518e-01 9.75315908e-01 -1.80456892e-02 -1.78276533e+01] [-8.32200660e-02 -3.40000559e-04 9.96531136e-01 -2.54745575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64629675700002 meters 0.07072170958852586 Centerline is valid? [True, True] Translation: X:224.59, Y:-17.84, Z:-25.48 [[ 9.70482372e-01 2.25929094e-01 8.43801589e-02 2.24594867e+02] [-2.25150381e-01 9.74143427e-01 -1.87587385e-02 -1.78354007e+01] [-8.64365219e-02 -7.93199960e-04 9.96257044e-01 -2.54757194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.706296757 meters 0.07120727471090284 Centerline is valid? [True, True] Translation: X:224.66, Y:-17.85, Z:-25.48 [[ 9.70132884e-01 2.27768354e-01 8.34491707e-02 2.24655820e+02] [-2.27011870e-01 9.73714905e-01 -1.85713217e-02 -1.78464637e+01] [-8.54856608e-02 -9.27302352e-04 9.96338969e-01 -2.54827997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.766296757 meters 0.07169566652005581 Centerline is valid? [True, True] Translation: X:224.71, Y:-17.86, Z:-25.49 [[ 9.70710210e-01 2.25884563e-01 8.18404115e-02 2.24714734e+02] [-2.25148470e-01 9.74153806e-01 -1.82353425e-02 -1.78591558e+01] [-8.38442307e-02 -7.25010348e-04 9.96478610e-01 -2.54947763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.826296757 meters 0.07218070706490848 Centerline is valid? [True, True] Translation: X:224.77, Y:-17.88, Z:-25.50 [[ 9.71578002e-01 2.22275569e-01 8.14233202e-02 2.24773857e+02] [-2.21533664e-01 9.74983799e-01 -1.81501326e-02 -1.78750498e+01] [-8.34207491e-02 -4.03736868e-04 9.96514333e-01 -2.55021905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.886296757 meters 0.0720861411667051 Centerline is valid? [True, True] Translation: X:224.83, Y:-17.89, Z:-25.51 [[ 9.72546732e-01 2.17246755e-01 8.34068406e-02 2.24833603e+02] [-2.16447998e-01 9.76116717e-01 -1.86123417e-02 -1.78929697e+01] [-8.54582822e-02 4.81284538e-05 9.96341748e-01 -2.55050237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.946296757 meters 0.07227019501518821 Centerline is valid? [True, True] Translation: X:224.89, Y:-17.91, Z:-25.51 [[ 9.73226859e-01 2.13196470e-01 8.58879817e-02 2.24893879e+02] [-2.12331449e-01 9.77009248e-01 -1.91907331e-02 -1.79085515e+01] [-8.80047490e-02 4.40217307e-04 9.96119958e-01 -2.55110773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.006296757 meters 0.07275628927155582 Centerline is valid? [True, True] Translation: X:224.95, Y:-17.92, Z:-25.52 [[ 9.73933992e-01 2.10196321e-01 8.52647974e-02 2.24952682e+02] [-2.09331973e-01 9.77658939e-01 -1.90557940e-02 -1.79236043e+01] [-8.73653492e-02 7.10437274e-04 9.96176084e-01 -2.55215340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.066296757 meters 0.07323106816985904 Centerline is valid? [True, True] Translation: X:225.01, Y:-17.94, Z:-25.53 [[ 9.75012535e-01 2.05386303e-01 8.46582705e-02 2.25011064e+02] [-2.04514516e-01 9.78680306e-01 -1.89386456e-02 -1.79416979e+01] [-8.67431205e-02 1.15157163e-03 9.96230046e-01 -2.55304366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.126296757 meters 0.07395912646686824 Centerline is valid? [True, True] Translation: X:225.07, Y:-17.96, Z:-25.54 [[ 9.76236759e-01 1.99460540e-01 8.47188507e-02 2.25068231e+02] [-1.98563638e-01 9.79904389e-01 -1.89702270e-02 -1.79626051e+01] [-8.68001853e-02 1.69734968e-03 9.96224295e-01 -2.55385877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.186296757 meters 0.07445632016356665 Centerline is valid? [True, True] Translation: X:225.13, Y:-17.98, Z:-25.54 [[ 9.76587402e-01 1.96971407e-01 8.64830118e-02 2.25126478e+02] [-1.96025286e-01 9.80407240e-01 -1.93837903e-02 -1.79797499e+01] [-8.86066233e-02 1.97710829e-03 9.96064736e-01 -2.55437581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.246296757 meters 0.07370846810139313 Centerline is valid? [True, True] Translation: X:225.19, Y:-17.99, Z:-25.55 [[ 9.76015457e-01 1.97948580e-01 9.06100897e-02 2.25187130e+02] [-1.96912084e-01 9.80210367e-01 -2.03289973e-02 -1.79904087e+01] [-9.28410454e-02 1.99919402e-03 9.95678936e-01 -2.55465862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.306296757 meters 0.0730099323261401 Centerline is valid? [True, True] Translation: X:225.25, Y:-18.00, Z:-25.55 [[ 9.74876108e-01 2.02148065e-01 9.35560426e-02 2.25249348e+02] [-2.01060423e-01 9.79353548e-01 -2.10079633e-02 -1.79951318e+01] [-9.58711614e-02 1.66974396e-03 9.95392351e-01 -2.55525932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36629675700001 meters 0.07258292022740431 Centerline is valid? [True, True] Translation: X:225.31, Y:-18.00, Z:-25.56 [[ 9.73633000e-01 2.07504064e-01 9.47673154e-02 2.25310768e+02] [-2.06412966e-01 9.78233467e-01 -2.12831246e-02 -1.79986358e+01] [-9.71208944e-02 1.16074988e-03 9.95271915e-01 -2.55599297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.426296757 meters 0.07252720132710494 Centerline is valid? [True, True] Translation: X:225.37, Y:-18.01, Z:-25.57 [[ 9.72826518e-01 2.10983086e-01 9.53661560e-02 2.25371431e+02] [-2.09893074e-01 9.77489355e-01 -2.14349839e-02 -1.80073354e+01] [-9.77418213e-02 8.35825102e-04 9.95211454e-01 -2.55676137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.486296757 meters 0.07257673591409128 Centerline is valid? [True, True] Translation: X:225.43, Y:-18.02, Z:-25.57 [[ 9.72776492e-01 2.10495944e-01 9.69399495e-02 2.25431297e+02] [-2.09364833e-01 9.77594296e-01 -2.18119195e-02 -1.80189079e+01] [-9.93592622e-02 9.22306206e-04 9.95051198e-01 -2.55747942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.546296757 meters 0.0725282685228168 Centerline is valid? [True, True] Translation: X:225.49, Y:-18.03, Z:-25.58 [[ 9.73256005e-01 2.08018418e-01 9.74735213e-02 2.25491353e+02] [-2.06860302e-01 9.78124170e-01 -2.19527482e-02 -1.80314054e+01] [-9.99077831e-02 1.20224195e-03 9.94995975e-01 -2.55808124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.606296757 meters 0.07247874668098055 Centerline is valid? [True, True] Translation: X:225.55, Y:-18.04, Z:-25.59 [[ 9.73426478e-01 2.06751658e-01 9.84613788e-02 2.25552118e+02] [-2.05561031e-01 9.78392497e-01 -2.21987560e-02 -1.80446716e+01] [-1.00923504e-01 1.36903438e-03 9.94893247e-01 -2.55889839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.666296757 meters 0.0729330123325933 Centerline is valid? [True, True] Translation: X:225.61, Y:-18.06, Z:-25.60 [[ 9.74617959e-01 2.01745247e-01 9.70499348e-02 2.25610501e+02] [-2.00561158e-01 9.79436213e-01 -2.19072197e-02 -1.80628508e+01] [-9.94738981e-02 1.88672249e-03 9.95038383e-01 -2.55986917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.726296757 meters 0.07451814877393345 Centerline is valid? [True, True] Translation: X:225.67, Y:-18.09, Z:-25.61 [[ 9.76770727e-01 1.90401910e-01 9.83161244e-02 2.25665513e+02] [-1.89126936e-01 9.81701314e-01 -2.22155800e-02 -1.80902879e+01] [-1.00746957e-01 3.10530081e-03 9.94907236e-01 -2.56063224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.786296757 meters 0.07628257172534436 Centerline is valid? [True, True] Translation: X:225.72, Y:-18.12, Z:-25.61 [[ 9.78946376e-01 1.78665318e-01 9.87050981e-02 2.25722032e+02] [-1.77318771e-01 9.83900292e-01 -2.23219506e-02 -1.81173274e+01] [-1.01104133e-01 4.34972600e-03 9.94866340e-01 -2.56123350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.846296757 meters 0.07655383385539127 Centerline is valid? [True, True] Translation: X:225.78, Y:-18.14, Z:-25.62 [[ 9.80125189e-01 1.71686881e-01 9.93892764e-02 2.25779754e+02] [-1.70283644e-01 9.85138233e-01 -2.24976149e-02 -1.81370243e+01] [-1.01774721e-01 5.12611091e-03 9.94794265e-01 -2.56182616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.906296757 meters 0.07970221543717734 Centerline is valid? [True, True] Translation: X:225.84, Y:-18.16, Z:-25.63 [[ 9.80597376e-01 1.68914639e-01 9.94818105e-02 2.25835240e+02] [-1.67492645e-01 9.85615684e-01 -2.25374742e-02 -1.81644252e+01] [-1.01857742e-01 5.43771650e-03 9.94784113e-01 -2.56260338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.966296757 meters 0.07759899158055476 Centerline is valid? [True, True] Translation: X:225.90, Y:-18.18, Z:-25.63 [[ 9.80002279e-01 1.71999043e-01 1.00059299e-01 2.25895842e+02] [-1.70574133e-01 9.85083554e-01 -2.26904353e-02 -1.81751038e+01] [-1.02469504e-01 5.16915004e-03 9.94722716e-01 -2.56308936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.026296757 meters 0.07600463460031046 Centerline is valid? [True, True] Translation: X:225.96, Y:-18.19, Z:-25.64 [[ 9.78680850e-01 1.78895106e-01 1.00897643e-01 2.25955656e+02] [-1.77482183e-01 9.83857913e-01 -2.28841029e-02 -1.81862698e+01] [-1.03362798e-01 4.48869937e-03 9.94633593e-01 -2.56369336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.086296757 meters 0.07488678715006936 Centerline is valid? [True, True] Translation: X:226.02, Y:-18.20, Z:-25.64 [[ 9.77260573e-01 1.86575554e-01 1.00753831e-01 2.26015683e+02] [-1.85205237e-01 9.82433683e-01 -2.28709173e-02 -1.81952001e+01] [-1.03251112e-01 3.69070847e-03 9.94648474e-01 -2.56442309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14629675700002 meters 0.07420438948242092 Centerline is valid? [True, True] Translation: X:226.08, Y:-18.21, Z:-25.65 [[ 9.76524787e-01 1.90692356e-01 1.00178670e-01 2.26075552e+02] [-1.89357134e-01 9.81644445e-01 -2.27609074e-02 -1.82062860e+01] [-1.02680166e-01 3.25704446e-03 9.94709091e-01 -2.56515792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.206296757 meters 0.07291656684659428 Centerline is valid? [True, True] Translation: X:226.14, Y:-18.21, Z:-25.66 [[ 9.74866141e-01 1.99648605e-01 9.88758882e-02 2.26136349e+02] [-1.98391925e-01 9.79864855e-01 -2.24835543e-02 -1.82135834e+01] [-1.01373818e-01 2.30227803e-03 9.94845741e-01 -2.56582795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.266296757 meters 0.07270978638167057 Centerline is valid? [True, True] Translation: X:226.20, Y:-18.23, Z:-25.66 [[ 9.74340052e-01 2.01918685e-01 9.94500223e-02 2.26196004e+02] [-2.00658615e-01 9.79400074e-01 -2.26188944e-02 -1.82251808e+01] [-1.01968537e-01 2.08299099e-03 9.94785444e-01 -2.56644957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.326296757 meters 0.07183466796948393 Centerline is valid? [True, True] Translation: X:226.26, Y:-18.23, Z:-25.67 [[ 9.73447251e-01 2.07163600e-01 9.73842501e-02 2.26257432e+02] [-2.05979508e-01 9.78305129e-01 -2.21701849e-02 -1.82331606e+01] [-9.98643666e-02 1.52234563e-03 9.94999895e-01 -2.56719211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.386296757 meters 0.07156173596854591 Centerline is valid? [True, True] Translation: X:226.32, Y:-18.24, Z:-25.68 [[ 9.73273313e-01 2.08589061e-01 9.60711293e-02 2.26319567e+02] [-2.07441525e-01 9.78002404e-01 -2.18931789e-02 -1.82442616e+01] [-9.85244730e-02 1.37890521e-03 9.95133673e-01 -2.56777297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.446296757 meters 0.07151584317615757 Centerline is valid? [True, True] Translation: X:226.38, Y:-18.26, Z:-25.68 [[ 9.73696249e-01 2.07215639e-01 9.47485829e-02 2.26379720e+02] [-2.06090541e-01 9.78294108e-01 -2.16177550e-02 -1.82561198e+01] [-9.71715173e-02 1.52234021e-03 9.95266486e-01 -2.56833703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.506296757 meters 0.07233218742609651 Centerline is valid? [True, True] Translation: X:226.44, Y:-18.27, Z:-25.69 [[ 9.74899386e-01 2.01653401e-01 9.43774016e-02 2.26438618e+02] [-2.00508803e-01 9.79454710e-01 -2.15566882e-02 -1.82741486e+01] [-9.67853700e-02 2.09210225e-03 9.95303077e-01 -2.56908391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.566296757 meters 0.07363730754449628 Centerline is valid? [True, True] Translation: X:226.50, Y:-18.29, Z:-25.70 [[ 9.76615342e-01 1.93163458e-01 9.43946568e-02 2.26496519e+02] [-1.91978392e-01 9.81162188e-01 -2.15651896e-02 -1.82926977e+01] [-9.67820747e-02 2.93916061e-03 9.95301257e-01 -2.56982590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.626296757 meters 0.07553886225970176 Centerline is valid? [True, True] Translation: X:226.55, Y:-18.31, Z:-25.70 [[ 9.78058559e-01 1.86175125e-01 9.34894571e-02 2.26553007e+02] [-1.84978897e-01 9.82509921e-01 -2.13790275e-02 -1.83143210e+01] [-9.58345622e-02 3.61636414e-03 9.95390707e-01 -2.57047368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.686296757 meters 0.07695128011175291 Centerline is valid? [True, True] Translation: X:226.61, Y:-18.33, Z:-25.71 [[ 9.79533637e-01 1.79314796e-01 9.14333571e-02 2.26611218e+02] [-1.78139316e-01 9.83782740e-01 -2.09261617e-02 -1.83313690e+01] [-9.37029290e-02 4.21000361e-03 9.95591300e-01 -2.57136602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.746296757 meters 0.07970397398562029 Centerline is valid? [True, True] Translation: X:226.67, Y:-18.35, Z:-25.72 [[ 9.80623240e-01 1.73265961e-01 9.14164478e-02 2.26667745e+02] [-1.72064093e-01 9.84863404e-01 -2.09290097e-02 -1.83516474e+01] [-9.36589990e-02 4.79398505e-03 9.95592793e-01 -2.57225216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.806296757 meters 0.07979093262943936 Centerline is valid? [True, True] Translation: X:226.73, Y:-18.37, Z:-25.73 [[ 9.81733122e-01 1.68518401e-01 8.83268066e-02 2.26727255e+02] [-1.67376703e-01 9.85685433e-01 -2.02303190e-02 -1.83658387e+01] [-9.04716276e-02 5.07692456e-03 9.95886093e-01 -2.57294656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86629675700001 meters 0.08042591740305897 Centerline is valid? [True, True] Translation: X:226.79, Y:-18.38, Z:-25.73 [[ 9.83142418e-01 1.60999236e-01 8.66615983e-02 2.26786200e+02] [-1.59870774e-01 9.86938275e-01 -1.98538730e-02 -1.83828167e+01] [-8.87261067e-02 5.66452785e-03 9.96039955e-01 -2.57349207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.926296757 meters 0.08101558396547495 Centerline is valid? [True, True] Translation: X:226.84, Y:-18.40, Z:-25.74 [[ 9.84212403e-01 1.55426962e-01 8.46664306e-02 2.26844314e+02] [-1.54329070e-01 9.87828989e-01 -1.94017098e-02 -1.84015143e+01] [-8.66515034e-02 6.02891194e-03 9.96220442e-01 -2.57393229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.986296757 meters 0.08466083709237718 Centerline is valid? [True, True] Translation: X:226.90, Y:-18.43, Z:-25.75 [[ 9.84794137e-01 1.52380687e-01 8.34304199e-02 2.26900194e+02] [-1.51303413e-01 9.88302368e-01 -1.91234819e-02 -1.84259578e+01] [-8.53685309e-02 6.20938564e-03 9.96330095e-01 -2.57475607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.046296757 meters 0.08132567332980241 Centerline is valid? [True, True] Translation: X:226.96, Y:-18.43, Z:-25.75 [[ 9.84543568e-01 1.53408651e-01 8.44970363e-02 2.26960892e+02] [-1.52306710e-01 9.88143344e-01 -1.93751859e-02 -1.84347370e+01] [-8.64675051e-02 6.20624900e-03 9.96235340e-01 -2.57514990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.106296757 meters 0.0807903138668368 Centerline is valid? [True, True] Translation: X:227.02, Y:-18.45, Z:-25.76 [[ 9.82998218e-01 1.62621584e-01 8.52568099e-02 2.27019384e+02] [-1.61533608e-01 9.86673460e-01 -1.95544702e-02 -1.84463457e+01] [-8.73006105e-02 5.45016918e-03 9.96167104e-01 -2.57590066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.166296757 meters 0.07897819470884178 Centerline is valid? [True, True] Translation: X:227.08, Y:-18.45, Z:-25.77 [[ 9.81174436e-01 1.73218475e-01 8.53937112e-02 2.27079897e+02] [-1.72166453e-01 9.84873054e-01 -1.95902805e-02 -1.84542016e+01] [-8.74953637e-02 4.51955009e-03 9.96154674e-01 -2.57685540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.226296757 meters 0.07547921878625555 Centerline is valid? [True, True] Translation: X:227.14, Y:-18.45, Z:-25.78 [[ 9.78594760e-01 1.87761082e-01 8.42500586e-02 2.27142853e+02] [-1.86790378e-01 9.82209582e-01 -1.93311321e-02 -1.84533524e+01] [-8.63808491e-02 3.18024434e-03 9.96257113e-01 -2.57776530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.286296757 meters 0.07480575151210868 Centerline is valid? [True, True] Translation: X:227.20, Y:-18.46, Z:-25.79 [[ 9.77376396e-01 1.94401736e-01 8.33267449e-02 2.27203075e+02] [-1.93476181e-01 9.80918641e-01 -1.91203206e-02 -1.84615466e+01] [-8.54537809e-02 2.56600964e-03 9.96338831e-01 -2.57860845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.346296757 meters 0.07350288469314989 Centerline is valid? [True, True] Translation: X:227.26, Y:-18.47, Z:-25.79 [[ 9.74620819e-01 2.07135686e-01 8.49062181e-02 2.27264059e+02] [-2.06221621e-01 9.78311088e-01 -1.94950804e-02 -1.84678391e+01] [-8.71028215e-02 1.49081332e-03 9.96198211e-01 -2.57910353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.406296757 meters 0.07321089743772981 Centerline is valid? [True, True] Translation: X:227.32, Y:-18.47, Z:-25.80 [[ 9.72716153e-01 2.15722107e-01 8.53654424e-02 2.27323962e+02] [-2.14829482e-01 9.76454515e-01 -1.96182180e-02 -1.84745207e+01] [-8.75875550e-02 7.43943744e-04 9.96156547e-01 -2.57978155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.466296757 meters 0.07309216500939293 Centerline is valid? [True, True] Translation: X:227.39, Y:-18.48, Z:-25.81 [[ 9.71397268e-01 2.22179722e-01 8.38064336e-02 2.27386875e+02] [-2.21343074e-01 9.75005715e-01 -1.92639291e-02 -1.84784875e+01] [-8.59918062e-02 1.62954388e-04 9.96295831e-01 -2.58055837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.526296757 meters 0.07365996680209297 Centerline is valid? [True, True] Translation: X:227.45, Y:-18.49, Z:-25.81 [[ 9.70761722e-01 2.25500614e-01 8.22870099e-02 2.27448169e+02] [-2.24704002e-01 9.74243020e-01 -1.89380507e-02 -1.84874617e+01] [-8.44380871e-02 -1.05885673e-04 9.96428722e-01 -2.58143740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.586296757 meters 0.0742086205566349 Centerline is valid? [True, True] Translation: X:227.51, Y:-18.50, Z:-25.82 [[ 9.71203272e-01 2.23833409e-01 8.16260290e-02 2.27508196e+02] [-2.23042019e-01 9.74627417e-01 -1.88057452e-02 -1.85026536e+01] [-8.37643198e-02 5.81669679e-05 9.96485592e-01 -2.58220380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64629675700002 meters 0.07434840433218674 Centerline is valid? [True, True] Translation: X:227.57, Y:-18.52, Z:-25.83 [[ 9.71667826e-01 2.21324358e-01 8.29286662e-02 2.27567443e+02] [-2.20496603e-01 9.75200205e-01 -1.91261318e-02 -1.85200697e+01] [-8.51051311e-02 2.98757767e-04 9.96371932e-01 -2.58267922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.706296757 meters 0.0747194764927975 Centerline is valid? [True, True] Translation: X:227.63, Y:-18.53, Z:-25.83 [[ 9.71292367e-01 2.22854210e-01 8.32294367e-02 2.27628445e+02] [-2.22024323e-01 9.74851767e-01 -1.92154388e-02 -1.85310619e+01] [-8.54186048e-02 1.84849688e-04 9.96345135e-01 -2.58321455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.766296757 meters 0.07523785211455163 Centerline is valid? [True, True] Translation: X:227.69, Y:-18.54, Z:-25.85 [[ 9.71134737e-01 2.23685597e-01 8.28376447e-02 2.27688230e+02] [-2.22864852e-01 9.74661345e-01 -1.91447476e-02 -1.85438421e+01] [-8.50210545e-02 1.30529991e-04 9.96379146e-01 -2.58453533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.826296757 meters 0.07586858970725348 Centerline is valid? [True, True] Translation: X:227.75, Y:-18.56, Z:-25.85 [[ 9.71742713e-01 2.21054327e-01 8.27712740e-02 2.27748123e+02] [-2.20223498e-01 9.75261421e-01 -1.91513046e-02 -1.85606685e+01] [-8.49571090e-02 3.81961162e-04 9.96384536e-01 -2.58516110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.886296757 meters 0.07592280658141762 Centerline is valid? [True, True] Translation: X:227.81, Y:-18.59, Z:-25.86 [[ 9.72730862e-01 2.16003566e-01 8.44815337e-02 2.27806457e+02] [-2.15117240e-01 9.76392196e-01 -1.95666188e-02 -1.85859069e+01] [-8.67135696e-02 8.59619579e-04 9.96232913e-01 -2.58574977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.946296757 meters 0.07615011838272877 Centerline is valid? [True, True] Translation: X:227.87, Y:-18.60, Z:-25.86 [[ 9.72969504e-01 2.13536297e-01 8.79351695e-02 2.27865562e+02] [-2.12563440e-01 9.76934454e-01 -2.03925417e-02 -1.86041922e+01] [-9.02614447e-02 1.14951906e-03 9.95917441e-01 -2.58638953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.006296757 meters 0.07614115069622925 Centerline is valid? [True, True] Translation: X:227.92, Y:-18.62, Z:-25.87 [[ 9.72102158e-01 2.16524948e-01 9.01905856e-02 2.27924242e+02] [-2.15512006e-01 9.76276653e-01 -2.09397140e-02 -1.86174075e+01] [-9.25849335e-02 9.18387060e-04 9.95704367e-01 -2.58727816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.066296757 meters 0.07608323090450228 Centerline is valid? [True, True] Translation: X:227.98, Y:-18.63, Z:-25.88 [[ 9.71434038e-01 2.18733626e-01 9.20408095e-02 2.27984723e+02] [-2.17687385e-01 9.75784332e-01 -2.13808410e-02 -1.86300866e+01] [-9.44886887e-02 7.33953603e-04 9.95525665e-01 -2.58807258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.126296757 meters 0.07570911488695725 Centerline is valid? [True, True] Translation: X:228.04, Y:-18.64, Z:-25.89 [[ 9.69918355e-01 2.23940010e-01 9.54424263e-02 2.28044253e+02] [-2.22837499e-01 9.74602896e-01 -2.21955960e-02 -1.86385008e+01] [-9.79889470e-02 2.59764422e-04 9.95187469e-01 -2.58870102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.186296757 meters 0.07551232105733521 Centerline is valid? [True, True] Translation: X:228.11, Y:-18.65, Z:-25.89 [[ 9.68880279e-01 2.27496832e-01 9.75509962e-02 2.28105402e+02] [-2.26361992e-01 9.73778816e-01 -2.26950596e-02 -1.86488196e+01] [-1.00156148e-01 -9.30421408e-05 9.94971727e-01 -2.58924082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.246296757 meters 0.07531220370158344 Centerline is valid? [True, True] Translation: X:228.17, Y:-18.66, Z:-25.90 [[ 9.67592945e-01 2.32659856e-01 9.81492963e-02 2.28165502e+02] [-2.31535169e-01 9.72557978e-01 -2.28570467e-02 -1.86555360e+01] [-1.00773798e-01 -6.08696749e-04 9.94909177e-01 -2.59007927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.306296757 meters 0.07520977515760437 Centerline is valid? [True, True] Translation: X:228.23, Y:-18.67, Z:-25.91 [[ 9.67135687e-01 2.34750591e-01 9.76766257e-02 2.28226671e+02] [-2.33645347e-01 9.72055305e-01 -2.27669954e-02 -1.86671118e+01] [-1.00291648e-01 -8.02915451e-04 9.94957758e-01 -2.59061925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36629675700001 meters 0.07496045459213095 Centerline is valid? [True, True] Translation: X:228.29, Y:-18.68, Z:-25.92 [[ 9.67879007e-01 2.32517832e-01 9.56330818e-02 2.28286415e+02] [-2.31445216e-01 9.72591986e-01 -2.23146079e-02 -1.86804159e+01] [-9.82005132e-02 -5.35978695e-04 9.95166505e-01 -2.59167992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.426296757 meters 0.07461721994168607 Centerline is valid? [True, True] Translation: X:228.35, Y:-18.70, Z:-25.92 [[ 9.69022902e-01 2.27593892e-01 9.58938824e-02 2.28345364e+02] [-2.26488728e-01 9.73756140e-01 -2.24016893e-02 -1.86994837e+01] [-9.84757444e-02 -1.11334635e-05 9.95139451e-01 -2.59212925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.486296757 meters 0.07443311704862451 Centerline is valid? [True, True] Translation: X:228.40, Y:-18.73, Z:-25.93 [[ 9.72245865e-01 2.12997066e-01 9.67999339e-02 2.28401292e+02] [-2.11795948e-01 9.77051675e-01 -2.26384945e-02 -1.87277289e+01] [-9.94004704e-02 1.50834888e-03 9.95046366e-01 -2.59259914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.546296757 meters 0.07513866509908824 Centerline is valid? [True, True] Translation: X:228.46, Y:-18.75, Z:-25.93 [[ 9.73979758e-01 2.05165075e-01 9.62845975e-02 2.28459849e+02] [-2.03936173e-01 9.78724636e-01 -2.25416060e-02 -1.87480916e+01] [-9.88608579e-02 2.31915559e-03 9.95098564e-01 -2.59314456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.606296757 meters 0.07670884649171607 Centerline is valid? [True, True] Translation: X:228.52, Y:-18.77, Z:-25.94 [[ 9.76111500e-01 1.95628002e-01 9.45305510e-02 2.28516041e+02] [-1.94398383e-01 9.80672853e-01 -2.21364755e-02 -1.87702688e+01] [-9.70340597e-02 3.23108198e-03 9.95275817e-01 -2.59389747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.666296757 meters 0.07724244814586416 Centerline is valid? [True, True] Translation: X:228.57, Y:-18.79, Z:-25.95 [[ 9.77496429e-01 1.89969378e-01 9.17189567e-02 2.28574679e+02] [-1.88786471e-01 9.81783094e-01 -2.14854427e-02 -1.87883549e+01] [-9.41296973e-02 3.68664530e-03 9.95553117e-01 -2.59484480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.726296757 meters 0.07778726493380535 Centerline is valid? [True, True] Translation: X:228.63, Y:-18.81, Z:-25.96 [[ 9.78888718e-01 1.83170477e-01 9.06942915e-02 2.28633526e+02] [-1.81982830e-01 9.83071704e-01 -2.12667623e-02 -1.88072199e+01] [-9.30544346e-02 4.31298982e-03 9.95651681e-01 -2.59552453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.786296757 meters 0.0800305465903007 Centerline is valid? [True, True] Translation: X:228.69, Y:-18.83, Z:-25.96 [[ 9.80902482e-01 1.72115951e-01 9.05892965e-02 2.28690772e+02] [-1.70883026e-01 9.85062076e-01 -2.12532015e-02 -1.88330426e+01] [-9.28940955e-02 5.36714499e-03 9.95661529e-01 -2.59609781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.846296757 meters 0.08153166261310715 Centerline is valid? [True, True] Translation: X:228.75, Y:-18.85, Z:-25.97 [[ 9.81565076e-01 1.66567183e-01 9.37303325e-02 2.28748443e+02] [-1.65221511e-01 9.86011229e-01 -2.19933881e-02 -1.88536787e+01] [-9.60825370e-02 6.10167450e-03 9.95354668e-01 -2.59651659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.906296757 meters 0.08228189203582552 Centerline is valid? [True, True] Translation: X:228.81, Y:-18.87, Z:-25.97 [[ 9.82310994e-01 1.61742891e-01 9.43628507e-02 2.28807425e+02] [-1.60354976e-01 9.86810613e-01 -2.21606882e-02 -1.88708567e+01] [-9.67025963e-02 6.63713503e-03 9.95291192e-01 -2.59708920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.966296757 meters 0.08318372705346701 Centerline is valid? [True, True] Translation: X:228.87, Y:-18.89, Z:-25.98 [[ 9.82390186e-01 1.61833318e-01 9.33782580e-02 2.28865809e+02] [-1.60474355e-01 9.86796289e-01 -2.19332196e-02 -1.88850257e+01] [-9.56948441e-02 6.56216402e-03 9.95389087e-01 -2.59799766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.026296757 meters 0.08405021808579764 Centerline is valid? [True, True] Translation: X:228.92, Y:-18.90, Z:-25.99 [[ 9.82993917e-01 1.60684652e-01 8.89010755e-02 2.28924582e+02] [-1.59446933e-01 9.86985245e-01 -2.08998029e-02 -1.89002153e+01] [-9.11023274e-02 6.36937529e-03 9.95821167e-01 -2.59905507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.086296757 meters 0.08538421698784757 Centerline is valid? [True, True] Translation: X:228.98, Y:-18.92, Z:-26.00 [[ 9.83134606e-01 1.60407205e-01 8.78400587e-02 2.28983821e+02] [-1.59196316e-01 9.87030596e-01 -2.06672346e-02 -1.89173166e+01] [-9.00159988e-02 6.33485981e-03 9.95920172e-01 -2.59990708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14629675700002 meters 0.08565286738759953 Centerline is valid? [True, True] Translation: X:229.04, Y:-18.93, Z:-26.00 [[ 9.83314015e-01 1.58673076e-01 8.89741687e-02 2.29042674e+02] [-1.57421632e-01 9.87309124e-01 -2.09552852e-02 -1.89324792e+01] [-9.11700481e-02 6.59916679e-03 9.95813473e-01 -2.60030800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.206296757 meters 0.08681579921663148 Centerline is valid? [True, True] Translation: X:229.10, Y:-18.95, Z:-26.01 [[ 9.83287428e-01 1.58112126e-01 9.02573572e-02 2.29101569e+02] [-1.56820183e-01 9.87397984e-01 -2.12756089e-02 -1.89515474e+01] [-9.24838643e-02 6.76586352e-03 9.95691196e-01 -2.60088248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.266296757 meters 0.08476353674439424 Centerline is valid? [True, True] Translation: X:229.16, Y:-18.96, Z:-26.01 [[ 9.82837554e-01 1.60120160e-01 9.16071913e-02 2.29162518e+02] [-1.58795622e-01 9.87074797e-01 -2.16170140e-02 -1.89610757e+01] [-9.38844695e-02 6.69919221e-03 9.95560559e-01 -2.60114497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.326296757 meters 0.08092668784034839 Centerline is valid? [True, True] Translation: X:229.22, Y:-18.97, Z:-26.02 [[ 9.81922064e-01 1.66172718e-01 9.06404289e-02 2.29224323e+02] [-1.64901318e-01 9.86078048e-01 -2.13925082e-02 -1.89664148e+01] [-9.29333884e-02 6.05904959e-03 9.95653892e-01 -2.60187350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.386296757 meters 0.07979966090948615 Centerline is valid? [True, True] Translation: X:229.28, Y:-18.98, Z:-26.03 [[ 9.80841432e-01 1.73486399e-01 8.86146450e-02 2.29283824e+02] [-1.72300822e-01 9.84822287e-01 -2.09162663e-02 -1.89764524e+01] [-9.08983651e-02 5.24716444e-03 9.95846351e-01 -2.60295429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.446296757 meters 0.08035956292094343 Centerline is valid? [True, True] Translation: X:229.34, Y:-18.99, Z:-26.04 [[ 9.80456291e-01 1.75789441e-01 8.83376138e-02 2.29342975e+02] [-1.74619142e-01 9.84414921e-01 -2.08666791e-02 -1.89903135e+01] [-9.06290070e-02 5.03342846e-03 9.95872004e-01 -2.60391404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.506296757 meters 0.08060398843504285 Centerline is valid? [True, True] Translation: X:229.40, Y:-19.01, Z:-26.05 [[ 9.80211190e-01 1.76949947e-01 8.87397241e-02 2.29402656e+02] [-1.75773559e-01 9.84207404e-01 -2.09628625e-02 -1.90057847e+01] [-9.10476709e-02 4.94993533e-03 9.95834233e-01 -2.60455150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.566296757 meters 0.0820932072652869 Centerline is valid? [True, True] Translation: X:229.46, Y:-19.02, Z:-26.05 [[ 9.80131652e-01 1.76533298e-01 9.04319592e-02 2.29461253e+02] [-1.75307680e-01 9.84281424e-01 -2.13844733e-02 -1.90247009e+01] [-9.27855692e-02 5.10618216e-03 9.95673021e-01 -2.60519870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.626296757 meters 0.084168808925398 Centerline is valid? [True, True] Translation: X:229.52, Y:-19.05, Z:-26.06 [[ 9.75056041e-01 1.98595239e-01 9.91244102e-02 2.29517548e+02] [-1.97231789e-01 9.80075926e-01 -2.34691489e-02 -1.90468079e+01] [-1.01810309e-01 3.33325060e-03 9.94798246e-01 -2.60601414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.686296757 meters 0.08028112900876443 Centerline is valid? [True, True] Translation: X:229.58, Y:-19.05, Z:-26.07 [[ 9.79510097e-01 1.80932335e-01 8.84503256e-02 2.29580539e+02] [-1.79775086e-01 9.83484716e-01 -2.09459343e-02 -1.90461009e+01] [-9.07793401e-02 4.61558924e-03 9.95860335e-01 -2.60652371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.746296757 meters 0.07716889959419765 Centerline is valid? [True, True] Translation: X:229.64, Y:-19.05, Z:-26.07 [[ 9.79097140e-01 1.84153073e-01 8.63506543e-02 2.29642287e+02] [-1.83062374e-01 9.82888528e-01 -2.04526012e-02 -1.90513615e+01] [-8.86394769e-02 4.21752755e-03 9.96054846e-01 -2.60699171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.806296757 meters 0.07683490931387545 Centerline is valid? [True, True] Translation: X:229.70, Y:-19.06, Z:-26.08 [[ 9.78350550e-01 1.89310112e-01 8.36174767e-02 2.29701020e+02] [-1.88304884e-01 9.81910578e-01 -1.98213832e-02 -1.90615312e+01] [-8.58572732e-02 3.64668190e-03 9.96300773e-01 -2.60788228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86629675700001 meters 0.07604432336270052 Centerline is valid? [True, True] Translation: X:229.76, Y:-19.07, Z:-26.09 [[ 9.77079378e-01 1.95064305e-01 8.52396999e-02 2.29759938e+02] [-1.94040573e-01 9.80785196e-01 -2.02152337e-02 -1.90715155e+01] [-8.75451063e-02 3.21192773e-03 9.96155378e-01 -2.60862380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.926296757 meters 0.07549557173513731 Centerline is valid? [True, True] Translation: X:229.82, Y:-19.08, Z:-26.09 [[ 9.75901072e-01 1.99937758e-01 8.74184788e-02 2.29821013e+02] [-1.98879327e-01 9.79804433e-01 -2.07433573e-02 -1.90812956e+01] [-8.98003934e-02 2.85773641e-03 9.95955683e-01 -2.60915178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.986296757 meters 0.07464597616814075 Centerline is valid? [True, True] Translation: X:229.88, Y:-19.09, Z:-26.10 [[ 9.75025600e-01 2.03841132e-01 8.81695677e-02 2.29882085e+02] [-2.02778318e-01 9.79000682e-01 -2.09432360e-02 -1.90901905e+01] [-9.05871598e-02 2.54131453e-03 9.95885289e-01 -2.60982613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.046296757 meters 0.07467161346607262 Centerline is valid? [True, True] Translation: X:229.94, Y:-19.10, Z:-26.11 [[ 9.74009689e-01 2.07930188e-01 8.98340886e-02 2.29941990e+02] [-2.06843851e-01 9.78141184e-01 -2.13411777e-02 -1.91009214e+01] [-9.23078969e-02 2.20488508e-03 9.95728071e-01 -2.61072405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.106296757 meters 0.07487787849375001 Centerline is valid? [True, True] Translation: X:230.00, Y:-19.11, Z:-26.11 [[ 9.73884241e-01 2.08614358e-01 8.96076721e-02 2.30002934e+02] [-2.07535061e-01 9.77995620e-01 -2.13017791e-02 -1.91141814e+01] [-9.20797678e-02 2.14873323e-03 9.95749316e-01 -2.61144354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.166296757 meters 0.07514216141163903 Centerline is valid? [True, True] Translation: X:230.06, Y:-19.13, Z:-26.12 [[ 9.73734814e-01 2.09471472e-01 8.92312453e-02 2.30063006e+02] [-2.08402543e-01 9.77812539e-01 -2.12371914e-02 -1.91280704e+01] [-9.17000163e-02 2.08337422e-03 9.95784498e-01 -2.61221491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.226296757 meters 0.07541481631770995 Centerline is valid? [True, True] Translation: X:230.12, Y:-19.14, Z:-26.13 [[ 9.73303065e-01 2.11408641e-01 8.93729817e-02 2.30123889e+02] [-2.10342533e-01 9.77395868e-01 -2.12916648e-02 -1.91387991e+01] [-9.18540250e-02 1.92430326e-03 9.95770624e-01 -2.61286310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.286296757 meters 0.07537593890688175 Centerline is valid? [True, True] Translation: X:230.18, Y:-19.15, Z:-26.14 [[ 9.72673864e-01 2.14416518e-01 8.90567889e-02 2.30183621e+02] [-2.13368565e-01 9.76740916e-01 -2.12376757e-02 -1.91496842e+01] [-9.15391180e-02 1.65541278e-03 9.95800105e-01 -2.61378408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.346296757 meters 0.07526979121326777 Centerline is valid? [True, True] Translation: X:230.24, Y:-19.16, Z:-26.15 [[ 9.71855637e-01 2.17728007e-01 8.99507422e-02 2.30243857e+02] [-2.16671179e-01 9.76008514e-01 -2.14704384e-02 -1.91600677e+01] [-9.24674061e-02 1.37643322e-03 9.95714760e-01 -2.61464871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.406296757 meters 0.07538994435200663 Centerline is valid? [True, True] Translation: X:230.30, Y:-19.17, Z:-26.15 [[ 9.71386971e-01 2.19219945e-01 9.13781637e-02 2.30303100e+02] [-2.18133634e-01 9.75674631e-01 -2.18342065e-02 -1.91730622e+01] [-9.39418497e-02 1.27681286e-03 9.95576867e-01 -2.61538703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.466296757 meters 0.07582733372129781 Centerline is valid? [True, True] Translation: X:230.36, Y:-19.19, Z:-26.16 [[ 9.72431809e-01 2.15089457e-01 9.00716502e-02 2.30361778e+02] [-2.14015196e-01 9.76592932e-01 -2.15346279e-02 -1.91933801e+01] [-9.25952085e-02 1.66425523e-03 9.95702444e-01 -2.61602554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.526296757 meters 0.07689995462048282 Centerline is valid? [True, True] Translation: X:230.42, Y:-19.22, Z:-26.17 [[ 9.73163188e-01 2.11450889e-01 9.07850791e-02 2.30418144e+02] [-2.10343215e-01 9.77386512e-01 -2.17103191e-02 -1.92165263e+01] [-9.33227781e-02 2.03165793e-03 9.95633834e-01 -2.61680423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.586296757 meters 0.076524536238196 Centerline is valid? [True, True] Translation: X:230.48, Y:-19.23, Z:-26.17 [[ 9.73723321e-01 2.08813465e-01 9.08836151e-02 2.30478133e+02] [-2.07690908e-01 9.77952789e-01 -2.17446273e-02 -1.92302384e+01] [-9.34204559e-02 2.29755021e-03 9.95624096e-01 -2.61728369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64629675700002 meters 0.0771500809049837 Centerline is valid? [True, True] Translation: X:230.54, Y:-19.25, Z:-26.18 [[ 9.74488600e-01 2.05245864e-01 9.08080542e-02 2.30536137e+02] [-2.04107505e-01 9.78706828e-01 -2.17501883e-02 -1.92468598e+01] [-9.33385990e-02 2.66070518e-03 9.95630869e-01 -2.61799440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.706296757 meters 0.07893617751264333 Centerline is valid? [True, True] Translation: X:230.59, Y:-19.27, Z:-26.19 [[ 9.77641656e-01 1.88730460e-01 9.27232790e-02 2.30593526e+02] [-1.87468225e-01 9.82019339e-01 -2.22189741e-02 -1.92701029e+01] [-9.52494504e-02 4.33952615e-03 9.95443977e-01 -2.61851886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.766296757 meters 0.0815458320101279 Centerline is valid? [True, True] Translation: X:230.65, Y:-19.30, Z:-26.19 [[ 9.80066738e-01 1.75031638e-01 9.39846479e-02 2.30650766e+02] [-1.73669968e-01 9.84545905e-01 -2.25411600e-02 -1.92951695e+01] [-9.64776163e-02 5.76953033e-03 9.95318433e-01 -2.61916497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.826296757 meters 0.08601137541034992 Centerline is valid? [True, True] Translation: X:230.71, Y:-19.33, Z:-26.20 [[ 9.83364831e-01 1.54821047e-01 9.49950090e-02 2.30706887e+02] [-1.53333788e-01 9.87911262e-01 -2.28054281e-02 -1.93256666e+01] [-9.73773995e-02 7.86011136e-03 9.95216489e-01 -2.61955927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.886296757 meters 0.08799227593515963 Centerline is valid? [True, True] Translation: X:230.76, Y:-19.35, Z:-26.20 [[ 9.85640478e-01 1.38984054e-01 9.58972373e-02 2.30764513e+02] [-1.37393306e-01 9.90248835e-01 -2.30287613e-02 -1.93480581e+01] [-9.81627582e-02 9.52244083e-03 9.95124814e-01 -2.62035866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.946296757 meters 0.0910750280944276 Centerline is valid? [True, True] Translation: X:230.82, Y:-19.37, Z:-26.21 [[ 9.85972585e-01 1.36781067e-01 9.56504171e-02 2.30821015e+02] [-1.35187688e-01 9.90553589e-01 -2.29755636e-02 -1.93690912e+01] [-9.78894860e-02 9.72251704e-03 9.95149798e-01 -2.62120013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.006296757 meters 0.09061855097117154 Centerline is valid? [True, True] Translation: X:230.88, Y:-19.38, Z:-26.22 [[ 9.85947268e-01 1.38087803e-01 9.40199101e-02 2.30880322e+02] [-1.36553602e-01 9.90375046e-01 -2.25916335e-02 -1.93839280e+01] [-9.62346018e-02 9.43540191e-03 9.95313958e-01 -2.62206146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.066296757 meters 0.09526691434014167 Centerline is valid? [True, True] Translation: X:230.94, Y:-19.41, Z:-26.23 [[ 9.85306660e-01 1.43548597e-01 9.25450454e-02 2.30935779e+02] [-1.42085696e-01 9.89604450e-01 -2.22415774e-02 -1.94088826e+01] [-9.47757360e-02 8.76544710e-03 9.95460058e-01 -2.62289919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.126296757 meters 0.0849160966052401 Centerline is valid? [True, True] Translation: X:231.00, Y:-19.40, Z:-26.23 [[ 9.84037385e-01 1.50335258e-01 9.52351597e-02 2.31001100e+02] [-1.48816599e-01 9.88599762e-01 -2.28938961e-02 -1.94022166e+01] [-9.75912160e-02 8.35587707e-03 9.95191506e-01 -2.62291313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.186296757 meters 0.08564691366129483 Centerline is valid? [True, True] Translation: X:231.06, Y:-19.42, Z:-26.24 [[ 9.83907189e-01 1.50691306e-01 9.60144481e-02 2.31060172e+02] [-1.49148863e-01 9.88545234e-01 -2.30854192e-02 -1.94203766e+01] [-9.83933970e-02 8.39346416e-03 9.95112199e-01 -2.62351022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.246296757 meters 0.08690340328112645 Centerline is valid? [True, True] Translation: X:231.12, Y:-19.44, Z:-26.24 [[ 9.84316279e-01 1.48040645e-01 9.59449344e-02 2.31117765e+02] [-1.46485580e-01 9.88943219e-01 -2.30929467e-02 -1.94379315e+01] [-9.83027871e-02 8.67621400e-03 9.95118729e-01 -2.62430948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.306296757 meters 0.08672785049195812 Centerline is valid? [True, True] Translation: X:231.18, Y:-19.45, Z:-26.25 [[ 9.85203302e-01 1.43609133e-01 9.35460927e-02 2.31176395e+02] [-1.42110751e-01 9.89594514e-01 -2.25218264e-02 -1.94541183e+01] [-9.58070401e-02 8.89467226e-03 9.95360184e-01 -2.62480278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36629675700001 meters 0.08946653457764257 Centerline is valid? [True, True] Translation: X:231.23, Y:-19.47, Z:-26.25 [[ 9.86916625e-01 1.32699655e-01 9.15771601e-02 2.31233844e+02] [-1.31215515e-01 9.91108209e-01 -2.20682154e-02 -1.94746077e+01] [-9.36913198e-02 9.76314448e-03 9.95553423e-01 -2.62539166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.426296757 meters 0.09296264739216879 Centerline is valid? [True, True] Translation: X:231.29, Y:-19.50, Z:-26.25 [[ 9.87925527e-01 1.22221309e-01 9.52108408e-02 2.31291344e+02] [-1.20567921e-01 9.92439742e-01 -2.29507256e-02 -1.94982034e+01] [-9.72960900e-02 1.11942346e-02 9.95192524e-01 -2.62545665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.486296757 meters 0.09547370075695262 Centerline is valid? [True, True] Translation: X:231.35, Y:-19.52, Z:-26.26 [[ 9.88321746e-01 1.18933776e-01 9.52621838e-02 2.31349043e+02] [-1.17263007e-01 9.92835242e-01 -2.29688663e-02 -1.95155192e+01] [-9.73114274e-02 1.15298999e-02 9.95187192e-01 -2.62602402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.546296757 meters 0.09721718592681937 Centerline is valid? [True, True] Translation: X:231.41, Y:-19.53, Z:-26.27 [[ 9.88239927e-01 1.23579884e-01 9.00547526e-02 2.31406627e+02] [-1.22105870e-01 9.92279422e-01 -2.17187903e-02 -1.95281212e+01] [-9.20434835e-02 1.04671618e-02 9.95699973e-01 -2.62730695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.606296757 meters 0.09016611306092288 Centerline is valid? [True, True] Translation: X:231.47, Y:-19.53, Z:-26.28 [[ 9.87930472e-01 1.27482186e-01 8.79867931e-02 2.31469114e+02] [-1.26090515e-01 9.91791750e-01 -2.12204368e-02 -1.95308199e+01] [-8.99698032e-02 9.87001603e-03 9.95895586e-01 -2.62771527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.666296757 meters 0.08769134537710492 Centerline is valid? [True, True] Translation: X:231.53, Y:-19.55, Z:-26.28 [[ 9.87329339e-01 1.30064467e-01 9.09066047e-02 2.31528652e+02] [-1.28588859e-01 9.91455487e-01 -2.19299425e-02 -1.95464259e+01] [-9.29821584e-02 9.96249905e-03 9.95617932e-01 -2.62764625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.726296757 meters 0.08799446719619572 Centerline is valid? [True, True] Translation: X:231.59, Y:-19.56, Z:-26.28 [[ 9.85933213e-01 1.36260173e-01 9.67928984e-02 2.31586957e+02] [-1.34615399e-01 9.90622647e-01 -2.33552278e-02 -1.95641615e+01] [-9.90676245e-02 9.99688020e-03 9.95030486e-01 -2.62797264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.786296757 meters 0.08901558648517445 Centerline is valid? [True, True] Translation: X:231.65, Y:-19.58, Z:-26.29 [[ 9.85206793e-01 1.40084768e-01 9.87108517e-02 2.31645587e+02] [-1.38391773e-01 9.90090864e-01 -2.38285283e-02 -1.95799017e+01] [-1.01070726e-01 9.81525822e-03 9.94830824e-01 -2.62866753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.846296757 meters 0.08926759235906502 Centerline is valid? [True, True] Translation: X:231.70, Y:-19.59, Z:-26.30 [[ 9.84280191e-01 1.46725820e-01 9.83058479e-02 2.31703812e+02] [-1.45078247e-01 9.89135274e-01 -2.37426302e-02 -1.95921872e+01] [-1.00721439e-01 9.10736047e-03 9.94872981e-01 -2.62957497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.906296757 meters 0.09096986667298385 Centerline is valid? [True, True] Translation: X:231.76, Y:-19.61, Z:-26.31 [[ 9.84054463e-01 1.49462394e-01 9.64251390e-02 2.31760935e+02] [-1.47889990e-01 9.88729472e-01 -2.32933968e-02 -1.96101335e+01] [-9.88198636e-02 8.66165819e-03 9.95067641e-01 -2.63057733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.966296757 meters 0.0915339993761279 Centerline is valid? [True, True] Translation: X:231.82, Y:-19.63, Z:-26.31 [[ 9.83521944e-01 1.53961888e-01 9.47645646e-02 2.31818908e+02] [-1.52462855e-01 9.88043759e-01 -2.29043318e-02 -1.96282059e+01] [-9.71579307e-02 8.07883687e-03 9.95236187e-01 -2.63144765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.026296757 meters 0.08164004345913645 Centerline is valid? [True, True] Translation: X:231.89, Y:-19.62, Z:-26.32 [[ 9.83440116e-01 1.54263792e-01 9.51221359e-02 2.31885203e+02] [-1.52754419e-01 9.87996631e-01 -2.29944636e-02 -1.96225915e+01] [-9.75275629e-02 8.08335130e-03 9.95199997e-01 -2.63186803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.086296757 meters 0.08624585824811144 Centerline is valid? [True, True] Translation: X:231.94, Y:-19.65, Z:-26.33 [[ 9.83052947e-01 1.57296618e-01 9.41524101e-02 2.31940924e+02] [-1.55828936e-01 9.87521141e-01 -2.27890189e-02 -1.96474557e+01] [-9.65621310e-02 7.73114234e-03 9.95296933e-01 -2.63272025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14629675700002 meters 0.07906226796733502 Centerline is valid? [True, True] Translation: X:232.01, Y:-19.64, Z:-26.33 [[ 9.82818577e-01 1.60502665e-01 9.11402185e-02 2.32005001e+02] [-1.59140142e-01 9.87009223e-01 -2.20728315e-02 -1.96422296e+01] [-9.34989845e-02 7.18952155e-03 9.95593416e-01 -2.63342289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.206296757 meters 0.0864339748052251 Centerline is valid? [True, True] Translation: X:232.06, Y:-19.67, Z:-26.35 [[ 9.83399819e-01 1.59028246e-01 8.73774223e-02 2.32059377e+02] [-1.57770229e-01 9.87249024e-01 -2.11641159e-02 -1.96687204e+01] [-8.96289671e-02 7.02723185e-03 9.95950434e-01 -2.63484584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.266296757 meters 0.08920379154151586 Centerline is valid? [True, True] Translation: X:232.12, Y:-19.69, Z:-26.36 [[ 9.84287600e-01 1.54426079e-01 8.56183749e-02 2.32117910e+02] [-1.53200540e-01 9.87977366e-01 -2.07441288e-02 -1.96866589e+01] [-8.77924509e-02 7.30140749e-03 9.96112029e-01 -2.63569002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.326296757 meters 0.08612868086574073 Centerline is valid? [True, True] Translation: X:232.18, Y:-19.69, Z:-26.36 [[ 9.85260697e-01 1.48130168e-01 8.55500619e-02 2.32179467e+02] [-1.46881584e-01 9.88936535e-01 -2.07443773e-02 -1.96908709e+01] [-8.76764499e-02 7.87289099e-03 9.96117893e-01 -2.63626805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.386296757 meters 0.09014763457019817 Centerline is valid? [True, True] Translation: X:232.24, Y:-19.71, Z:-26.37 [[ 9.86647134e-01 1.40299399e-01 8.27255219e-02 2.32238105e+02] [-1.39103506e-01 9.90074334e-01 -2.00755300e-02 -1.97080466e+01] [-8.47210009e-02 8.30005402e-03 9.96370143e-01 -2.63723272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.446296757 meters 0.09693027606876937 Centerline is valid? [True, True] Translation: X:232.29, Y:-19.73, Z:-26.38 [[ 9.87846382e-01 1.31766100e-01 8.24452620e-02 2.32293775e+02] [-1.30548689e-01 9.91239941e-01 -2.00104993e-02 -1.97299021e+01] [-8.43597421e-02 9.00417846e-03 9.96394680e-01 -2.63813317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.506296757 meters 0.09757506553043738 Centerline is valid? [True, True] Translation: X:232.36, Y:-19.73, Z:-26.40 [[ 9.88737451e-01 1.28254333e-01 7.71302749e-02 2.32355247e+02] [-1.27178322e-01 9.91703108e-01 -1.87248308e-02 -1.97300076e+01] [-7.88918741e-02 8.70464257e-03 9.96845174e-01 -2.63985616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.566296757 meters 0.10225725551127636 Centerline is valid? [True, False] Translation: X:232.36, Y:-19.72, Z:-26.39 [[ 9.89714671e-01 1.24022514e-01 7.12971737e-02 2.32359593e+02] [-1.24107552e-01 9.92263439e-01 -3.25316019e-03 -1.97193812e+01] [-7.11490439e-02 -5.62881731e-03 9.97449813e-01 -2.63926502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.626296757 meters 0.09578275576194725 Centerline is valid? [False, True] Translation: X:232.35, Y:-19.69, Z:-26.39 [[ 9.89214364e-01 1.23863488e-01 7.81842593e-02 2.32354338e+02] [-1.24224737e-01 9.92254078e-01 -2.45014326e-04 -1.96927103e+01] [-7.76089984e-02 -9.47004739e-03 9.96938896e-01 -2.63948145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.686296757 meters 0.0895560153458708 Centerline is valid? [True, True] Translation: X:232.42, Y:-19.66, Z:-26.41 [[ 9.86566018e-01 1.40930831e-01 8.26195721e-02 2.32422578e+02] [-1.39817927e-01 9.89992345e-01 -1.91338342e-02 -1.96608320e+01] [-8.44892911e-02 7.32509334e-03 9.96397462e-01 -2.64114610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.746296757 meters 0.0871392777788522 Centerline is valid? [True, True] Translation: X:232.49, Y:-19.65, Z:-26.42 [[ 9.83850768e-01 1.53541093e-01 9.19934777e-02 2.32487593e+02] [-1.52214496e-01 9.88117734e-01 -2.13094220e-02 -1.96516119e+01] [-9.41722587e-02 6.96255034e-03 9.95531571e-01 -2.64188119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.806296757 meters 0.08746993291068396 Centerline is valid? [True, True] Translation: X:232.55, Y:-19.63, Z:-26.42 [[ 9.78114575e-01 1.75047265e-01 1.12473698e-01 2.32554379e+02] [-1.73200786e-01 9.84541690e-01 -2.60604705e-02 -1.96305223e+01] [-1.15296858e-01 6.00959326e-03 9.93312901e-01 -2.64197647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86629675700001 meters 0.08216097728663933 Centerline is valid? [True, True] Translation: X:232.62, Y:-19.61, Z:-26.43 [[ 9.76198402e-01 1.80237111e-01 1.20628620e-01 2.32621008e+02] [-1.78149604e-01 9.83606056e-01 -2.79614829e-02 -1.96118164e+01] [-1.23690738e-01 5.80601406e-03 9.92303830e-01 -2.64330136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.926296757 meters 0.08627735055429775 Centerline is valid? [True, True] Translation: X:232.69, Y:-19.60, Z:-26.43 [[ 9.72885808e-01 1.83973217e-01 1.40167969e-01 2.32686206e+02] [-1.81183242e-01 9.82911414e-01 -3.25236195e-02 -1.96021544e+01] [-1.43756172e-01 6.24568068e-03 9.89593429e-01 -2.64341894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.986296757 meters 0.09660445991164426 Centerline is valid? [True, True] Translation: X:232.76, Y:-19.56, Z:-26.45 [[ 9.66337668e-01 1.80497208e-01 1.83336493e-01 2.32756724e+02] [-1.75635967e-01 9.83535040e-01 -4.25538699e-02 -1.95630969e+01] [-1.87998720e-01 8.92092515e-03 9.82128759e-01 -2.64513742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.046296757 meters 0.10583252847110597 Centerline is valid? [True, False] Translation: X:232.79, Y:-19.55, Z:-26.43 [[ 9.72876939e-01 1.82528872e-01 1.42104442e-01 2.32791534e+02] [-1.80017172e-01 9.83192201e-01 -3.04452739e-02 -1.95545970e+01] [-1.45273121e-01 4.03826510e-03 9.89383350e-01 -2.64260019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.106296757 meters 0.11963169303155247 Centerline is valid? [False, False] Translation: X:232.82, Y:-19.54, Z:-26.40 [[ 9.76200514e-01 1.80954427e-01 1.19532635e-01 2.32816461e+02] [-1.79653616e-01 9.83491427e-01 -2.16608233e-02 -1.95361888e+01] [-1.21478944e-01 -3.29163301e-04 9.92593954e-01 -2.64008711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.166296757 meters 0.14045010229812338 Centerline is valid? [False, False] Translation: X:232.83, Y:-19.52, Z:-26.39 [[ 9.77073175e-01 1.82272146e-01 1.10022159e-01 2.32832649e+02] [-1.80810153e-01 9.83244185e-01 -2.32069386e-02 -1.95186371e+01] [-1.12408627e-01 2.78175370e-03 9.93658172e-01 -2.63878054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.226296757 meters 0.15892750586528015 Centerline is valid? [False, False] Translation: X:232.83, Y:-19.49, Z:-26.38 [[ 9.76113101e-01 1.87013467e-01 1.10585610e-01 2.32832300e+02] [-1.84586078e-01 9.82298937e-01 -3.18869748e-02 -1.94938451e+01] [-1.14591421e-01 1.07127297e-02 9.93354943e-01 -2.63833751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1985.48 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%| | 0/7942 [00:00